version: 66.12
glider: 196
mission: 7
dive: 275
start: 9 3 114 19 53 11
data:
$ID,196
$MISSION,7
$DIVE,275
$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,-5896.3799
$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,53
$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
$GPS1,030914,194251,7401.386,-14359.124,22,0.8,42,23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.6
$GPS2,030914,195252,7401.444,-14359.065,5,0.7,26,23.3
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,11.9,76059,-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,-145.9,200,2760,432,547,0.0,0.0,0,90,0.00,0.00,-72.05,0.000,16386,0.000,0.000,198,2759,2216,2224,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,200,2760,2225,2210,3.1,-2.3,7,141,12.10,2.38,-31.33,0.000,19204,0.395,0.085,2664,1372,3853,3918,3789,0,0,0,0,0,0,13.96,14.24,14.47
$GC,146,-0.69,-145.9,2664,1372,3919,3792,20.5,-35.4,18,152,0.00,2.47,0.00,0.000,1030,0.000,0.086,2655,2767,3854,3917,3792,0,0,0,0,0,0,28.83,14.23,28.83
$GC,455,-0.69,-145.9,2656,2768,3919,3794,107.4,-22.9,49,459,0.00,2.38,0.00,0.000,516,0.000,0.064,2655,1372,3853,3912,3794,0,0,0,0,0,0,28.83,14.22,28.83
$GC,684,-0.69,-145.9,2656,1370,3919,3794,151.1,-17.9,95,689,0.00,2.50,0.00,0.000,1030,0.000,0.096,2644,2766,3856,3918,3794,0,0,0,0,0,0,28.83,14.27,28.83
$GC,994,-0.69,-145.9,2648,2766,3919,3794,211.4,-18.7,127,999,0.00,2.38,0.00,0.000,516,0.000,0.065,2644,1368,3856,3918,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1225,-0.69,-145.9,2645,1369,3918,3795,248.0,-15.3,173,1230,0.15,2.50,0.00,0.000,3078,0.271,0.096,2665,2769,3856,3918,3794,0,0,0,0,0,0,14.14,14.26,28.83
$GC,1546,-0.69,-145.9,2665,2770,3919,3794,292.2,-13.4,186,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2770,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,-0.69,-145.9,2666,2770,3918,3795,331.5,-12.9,196,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2775,3855,3918,3793,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bc4ba6d4b;,*0C
$MODEM_MSG,CACST,6,0,20140903200140.239703,3,403,01,0433,0150,255,02,02,04,05,1,004,000,0,5,1,0,150,14.6,12.5,-100,-9.5,-01,-0.0,29,900,0025*3F
$GC,2145,-0.69,-145.9,2665,2769,3919,3794,369.7,-12.6,206,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2445,-0.69,-145.9,2662,2770,3922,3795,406.5,-12.3,216,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2745,-0.69,-145.9,2666,2770,3918,3795,442.7,-11.9,226,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3045,-0.69,-145.9,2666,2770,3919,3794,478.1,-11.8,236,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3345,-0.69,-145.9,2665,2770,3919,3794,513.1,-11.6,246,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-0.69,-145.9,2666,2769,3919,3794,547.7,-11.5,256,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.69,-145.9,2665,2769,3919,3794,582.1,-11.5,266,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-0.69,-145.9,2666,2770,3919,3795,616.3,-11.3,276,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3855,3917,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-0.69,-145.9,2665,2769,3919,3794,650.5,-11.4,286,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3855,3918,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-0.69,-145.9,2666,2770,3919,3796,684.3,-11.3,296,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.69,-145.9,2666,2770,3919,3795,718.0,-11.2,306,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5443,begin apogee
$GC,5447,-0.13,0.0,2666,2770,3919,3796,751.4,-11.1,316,5576,0.68,0.00,125.82,2.005,10244,0.216,0.000,2848,2769,3257,3277,3238,0,0,0,0,0,0,14.38,28.83,13.10
$STATE,5577,end apogee,CONTROL_FINISHED_OK
$STATE,5577,begin climb
$GC,5579,0.69,145.9,2850,2770,3272,3235,755.2,0.0,320,5712,0.85,0.00,125.50,1.842,11270,0.119,0.000,3110,2769,2658,2664,2652,0,0,0,0,0,0,13.78,28.83,12.64
$GC,6016,0.69,145.9,3111,2770,2664,2645,710.9,12.9,360,6021,0.00,2.47,0.00,0.000,516,0.000,0.063,3121,1348,2652,2661,2644,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6051,0.69,145.9,3122,1349,2664,2645,706.5,12.1,367,6056,0.00,2.53,0.00,0.000,1030,0.000,0.089,3121,2749,2654,2664,2644,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6378,0.69,145.9,3123,2749,2661,2644,663.6,13.2,382,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2749,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,0.69,145.9,3122,2749,2660,2644,624.1,13.1,392,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2748,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6976,0.69,145.9,3121,2749,2665,2643,585.1,13.1,402,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2749,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7276,0.69,145.9,3122,2749,2665,2643,546.5,12.9,412,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2749,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7576,0.69,145.9,3122,2749,2665,2643,508.1,12.8,422,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2749,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7876,0.69,145.9,3122,2750,2664,2644,469.5,12.8,432,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2749,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,0.69,145.9,3122,2749,2665,2643,431.0,12.8,442,8181,0.00,1.85,0.00,0.000,260,0.000,0.098,3121,3790,2653,2663,2643,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8201,0.69,145.9,3122,3791,2664,2644,427.4,14.3,447,8207,0.00,1.73,0.00,0.000,1030,0.000,0.050,3128,2735,2653,2663,2643,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8506,0.69,145.9,3130,2735,2665,2644,387.3,13.0,458,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2734,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8806,0.69,145.9,3130,2736,2665,2644,348.8,12.8,468,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2735,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9106,0.69,145.9,3129,2735,2665,2643,311.8,12.1,478,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9406,0.69,152.7,3130,2736,2665,2644,277.4,11.3,488,9411,0.00,0.00,3.42,1.185,8198,0.000,0.000,3129,2734,2635,2646,2625,0,0,0,0,0,0,28.83,28.83,13.64
$GC,9708,0.71,179.7,3130,2735,2665,2626,245.7,10.2,500,9738,0.00,0.00,26.58,1.295,8198,0.000,0.000,3129,2735,2519,2528,2511,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10038,0.75,234.6,3130,2736,2528,2508,213.2,8.7,533,10088,0.00,0.00,46.17,1.342,8710,0.000,0.000,3129,2735,2295,2298,2293,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10386,0.78,276.3,3130,2736,2299,2286,178.2,9.4,571,10428,0.00,2.38,35.00,1.304,8708,0.000,0.067,3139,1353,2126,2130,2123,0,0,0,0,0,0,28.83,14.19,13.60
$GC,10502,0.81,311.5,3141,1354,2128,2121,167.0,9.8,594,10539,0.00,2.53,30.25,1.296,9222,0.000,0.092,3139,2739,1983,1983,1983,0,0,0,0,0,0,28.83,14.21,13.54
$GC,10838,0.81,316.9,3140,2740,1981,1976,129.0,11.3,631,10841,0.00,0.00,1.88,0.448,8198,0.000,0.000,3145,2739,1966,1969,1964,0,0,0,0,0,0,28.83,28.83,13.84
$GC,11138,0.83,348.7,3140,2740,1985,1965,96.8,9.9,661,11159,0.00,0.00,15.73,0.485,8198,0.000,0.000,3139,2739,1838,1843,1833,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11458,0.89,424.7,3140,2740,1847,1834,67.4,7.6,693,11499,0.12,0.00,35.05,0.387,10246,0.123,0.000,3193,2738,1524,1532,1517,0,0,0,0,0,0,14.32,28.83,13.95
$GC,11798,0.95,512.8,3194,2740,1536,1506,39.0,6.9,727,11843,0.00,1.92,39.12,0.302,8452,0.000,0.099,3193,3786,1167,1180,1154,0,0,0,0,0,0,28.83,14.19,14.02
$GC,11928,0.99,569.5,3193,3786,1178,1152,27.9,8.6,753,11960,0.00,1.73,25.70,0.288,9222,0.000,0.052,3199,2737,939,938,941,0,0,0,0,0,0,28.83,14.28,14.02
$FREEZE,8.79,-1.252,-1.436,2,1,0
$FREEZE,8.59,-1.252,-1.436,2,1,0
$FREEZE,8.22,-1.259,-1.435,2,1,0
$FREEZE,7.76,-1.259,-1.435,2,1,0
$FREEZE,7.36,-1.265,-1.434,2,1,0
$FREEZE,6.85,-1.265,-1.434,2,1,0
$FREEZE,6.45,-1.290,-1.432,2,1,0
$FREEZE,5.84,-1.290,-1.432,2,1,0
$FREEZE,5.40,-1.269,-1.431,2,1,0
$GC,12258,1.08,699.7,3200,2737,938,928,8.8,4.7,789,12316,0.12,2.45,49.17,0.218,10756,0.129,0.069,3255,1349,497,443,551,0,0,0,0,0,0,14.30,14.21,14.07
$FREEZE,4.44,-1.243,-1.429,2,1,0
$FREEZE,3.99,-1.243,-1.429,2,1,0
$FREEZE,3.61,-1.241,-1.429,2,1,0
$FREEZE,3.17,-1.241,-1.428,2,1,0
$FREEZE,2.73,-1.239,-1.428,2,1,0
$FREEZE,2.43,-1.239,-1.428,2,1,0
$FREEZE,1.93,-1.237,-1.427,2,1,0
$STATE,12350,end climb,SURFACE_DEPTH_REACHED
$STATE,12350,begin surface coast
$FREEZE,1.60,-1.237,-1.427,2,1,0
$FREEZE,1.23,-1.242,-1.427,2,1,0
$FREEZE,0.76,-1.242,-1.426,2,1,0
$FREEZE,0.67,-1.221,-1.386,2,1,0
$FINISH,0.7,1.020454
$STATE,12371,end surface coast,CONTROL_FINISHED_OK
$STATE,12371,begin surface
$SM_CCo,12450,0.00,0.000,0,0,494,678.25
$SM_GC,1.86,9.38,2.58,0.00,0.079,0.096,0.000,204,2757,494,-8.36,-0.82,678.25,0,0,0,0,0,0,14.33,14.26,28.83
$RAFOS_CLK,597
$MODEM,4,1409774500,75.17660,-146.09480,100.240,145130.7
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7319.74,-14404.11,030914,194558
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.80
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.70
$XPDR_PINGS,2
$SC_FREEKB,3815424
$24V_AH,12.64,84.275
$10V_AH,12.78,0.000
$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,23.400,36.750,559.400,0.000,0.000,0.000,0.000,351.150,0.500,0.000,27.505,0.000,10224.756,618.682,2018.612,189.051,0.000,1627.049,0.000,1216.243,1490.000,0.540,0.000
$DEVICE_MAMPS,394.740,99.450,2005.065,0.000,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12422.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.232,0.000,0.000,0.000
$MEM,205352
$DATA_FILE_SIZE,26746,809
$CAP_FILE_SIZE,131009,0
$CFSIZE,2097872896,2038759424
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12613.23,0x2378b6,7,5
$INTR,1,5445.26,0x2378b6,2,5
$SOUNDSPEED,1448.1
$GPS,030914,232154,7402.634,-14356.270,25,0.9,45,23.4