version: 66.12
glider: 196
mission: 7
dive: 315
start: 9 9 114 18 4 51
data:
$ID,196
$MISSION,7
$DIVE,315
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7573.291
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,090914,142414,7443.478,-14219.511,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-75.2
$GPS2,090914,142414,7443.478,-14219.511,181,99.0,181,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7330.000,-14500.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,187.7,160138,-22.3,-11.628,-24.76,1933
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-145.9,201,2761,437,547,0.0,0.0,0,90,0.00,0.00,-72.40,0.000,16386,0.000,0.000,200,2761,2329,2339,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.69,-145.9,201,2762,2340,2322,3.7,-2.8,7,136,12.10,1.83,-27.02,0.000,18692,0.398,0.118,2658,3798,3855,3921,3789,0,0,0,0,0,0,14.00,14.29,14.57
$GC,361,-0.69,-145.9,2655,3798,3918,3796,91.3,-23.5,61,366,0.00,1.75,0.00,0.000,1030,0.000,0.051,2658,2748,3858,3921,3795,0,0,0,0,0,0,28.83,14.29,28.83
$GC,671,-0.69,-145.9,2659,2749,3922,3795,155.8,-20.1,93,676,0.00,1.88,0.00,0.000,260,0.000,0.099,2650,3812,3857,3921,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,901,-0.69,-145.9,2651,3813,3921,3795,202.3,-19.1,139,906,0.00,1.75,0.00,0.000,1030,0.000,0.050,2650,2754,3857,3921,3794,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1211,-0.69,-145.9,2651,2754,3922,3796,254.5,-14.8,169,1216,0.00,1.88,0.00,0.000,260,0.000,0.100,2642,3812,3858,3921,3795,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1306,-0.69,-145.9,2642,3813,3922,3794,270.5,-17.0,188,1311,0.10,1.75,0.00,0.000,3078,0.227,0.051,2667,2757,3857,3921,3794,0,0,0,0,0,0,14.13,14.46,28.83
$GC,1631,-0.69,-145.9,2668,2757,3923,3794,313.4,-12.9,203,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2758,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.69,-145.9,2668,2758,3921,3796,350.2,-12.1,213,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-0.69,-145.9,2669,2758,3922,3796,385.2,-11.6,223,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.69,-145.9,2668,2757,3923,3795,419.8,-11.6,233,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2831,-0.69,-145.9,2668,2758,3922,3795,454.6,-11.6,243,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.69,-145.9,2668,2758,3922,3795,489.6,-11.8,253,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3856,3921,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,-0.69,-145.9,2668,2758,3922,3795,524.4,-11.5,263,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3731,-0.69,-145.9,2668,2757,3922,3795,558.7,-11.3,273,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3855,3921,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-0.69,-145.9,2668,2758,3922,3794,592.4,-11.1,283,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.69,-145.9,2668,2758,3922,3796,625.5,-11.0,293,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.69,-145.9,2668,2758,3921,3796,658.5,-11.0,303,4636,0.00,2.30,0.00,0.000,516,0.000,0.063,2668,1372,3858,3921,3796,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4656,-0.69,-145.9,2669,1372,3929,3795,661.2,-11.0,308,4662,0.00,2.45,0.00,0.000,1030,0.000,0.096,2662,2762,3858,3921,3795,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4963,-0.69,-145.9,2663,2762,3922,3795,695.2,-11.2,319,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.69,-145.9,2663,2760,3923,3795,728.9,-11.1,329,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5469,begin apogee
$GC,5474,-0.13,0.0,2663,2763,3922,3796,752.5,-11.1,336,5603,0.68,0.00,126.35,1.990,10246,0.215,0.000,2843,2762,3257,3278,3237,0,0,0,0,0,0,14.27,28.83,13.07
$STATE,5604,end apogee,CONTROL_FINISHED_OK
$STATE,5604,begin climb
$GC,5606,0.69,145.9,2845,2763,3273,3234,756.2,0.0,340,5739,0.88,2.60,124.53,1.832,10756,0.119,0.060,3121,1357,2658,2664,2653,0,0,0,0,0,0,13.76,13.32,12.63
$GC,5764,0.70,160.8,3122,1357,2663,2653,748.2,10.8,374,5784,0.00,2.62,14.52,1.769,9222,0.000,0.086,3122,2745,2598,2603,2594,0,0,0,0,0,0,28.83,13.46,12.74
$GC,6104,0.70,160.8,3122,2746,2604,2589,701.2,14.0,392,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2595,2603,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6404,0.70,160.8,3122,2746,2604,2588,659.5,14.0,402,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2595,2603,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,0.70,160.8,3122,2744,2604,2587,617.6,14.0,412,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2596,2603,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7005,0.70,160.8,3122,2746,2604,2587,575.6,13.9,422,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2594,2603,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,0.70,160.8,3122,2745,2604,2588,534.2,13.8,432,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2594,2603,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7604,0.70,160.8,3122,2745,2604,2586,493.3,13.7,442,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2748,2594,2603,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7904,0.70,160.8,3122,2745,2603,2586,452.3,13.7,452,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2594,2603,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,0.70,160.8,3122,2745,2603,2586,411.8,13.4,462,8209,0.00,2.38,0.00,0.000,516,0.000,0.063,3129,1347,2594,2603,2586,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8228,0.70,160.8,3129,1347,2604,2586,408.4,12.9,467,8235,0.00,2.47,0.00,0.000,1030,0.000,0.088,3129,2749,2594,2603,2586,0,0,0,0,0,0,28.83,14.32,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5ad57aa275;,*0B
$MODEM_MSG,CACST,6,0,20140909200442.752639,3,214,-6,0182,0150,255,03,03,05,05,1,005,000,0,5,1,0,150,13.6,6.2,-100,-3.2,-01,0.1,28,900,0025*31
$GC,8534,0.70,160.8,3130,2749,2603,2586,366.8,13.7,478,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2749,2594,2603,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,0.70,160.8,3130,2749,2604,2587,327.7,12.8,488,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2749,2594,2603,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9134,0.70,160.8,3130,2749,2604,2586,290.2,12.1,498,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2749,2594,2603,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9434,0.71,176.1,3130,2749,2604,2586,256.3,10.8,508,9448,0.00,0.00,13.32,1.327,8198,0.000,0.000,3129,2749,2540,2547,2533,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9734,0.74,211.8,3130,2750,2544,2526,225.6,9.7,534,9769,0.00,2.38,30.23,1.289,8708,0.000,0.064,3138,1353,2389,2392,2386,0,0,0,0,0,0,28.83,14.36,13.73
$GC,9806,0.76,241.5,3139,1352,2391,2387,218.7,10.0,546,9836,0.00,2.45,25.75,1.336,9222,0.000,0.089,3138,2743,2271,2271,2271,0,0,0,0,0,0,28.83,14.31,13.59
$GC,10134,0.77,265.0,3139,2743,2268,2259,182.4,10.4,582,10156,0.00,0.00,20.33,1.275,8198,0.000,0.000,3138,2743,2176,2179,2174,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10456,0.81,313.3,3139,2744,2175,2162,149.8,9.1,614,10498,0.00,0.00,40.85,1.275,8710,0.000,0.000,3138,2744,1980,1980,1980,0,0,0,0,0,0,28.83,28.83,13.58
$GC,10794,0.83,349.7,3139,2744,1972,1968,114.5,9.7,652,10830,0.00,2.45,28.45,1.209,8708,0.000,0.067,3138,1351,1825,1825,1825,0,0,0,0,0,0,28.83,14.20,13.62
$GC,10877,0.86,392.8,3139,1351,1822,1824,106.5,9.3,668,10917,0.10,2.47,34.90,1.225,11270,0.142,0.090,3188,2739,1654,1658,1650,0,0,0,0,0,0,14.23,14.21,13.52
$GC,11215,0.88,413.6,3189,2738,1656,1630,62.8,10.5,706,11227,0.00,0.00,8.18,0.371,8198,0.000,0.000,3188,2737,1571,1583,1559,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11526,0.98,555.3,3189,2739,1592,1563,40.3,4.1,737,11596,0.00,0.00,64.65,0.308,8454,0.000,0.000,3188,2737,993,1003,984,0,0,0,0,0,0,28.83,28.83,13.94
$GC,11895,1.09,712.2,3189,2738,1002,974,21.2,3.3,775,11957,0.17,2.38,55.85,0.261,10756,0.109,0.064,3267,1354,496,442,551,0,0,0,0,0,0,14.26,14.20,14.01
$FREEZE,8.88,-1.262,-1.422,2,2,0
$FREEZE,8.45,-1.263,-1.421,2,2,0
$FREEZE,8.02,-1.263,-1.421,2,2,0
$FREEZE,7.64,-1.262,-1.421,2,2,0
$GC,12069,1.13,776.1,3268,1355,443,552,7.6,8.2,809,12073,0.00,2.45,0.00,0.000,1030,0.000,0.091,3267,2723,496,443,550,0,0,0,0,0,0,28.83,14.17,28.83
$FREEZE,6.61,-1.263,-1.420,2,2,0
$FREEZE,5.77,-1.261,-1.419,2,2,0
$FREEZE,4.97,-1.263,-1.419,2,2,0
$FREEZE,4.16,-1.263,-1.418,2,2,0
$FREEZE,3.28,-1.263,-1.417,2,2,0
$FREEZE,2.44,-1.265,-1.416,2,2,0
$FREEZE,2.04,-1.268,-1.416,2,2,0
$FREEZE,1.96,-1.268,-1.416,2,2,0
$STATE,12148,end climb,SURFACE_DEPTH_REACHED
$STATE,12148,begin surface coast
$FREEZE,2.03,-1.269,-1.416,2,2,0
$FREEZE,1.95,-1.270,-1.416,2,2,0
$FREEZE,1.70,-1.269,-1.416,2,2,0
$FINISH,1.7,1.020876
$STATE,12177,end surface coast,CONTROL_FINISHED_OK
$STATE,12177,begin surface
$SM_CCo,12255,0.00,0.000,0,0,493,678.25
$SM_GC,2.18,9.70,0.08,0.00,0.106,0.163,0.000,189,2792,493,-8.36,-0.54,678.25,0,0,0,0,0,0,14.38,14.34,28.83
$RAFOS_CLK,265
$MODEM,5,1410293082,74.41100,-140.65080,282.753,409455.3
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14225.39,090914,141927
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.23
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,14
$SC_FREEKB,3797504
$24V_AH,12.63,97.543
$10V_AH,12.74,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.725,40.300,587.900,0.000,0.000,0.000,0.000,122.250,3.500,0.000,181.862,0.000,10041.544,629.488,1973.903,224.616,0.000,1424.005,0.000,1236.984,1498.000,0.539,0.000
$DEVICE_MAMPS,397.800,162.945,1989.765,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12230.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.859,0.000,0.000,0.000
$MEM,183032
$DATA_FILE_SIZE,26724,821
$CAP_FILE_SIZE,130781,0
$CFSIZE,2097872896,2031353856
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13214.90,0x2378b6,7,5
$INTR,1,5471.85,0x2378b6,2,5
$SOUNDSPEED,1448.1
$GPS,090914,213024,7440.702,-14226.261,30,0.8,50,24.0