version: 66.12
glider: 196
mission: 7
dive: 351
start: 9 15 114 4 11 18
data:
$ID,196
$MISSION,7
$DIVE,351
$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,57
$R_STBD_OVSHOOT,21
$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,18.25
$_SM_ANGLEo,-22.4
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,2976,2757,1848,1742,0.0,0.0,0,31,0.00,0.00,-12.30,0.000,16386,0.000,0.000,2975,2757,2638,2688,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2758,2689,2589,21.1,0.0,1,57,0.90,2.40,-16.55,0.000,20996,0.064,0.091,2660,1379,3858,3923,3794,0,0,0,0,0,0,14.19,14.12,14.42
$GC,147,-0.69,-145.9,2661,1378,3924,3794,54.1,-25.9,24,153,0.00,2.50,0.00,0.000,1030,0.000,0.096,2649,2757,3859,3923,3795,0,0,0,0,0,0,28.83,14.14,28.83
$GC,452,-0.69,-145.9,2650,2757,3924,3796,123.6,-20.0,55,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-0.69,-145.9,2650,2758,3924,3797,182.2,-19.3,85,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140915040418.237787,3,11,-1,0183,0150,217,03,03,02,03,1,000,000,2,5,1,0,150,14.7,6.3,-100,-3.3,-01,-0.2,28,900,0025*2F
$GC,1052,-0.69,-145.9,2651,2759,3924,3797,233.8,-16.1,115,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1372,-0.69,-145.9,2650,2759,3924,3797,281.9,-14.2,133,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1672,-0.69,-145.9,2650,2758,3924,3797,323.1,-13.7,143,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-0.69,-145.9,2650,2758,3921,3796,363.1,-13.2,153,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2272,-0.69,-145.9,2650,2758,3924,3796,401.2,-12.7,163,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2572,-0.69,-145.9,2650,2758,3924,3797,438.9,-12.6,173,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2872,-0.69,-145.9,2651,2764,3924,3796,476.3,-12.4,183,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3172,-0.69,-145.9,2650,2759,3924,3797,512.9,-12.1,193,3177,0.00,2.33,0.00,0.000,516,0.000,0.064,2649,1374,3859,3923,3795,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3207,-0.69,-145.9,2650,1374,3924,3797,517.0,-11.6,200,3213,0.12,2.47,0.00,0.000,3078,0.269,0.096,2665,2762,3859,3923,3796,0,0,0,0,0,0,14.14,14.32,28.83
$GC,3532,-0.69,-145.9,2666,2763,3924,3797,552.5,-10.9,215,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,-0.69,-145.9,2666,2763,3924,3797,585.2,-10.8,225,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,-0.69,-145.9,2666,2763,3924,3797,617.6,-10.7,235,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4433,-0.69,-145.9,2665,2762,3924,3796,649.8,-10.7,245,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4733,-0.69,-145.9,2665,2762,3924,3796,681.4,-10.6,255,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-0.69,-145.9,2665,2762,3924,3796,712.6,-10.3,265,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5333,-0.69,-145.9,2665,2762,3924,3796,743.8,-10.3,275,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3860,3923,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5425,-0.13,0.0,2666,2763,3924,3797,753.1,-10.4,278,5555,0.68,0.00,127.15,2.032,10246,0.214,0.000,2846,2762,3257,3276,3238,0,0,0,0,0,0,14.19,28.83,13.00
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5558,0.69,145.9,2848,2763,3272,3235,756.5,0.0,282,5696,0.88,2.62,126.72,1.883,10756,0.120,0.062,3121,1357,2656,2660,2652,0,0,0,0,0,0,13.73,13.28,12.57
$GC,5756,0.69,145.9,3121,1357,2661,2650,743.8,12.1,324,5761,0.00,2.60,0.00,0.000,1030,0.000,0.088,3121,2739,2655,2661,2649,0,0,0,0,0,0,28.83,13.54,28.83
$GC,6088,0.69,145.9,3121,2740,2660,2648,699.8,13.5,340,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2655,2663,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,0.69,145.9,3121,2740,2660,2648,659.8,13.3,350,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2653,2660,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6686,0.69,145.9,3122,2740,2661,2647,620.0,13.3,360,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2653,2660,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,0.69,145.9,3122,2741,2661,2648,580.4,13.2,370,6991,0.00,1.85,0.00,0.000,260,0.000,0.096,3121,3796,2653,2661,2645,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7031,0.69,145.9,3121,3796,2662,2646,573.8,15.0,379,7036,0.00,1.73,0.00,0.000,1030,0.000,0.049,3129,2745,2653,2661,2646,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7348,0.69,145.9,3130,2746,2662,2647,531.0,13.5,392,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2745,2653,2661,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,0.69,145.9,3130,2745,2662,2646,490.9,13.3,402,7651,0.00,1.83,0.00,0.000,260,0.000,0.096,3129,3790,2653,2661,2645,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7671,0.69,145.9,3129,3791,2662,2646,487.4,14.6,407,7677,0.00,1.73,0.00,0.000,1030,0.000,0.049,3136,2737,2653,2661,2645,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7976,0.69,145.9,3137,2737,2663,2645,446.1,13.4,418,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2736,2653,2661,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8276,0.69,145.9,3138,2737,2662,2646,406.3,13.2,428,8281,0.00,1.85,0.00,0.000,260,0.000,0.096,3137,3793,2653,2661,2645,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8296,0.69,145.9,3138,3794,2662,2645,403.3,14.5,432,8301,0.00,1.73,0.00,0.000,1030,0.000,0.049,3145,2741,2653,2661,2645,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8606,0.69,145.9,3145,2738,2663,2644,361.4,13.5,444,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2741,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8906,0.69,145.9,3146,2741,2662,2646,321.9,12.9,454,8911,0.00,1.83,0.00,0.000,260,0.000,0.095,3145,3786,2653,2662,2645,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8956,0.69,145.9,3146,3787,2663,2644,314.8,14.3,464,8961,0.10,1.73,0.00,0.000,5126,0.251,0.050,3127,2738,2653,2662,2644,0,0,0,0,0,0,14.14,14.50,28.83
$GC,9268,0.70,155.7,3127,2738,2663,2644,279.3,11.1,476,9278,0.00,0.00,8.88,1.371,8198,0.000,0.000,3126,2738,2622,2630,2615,0,0,0,0,0,0,28.83,28.83,13.82
$GC,9566,0.72,193.7,3128,2739,2625,2610,248.4,9.6,486,9600,0.00,0.00,32.30,1.307,8198,0.000,0.000,3126,2738,2467,2469,2466,0,0,0,0,0,0,28.83,28.83,13.78
$GC,9898,0.76,242.5,3128,2738,2466,2455,215.5,9.0,519,9947,0.00,2.40,40.78,1.306,8708,0.000,0.064,3135,1357,2263,2262,2264,0,0,0,0,0,0,28.83,14.23,13.62
$GC,9974,0.79,287.1,3137,1361,2262,2262,208.4,9.3,534,10018,0.00,2.47,37.85,1.326,9222,0.000,0.090,3139,2750,2082,2083,2081,0,0,0,0,0,0,28.83,14.22,13.47
$GC,10317,0.81,314.1,3138,2751,2082,2071,170.3,10.2,573,10341,0.00,0.00,22.83,1.242,8198,0.000,0.000,3136,2750,1977,1980,1975,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10639,0.82,332.5,3136,2750,1973,1963,136.5,10.7,605,10658,0.00,0.00,16.38,1.216,8710,0.000,0.000,3136,2750,1898,1899,1898,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10959,0.85,374.3,3136,2750,1900,1888,104.0,9.4,639,10999,0.00,2.40,33.47,1.169,8708,0.000,0.064,3143,1356,1724,1729,1720,0,0,0,0,0,0,28.83,14.21,13.62
$GC,11040,0.89,425.7,3144,1358,1728,1716,96.7,8.9,655,11070,0.12,2.50,23.17,0.484,11270,0.124,0.091,3196,2746,1522,1533,1512,0,0,0,0,0,0,14.16,14.12,13.83
$GC,11369,0.92,468.5,3197,2746,1537,1502,55.5,9.4,691,11394,0.00,2.45,19.40,0.353,8708,0.000,0.066,3204,1355,1349,1367,1331,0,0,0,0,0,0,28.83,14.18,13.93
$GC,11435,0.96,524.7,3205,1355,1371,1331,49.8,8.6,704,11470,0.00,2.50,26.73,0.337,9222,0.000,0.090,3204,2749,1116,1131,1102,0,0,0,0,0,0,28.83,14.18,13.91
$GC,11769,1.01,608.2,3205,2749,1133,1095,25.1,7.2,741,11815,0.00,2.45,38.55,0.279,8708,0.000,0.067,3204,1361,776,775,778,0,0,0,0,0,0,28.83,14.16,13.97
$GC,11884,1.11,750.7,3205,1361,776,779,20.0,4.0,763,11922,0.15,2.50,31.83,0.261,11270,0.134,0.090,3253,2743,500,452,549,0,0,0,0,0,0,14.15,14.14,13.98
$FREEZE,8.22,-1.381,-1.431,2,3,0
$STATE,12028,end climb,FINISH_DEPTH_REACHED
$STATE,12028,begin subsurface finish
$FINISH1,8.2,1.021024,361
$GC,12033,0.25,360.8,3254,2744,452,550,8.2,8.6,781,12067,0.98,0.00,-30.58,0.000,20998,0.168,0.000,2979,2744,1790,1847,1733,0,0,0,0,0,0,14.07,28.83,14.42
$FINISH2,8.4
$STATE,12068,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12068,begin surface
$RAFOS_CLK,605
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.31
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,9
$SC_FREEKB,3781376
$24V_AH,12.57,109.710
$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,3.925,50.575,586.025,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,0.000,9839.450,584.139,1596.440,164.524,0.000,1242.997,0.000,1178.624,0.000,0.539,0.000
$DEVICE_MAMPS,268.515,96.390,2031.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12119.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.086,0.000,0.000,0.000
$MEM,157488
$DATA_FILE_SIZE,26706,787
$CAP_FILE_SIZE,123782,0
$CFSIZE,2097872896,2024341504
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5422.28,0x2378b6,2,5
$INTR,1,12030.01,0x2378b6,5,5
$SOUNDSPEED,1449.3
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5