version: 66.12
glider: 196
mission: 7
dive: 354
start: 9 15 114 14 24 45
data:
$ID,196
$MISSION,7
$DIVE,354
$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,56
$R_STBD_OVSHOOT,19
$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,17.46
$_SM_ANGLEo,-21.3
$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
$GC,17,-0.69,-145.9,2981,2738,1850,1747,0.0,0.0,0,33,0.00,0.00,-14.48,0.000,16386,0.000,0.000,2980,2739,2758,2814,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.69,-145.9,2981,2739,2816,2703,19.7,0.0,1,56,0.93,2.40,-15.50,0.000,20996,0.067,0.084,2656,1373,3857,3920,3794,0,0,0,0,0,0,14.28,14.26,14.52
$GC,112,-0.69,-145.9,2657,1373,3921,3797,43.8,-32.3,16,118,0.00,2.50,0.00,0.000,1030,0.000,0.093,2645,2761,3858,3920,3797,0,0,0,0,0,0,28.83,14.22,28.83
$GC,416,-0.69,-145.9,2646,2762,3921,3797,118.9,-22.0,47,420,0.00,1.83,0.00,0.000,260,0.000,0.098,2637,3794,3858,3919,3797,0,0,0,0,0,0,28.83,14.19,28.83
$GC,445,-0.69,-145.9,2639,3794,3920,3798,125.9,-24.0,53,451,0.10,1.73,0.00,0.000,3078,0.247,0.051,2663,2757,3858,3919,3797,0,0,0,0,0,0,14.03,14.35,28.83
$GC,756,-0.69,-145.9,2662,2757,3921,3797,184.3,-17.9,85,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2757,3859,3920,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.69,-145.9,2663,2758,3920,3798,233.8,-14.7,115,1060,0.00,2.33,0.00,0.000,516,0.000,0.065,2661,1374,3858,3920,3797,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1095,-0.69,-145.9,2663,1374,3921,3798,239.4,-13.0,123,1100,0.00,2.47,0.00,0.000,1030,0.000,0.096,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1415,-0.69,-145.9,2656,2762,3921,3798,283.9,-13.6,140,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-0.69,-145.9,2654,2761,3921,3797,325.1,-13.6,150,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,-0.69,-145.9,2656,2762,3921,3798,363.9,-12.7,160,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2316,-0.69,-145.9,2656,2761,3921,3797,400.4,-12.1,170,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,-0.69,-145.9,2655,2760,3921,3797,436.8,-12.2,180,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2916,-0.69,-145.9,2656,2761,3921,3797,473.2,-12.1,190,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2760,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-0.69,-145.9,2655,2761,3921,3797,509.6,-12.1,200,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3516,-0.69,-145.9,2656,2762,3921,3798,545.4,-11.8,210,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.69,-145.9,2656,2762,3921,3799,581.0,-11.8,220,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4116,-0.69,-145.9,2655,2761,3920,3797,616.0,-11.6,230,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.69,-145.9,2655,2762,3921,3803,650.6,-11.4,240,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-0.69,-145.9,2656,2761,3921,3797,684.8,-11.4,250,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5016,-0.69,-145.9,2655,2761,3922,3797,719.1,-11.4,260,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5314,begin apogee
$GC,5319,-0.13,0.0,2655,2761,3921,3797,752.8,-11.3,270,5448,0.73,0.00,126.97,2.026,10244,0.221,0.000,2846,2761,3257,3276,3238,0,0,0,0,0,0,14.17,28.83,12.99
$STATE,5449,end apogee,CONTROL_FINISHED_OK
$STATE,5449,begin climb
$GC,5451,0.69,145.9,2846,2760,3273,3234,756.6,0.0,274,5583,0.88,0.00,125.85,1.880,11270,0.119,0.000,3110,2761,2664,2669,2659,0,0,0,0,0,0,13.73,28.83,12.57
$GC,5887,0.69,145.9,3113,2761,2665,2647,712.9,12.9,314,5892,0.00,2.47,0.00,0.000,516,0.000,0.063,3123,1351,2655,2664,2647,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5927,0.69,151.1,3125,1352,2665,2648,708.0,11.4,322,5937,0.00,2.53,2.00,0.407,9222,0.000,0.089,3123,2741,2646,2658,2635,0,0,0,0,0,0,28.83,13.98,12.27
$GC,6249,0.69,151.1,3124,2741,2672,2636,665.4,13.4,336,6251,0.00,0.00,1.23,0.315,8198,0.000,0.000,3123,2741,2644,2658,2630,0,0,0,0,0,0,28.83,28.83,13.65
$GC,6548,0.69,151.1,3124,2742,2675,2630,625.3,13.3,346,6550,0.00,0.00,1.52,0.375,8198,0.000,0.000,3123,2741,2643,2659,2628,0,0,0,0,0,0,28.83,28.83,13.69
$GC,6848,0.69,151.1,3124,2742,2676,2632,585.7,13.1,356,6850,0.00,0.00,1.25,0.334,8198,0.000,0.000,3123,2742,2643,2660,2627,0,0,0,0,0,0,28.83,28.83,13.69
$GC,7148,0.69,151.1,3125,2743,2676,2631,546.5,13.1,366,7151,0.00,0.00,1.90,0.425,8198,0.000,0.000,3123,2741,2644,2661,2627,0,0,0,0,0,0,28.83,28.83,13.71
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5aafaa9ba5;,*53
$MODEM_MSG,CACST,6,0,20140915160414.510410,3,324,01,0289,0150,255,02,02,04,04,1,005,000,0,5,1,0,150,14.1,6.6,-100,-3.6,-01,0.3,34,900,0025*2E
$GC,7448,0.69,151.1,3124,2742,2677,2634,507.8,12.9,376,7453,0.00,1.85,1.30,0.351,8452,0.000,0.093,3123,3794,2645,2664,2626,0,0,0,0,0,0,28.83,14.35,13.69
$GC,7468,0.69,151.1,3124,3795,2670,2633,505.1,13.5,380,7473,0.00,1.73,0.82,0.339,9222,0.000,0.049,3130,2749,2645,2664,2627,0,0,0,0,0,0,28.83,14.44,13.76
$GC,7780,0.69,151.1,3132,2745,2676,2631,464.5,13.1,392,7783,0.00,0.00,2.25,0.706,8198,0.000,0.000,3131,2744,2642,2659,2626,0,0,0,0,0,0,28.83,28.83,13.35
$GC,8078,0.69,151.1,3132,2745,2674,2629,425.9,12.8,402,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2744,2650,2673,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8378,0.69,151.1,3132,2745,2674,2628,388.1,12.5,412,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2743,2651,2674,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8678,0.69,151.1,3132,2745,2675,2629,350.0,12.8,422,8680,0.00,0.00,1.12,0.330,8198,0.000,0.000,3131,2744,2642,2660,2625,0,0,0,0,0,0,28.83,28.83,13.75
$GC,8978,0.69,151.7,3131,2744,2675,2628,314.0,11.6,432,8988,0.00,2.40,2.50,0.868,8708,0.000,0.063,3141,1344,2643,2663,2624,0,0,0,0,0,0,28.83,14.55,13.47
$GC,9018,0.70,166.8,3142,1344,2669,2626,309.7,10.8,440,9039,0.00,2.47,16.85,1.375,9222,0.000,0.090,3141,2753,2574,2584,2565,0,0,0,0,0,0,28.83,14.44,13.80
$GC,9339,0.70,166.8,3142,2753,2583,2560,270.7,12.4,454,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2753,2570,2581,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9638,0.72,188.9,3143,2754,2582,2561,236.6,10.4,472,9663,0.00,2.42,19.05,1.293,8708,0.000,0.063,3150,1351,2482,2489,2476,0,0,0,0,0,0,28.83,14.42,13.78
$GC,9668,0.74,219.2,3151,1352,2488,2477,233.7,10.0,476,9700,0.00,2.45,25.33,1.260,9222,0.000,0.090,3150,2742,2361,2362,2360,0,0,0,0,0,0,28.83,14.38,13.68
$GC,9998,0.75,236.3,3152,2743,2362,2357,196.7,10.7,512,10020,0.00,2.38,15.60,1.261,8708,0.000,0.062,3160,1347,2288,2289,2288,0,0,0,0,0,0,28.83,14.32,13.71
$GC,10071,0.78,269.6,3160,1347,2289,2286,189.5,9.9,526,10105,0.00,2.47,27.98,1.212,9222,0.000,0.090,3159,2741,2156,2157,2156,0,0,0,0,0,0,28.83,14.26,13.62
$GC,10410,0.78,276.0,3160,2742,2157,2147,150.6,11.3,564,10415,0.00,0.00,3.58,1.186,8198,0.000,0.000,3160,2741,2134,2139,2129,0,0,0,0,0,0,28.83,28.83,13.44
$GC,10710,0.80,304.0,3160,2741,2154,2130,119.3,10.1,594,10741,0.00,0.00,24.60,1.149,8710,0.000,0.000,3158,2741,2013,2019,2007,0,0,0,0,0,0,28.83,28.83,13.73
$GC,11042,0.84,357.0,3161,2741,2020,1999,86.9,8.8,628,11071,0.00,0.00,23.48,0.448,8198,0.000,0.000,3160,2741,1803,1805,1801,0,0,0,0,0,0,28.83,28.83,13.87
$GC,11372,0.89,431.5,3160,2741,1809,1795,56.6,7.7,661,11411,0.00,0.00,33.70,0.357,8198,0.000,0.000,3160,2741,1501,1513,1489,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11712,0.97,542.0,3160,2741,1518,1474,39.2,5.7,695,11764,0.15,0.00,50.58,0.301,10246,0.116,0.000,3220,2741,1046,1057,1035,0,0,0,0,0,0,14.26,28.83,13.95
$GC,12060,1.04,648.5,3222,2742,1056,1025,14.4,6.0,730,12116,0.00,2.45,48.60,0.238,8708,0.000,0.067,3221,1355,611,586,637,0,0,0,0,0,0,28.83,14.15,14.00
$FREEZE,8.82,-1.427,-1.435,2,6,0
$STATE,12154,end climb,FINISH_DEPTH_REACHED
$STATE,12154,begin subsurface finish
$FINISH1,8.8,1.021080,358
$GC,12161,0.25,357.8,3221,2741,587,637,8.8,5.4,749,12195,0.82,2.40,-27.62,0.000,20996,0.161,0.083,2982,1350,1800,1854,1747,0,0,0,0,0,0,14.04,14.18,14.42
$FINISH2,8.5
$STATE,12195,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12196,begin surface
$RAFOS_CLK,321
$MODEM,5,1410797054,74.29000,-141.34840,14.510,21027.6
$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,44.92
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,9
$SC_FREEKB,3780032
$24V_AH,12.27,110.658
$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,3.600,43.825,558.050,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,0.000,10022.636,568.405,1557.105,162.504,0.000,1188.135,0.000,1135.566,1480.000,0.540,0.000
$DEVICE_MAMPS,247.095,97.920,2026.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12246.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.110,0.000,0.000,0.000
$MEM,155976
$DATA_FILE_SIZE,26686,756
$CAP_FILE_SIZE,124166,0
$CFSIZE,2097872896,2023784448
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12476.57,0x2378b6,7,5
$INTR,1,5316.23,0x2378b6,2,5
$SOUNDSPEED,1448.9
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5