version: 66.12
glider: 196
mission: 7
dive: 350
start: 9 15 114 0 37 10
data:
$ID,196
$MISSION,7
$DIVE,350
$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,1
$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,-8342.5654
$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,58
$R_STBD_OVSHOOT,17
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-40.7
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,167.0,221862,-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
$MODEM_MSG,CACST,6,1,20140915000117.432298,3,16,00,0320,0150,217,03,03,02,03,-1,-01,-01,1,3,0,0,150,12.5,0.5,-100,2.5,-01,0.9,28,900,0025*12
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5a8f2a9f9f;,*56
$MODEM_MSG,CACST,6,0,20140915000420.664605,3,568,09,0361,0150,250,02,02,03,04,1,005,000,0,5,1,0,150,15.2,11.8,-100,-8.8,-01,-0.3,37,900,0025*38
$GC,17,-0.69,-145.9,199,2758,433,549,0.0,0.0,0,122,0.00,0.00,-100.93,0.000,16386,0.000,0.000,198,2759,3039,3080,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.69,-145.9,199,2760,3080,3000,5.7,-7.8,10,154,12.15,2.40,-11.45,0.000,18948,0.395,0.086,2669,1370,3856,3915,3797,0,0,0,0,0,0,13.93,14.28,14.54
$GC,379,-0.69,-145.9,2670,1369,3916,3800,85.0,-18.4,61,385,0.00,2.53,0.00,0.000,1030,0.000,0.099,2660,2761,3857,3915,3800,0,0,0,0,0,0,28.83,14.21,28.83
$GC,684,-0.69,-145.9,2661,2761,3916,3800,148.1,-19.5,92,689,0.00,2.35,0.00,0.000,516,0.000,0.063,2661,1373,3857,3915,3800,0,0,0,0,0,0,28.83,14.34,28.83
$GC,754,-0.69,-145.9,2661,1373,3916,3801,160.1,-16.3,106,759,0.00,2.50,0.00,0.000,1030,0.000,0.096,2649,2771,3857,3915,3800,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1064,-0.69,-145.9,2650,2769,3916,3800,215.8,-17.6,138,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2769,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.69,-145.9,2650,2769,3916,3800,264.3,-14.8,163,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2769,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1674,-0.69,-145.9,2650,2769,3916,3800,307.7,-14.2,173,1679,0.00,1.77,0.00,0.000,260,0.000,0.100,2641,3783,3857,3915,3800,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1714,-0.69,-145.9,2641,3783,3916,3800,313.8,-15.7,181,1719,0.10,1.70,0.00,0.000,3078,0.219,0.054,2667,2759,3857,3915,3800,0,0,0,0,0,0,14.16,14.46,28.83
$GC,2036,-0.69,-145.9,2668,2760,3916,3801,352.5,-11.9,195,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2334,-0.69,-145.9,2668,2759,3916,3800,388.3,-11.9,205,2339,0.00,2.35,0.00,0.000,516,0.000,0.064,2667,1358,3857,3915,3800,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2379,-0.69,-145.9,2668,1359,3916,3800,393.4,-11.1,214,2384,0.00,2.50,0.00,0.000,1030,0.000,0.097,2662,2762,3857,3915,3800,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2696,-0.69,-145.9,2663,2763,3916,3801,430.6,-11.8,227,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2994,-0.69,-145.9,2663,2763,3916,3801,465.4,-11.5,237,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3294,-0.69,-145.9,2662,2762,3916,3800,499.4,-11.3,247,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3595,-0.69,-145.9,2663,2762,3916,3800,532.9,-11.1,257,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2758,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3894,-0.69,-145.9,2663,2762,3916,3800,566.1,-11.1,267,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4194,-0.69,-145.9,2663,2762,3916,3800,599.1,-11.0,277,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2762,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4494,-0.69,-145.9,2664,2763,3916,3802,632.0,-11.0,287,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4794,-0.69,-145.9,2663,2762,3915,3800,664.6,-10.8,297,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-0.69,-145.9,2662,2763,3916,3802,697.3,-11.0,307,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.69,-145.9,2663,2763,3916,3802,729.8,-10.8,317,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5602,begin apogee
$GC,5607,-0.13,0.0,2663,2763,3916,3802,752.7,-10.9,324,5737,0.68,0.00,127.57,2.032,10244,0.212,0.000,2843,2762,3256,3275,3238,0,0,0,0,0,0,14.19,28.83,13.00
$STATE,5738,end apogee,CONTROL_FINISHED_OK
$STATE,5738,begin climb
$GC,5740,0.69,145.9,2844,2763,3272,3235,756.3,0.0,328,5877,0.88,0.00,125.97,1.858,11270,0.118,0.000,3110,2762,2657,2665,2649,0,0,0,0,0,0,13.73,28.83,12.57
$GC,6174,0.69,145.9,3111,2762,2666,2644,713.1,12.9,368,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6474,0.69,145.9,3110,2762,2666,2644,675.3,12.5,378,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,0.69,145.9,3111,2763,2666,2645,637.5,12.5,388,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7074,0.69,145.9,3110,2762,2666,2644,599.9,12.6,398,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7374,0.69,145.9,3110,2762,2666,2643,562.5,12.5,408,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7674,0.69,145.9,3111,2763,2665,2644,525.5,12.2,418,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7974,0.69,145.9,3111,2763,2666,2645,488.5,12.3,428,7979,0.00,1.80,0.00,0.000,260,0.000,0.096,3110,3790,2654,2665,2643,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8014,0.69,145.9,3110,3790,2666,2643,483.0,14.3,436,8019,0.00,1.75,0.00,0.000,1030,0.000,0.050,3117,2728,2654,2665,2643,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8336,0.69,145.9,3118,2729,2666,2644,443.1,12.4,450,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2728,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8634,0.69,145.9,3118,2728,2666,2643,406.6,12.0,460,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2728,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,0.69,145.9,3118,2729,2665,2644,371.3,11.7,470,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2728,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9235,0.69,150.8,3118,2727,2666,2643,336.7,11.4,480,9240,0.00,1.92,1.48,0.351,8452,0.000,0.096,3117,3788,2646,2659,2633,0,0,0,0,0,0,28.83,14.41,13.72
$GC,9265,0.69,150.8,3118,3788,2669,2637,333.0,12.3,486,9270,0.00,1.73,0.98,0.311,9222,0.000,0.050,3125,2738,2645,2660,2631,0,0,0,0,0,0,28.83,14.51,13.83
$GC,9595,0.69,152.9,3126,2739,2675,2635,294.5,11.5,502,9600,0.00,0.00,3.85,1.313,8198,0.000,0.000,3125,2738,2634,2648,2620,0,0,0,0,0,0,28.83,28.83,13.54
$GC,9895,0.72,189.0,3125,2738,2667,2623,263.3,9.7,512,9935,0.00,1.90,33.47,1.320,8452,0.000,0.097,3125,3792,2484,2491,2477,0,0,0,0,0,0,28.83,14.36,13.74
$GC,9975,0.72,189.0,3125,3792,2489,2476,253.6,13.9,523,9980,0.00,1.75,0.00,0.000,1030,0.000,0.049,3131,2741,2486,2489,2484,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10285,0.75,230.5,3132,2742,2490,2476,220.7,9.4,553,10326,0.00,0.00,35.35,1.319,8710,0.000,0.000,3131,2741,2312,2315,2310,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10625,0.78,271.1,3131,2741,2317,2305,187.0,9.5,590,10666,0.00,2.38,34.40,1.300,8708,0.000,0.065,3141,1356,2147,2149,2145,0,0,0,0,0,0,28.83,14.24,13.59
$GC,10708,0.80,304.7,3142,1354,2149,2141,179.1,9.8,606,10742,0.00,2.50,29.00,1.306,9222,0.000,0.090,3141,2754,2012,2015,2009,0,0,0,0,0,0,28.83,14.21,13.51
$GC,11047,0.82,325.8,3142,2754,2014,1996,141.3,10.5,644,11068,0.00,0.00,18.42,1.224,8198,0.000,0.000,3141,2754,1923,1926,1921,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11369,0.83,349.0,3142,2754,1925,1913,106.2,10.4,676,11392,0.00,2.45,17.23,1.173,8708,0.000,0.066,3149,1355,1828,1831,1825,0,0,0,0,0,0,28.83,14.28,13.69
$GC,11407,0.84,361.8,3150,1355,1829,1824,101.9,10.9,684,11423,0.00,2.47,9.07,1.174,9222,0.000,0.092,3150,2741,1778,1781,1775,0,0,0,0,0,0,28.83,14.23,13.66
$GC,11729,0.87,405.4,3151,2742,1781,1764,70.2,9.3,718,11750,0.00,0.00,18.95,0.398,8198,0.000,0.000,3149,2741,1603,1612,1595,0,0,0,0,0,0,28.83,28.83,13.92
$GC,12049,0.94,506.8,3150,2741,1622,1589,46.4,6.2,750,12100,0.12,1.95,46.22,0.327,10500,0.125,0.098,3209,3793,1192,1210,1175,0,0,0,0,0,0,14.23,14.21,13.95
$GC,12151,0.98,563.8,3210,3794,1205,1176,39.4,8.6,768,12182,0.00,1.73,26.12,0.305,9222,0.000,0.050,3213,2741,959,967,952,0,0,0,0,0,0,28.83,14.19,13.92
$GC,12481,1.07,688.3,3215,2742,967,944,17.4,5.0,804,12542,0.00,2.47,52.28,0.249,8708,0.000,0.067,3221,1351,501,454,548,0,0,0,0,0,0,28.83,14.13,13.97
$FREEZE,8.91,-1.385,-1.432,2,2,0
$STATE,12645,end climb,FINISH_DEPTH_REACHED
$STATE,12645,begin subsurface finish
$FINISH1,8.9,1.021034,360
$GC,12652,0.25,360.2,3222,2745,448,550,8.9,4.8,837,12689,0.82,1.95,-31.15,0.000,20740,0.149,0.125,2975,3784,1791,1846,1737,0,0,0,0,0,0,14.00,14.09,14.35
$FINISH2,7.6
$STATE,12689,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12689,begin surface
$RAFOS_CLK,31
$MODEM,5,1410739460,74.18600,-140.94119,20.665,29936.3
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.081641,0.081641
$HUMID,43.46
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.30
$XPDR_PINGS,14
$SC_FREEKB,3781824
$24V_AH,12.57,109.405
$10V_AH,12.66,0.000
$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,14.750,49.400,580.375,0.000,0.000,0.000,0.000,122.200,3.500,0.000,181.874,0.000,10391.017,660.936,2012.170,245.974,0.000,1484.746,0.000,1261.358,1498.000,0.539,0.000
$DEVICE_MAMPS,394.740,125.460,2031.840,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12742.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.846,0.000,0.000,0.000
$MEM,157920
$DATA_FILE_SIZE,30049,842
$CAP_FILE_SIZE,136484,0
$CFSIZE,2097872896,2024505344
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13280.00,0x2378b6,7,5
$INTR,1,5604.54,0x2378b6,2,5
$SOUNDSPEED,1448.5
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5