version: 66.12
glider: 196
mission: 7
dive: 292
start: 9 6 114 7 46 58
data:
$ID,196
$MISSION,7
$DIVE,292
$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,-6274.3643
$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
$GPS1,050914,211346,7418.154,-14310.700,181,99.0,181,23.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.49
$_SM_ANGLEo,-20.6
$GPS2,050914,211346,7418.154,-14310.700,181,99.0,181,23.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.0,37080,-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,-145.9,2975,2744,1901,1793,0.0,0.0,0,32,0.00,0.00,-14.85,0.000,16386,0.000,0.000,2975,2744,2841,2901,2782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.69,-145.9,2976,2745,2902,2784,20.0,0.0,1,55,0.90,1.92,-14.25,0.000,20740,0.067,0.125,2650,3794,3857,3923,3791,0,0,0,0,0,0,14.33,14.28,14.54
$GC,279,-0.69,-145.9,2650,3795,3925,3797,92.5,-23.3,50,286,0.00,1.73,0.00,0.000,1030,0.000,0.051,2649,2757,3859,3923,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,585,-0.69,-145.9,2650,2757,3924,3796,156.0,-19.5,81,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.69,-145.9,2650,2757,3924,3797,213.0,-18.0,111,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-0.69,-145.9,2650,2758,3924,3796,264.9,-15.4,137,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1509,-0.69,-145.9,2650,2757,3924,3795,308.4,-14.3,147,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1809,-0.69,-145.9,2650,2757,3923,3795,349.6,-13.7,157,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,-0.69,-145.9,2650,2758,3924,3797,389.6,-13.1,167,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5afeba9528;,*52
$MODEM_MSG,CACST,6,0,20140906080425.489241,3,1762,02,0346,0150,217,04,04,05,04,1,005,000,0,5,1,0,150,8.2,4.2,-100,-1.2,-01,-0.4,27,900,0025*0A
$GC,2409,-0.69,-145.9,2646,2758,3919,3795,428.2,-12.8,177,2414,0.00,2.35,0.00,0.000,516,0.000,0.067,2649,1362,3859,3923,3796,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2460,-0.69,-145.9,2650,1368,3924,3796,434.3,-11.8,187,2465,0.12,2.47,0.00,0.000,3078,0.265,0.097,2666,2755,3859,3923,3795,0,0,0,0,0,0,14.23,14.38,28.83
$GC,2771,-0.69,-145.9,2666,2755,3924,3795,470.1,-11.5,199,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.69,-145.9,2667,2756,3924,3796,504.2,-11.3,209,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,-0.69,-145.9,2666,2754,3924,3796,537.6,-11.1,219,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.69,-145.9,2666,2755,3924,3796,570.8,-11.2,229,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3970,-0.69,-145.9,2666,2755,3923,3795,604.4,-11.2,239,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4270,-0.69,-145.9,2666,2756,3924,3796,638.0,-11.2,249,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4570,-0.69,-145.9,2666,2755,3924,3796,671.2,-11.0,259,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.69,-145.9,2666,2755,3924,3797,704.0,-10.9,269,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5170,-0.69,-145.9,2666,2755,3924,3796,736.5,-10.8,279,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5318,begin apogee
$GC,5322,-0.13,0.0,2666,2754,3924,3796,752.4,-10.7,284,5452,0.68,0.00,126.97,2.019,10244,0.216,0.000,2847,2754,3257,3278,3237,0,0,0,0,0,0,14.23,28.83,13.07
$STATE,5453,end apogee,CONTROL_FINISHED_OK
$STATE,5453,begin climb
$GC,5454,0.69,145.9,2848,2755,3273,3233,755.9,0.0,288,5586,0.88,0.00,125.28,1.857,11270,0.121,0.000,3114,2755,2658,2663,2654,0,0,0,0,0,0,13.76,28.83,12.62
$GC,5891,0.69,145.9,3115,2755,2663,2646,710.9,13.2,328,5896,0.00,2.45,0.00,0.000,516,0.000,0.064,3125,1349,2654,2662,2646,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5921,0.69,145.9,3126,1349,2663,2647,707.0,12.1,334,5926,0.00,2.53,0.00,0.000,1030,0.000,0.089,3125,2741,2654,2662,2646,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6252,0.69,145.9,3126,2742,2663,2646,661.7,13.8,350,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6551,0.69,145.9,3126,2742,2663,2646,620.7,13.7,360,6556,0.00,1.85,0.00,0.000,260,0.000,0.096,3125,3773,2654,2663,2645,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6586,0.69,145.9,3126,3774,2663,2645,615.2,16.2,367,6591,0.00,1.70,0.00,0.000,1030,0.000,0.048,3132,2733,2653,2663,2644,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6912,0.69,145.9,3133,2734,2663,2645,569.8,14.0,382,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2733,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7211,0.69,145.9,3133,2734,2663,2645,528.4,13.8,392,7216,0.00,1.85,0.00,0.000,260,0.000,0.098,3133,3789,2653,2662,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7221,0.69,145.9,3133,3790,2663,2645,526.9,13.9,394,7226,0.00,1.70,0.00,0.000,1030,0.000,0.050,3140,2747,2650,2662,2639,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7542,0.69,145.9,3141,2747,2663,2645,482.1,13.9,408,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7841,0.69,145.9,3141,2747,2663,2650,440.7,13.8,418,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,0.69,145.9,3141,2747,2663,2644,400.1,13.4,428,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8441,0.69,145.9,3141,2747,2663,2643,359.9,13.5,438,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8741,0.69,145.9,3141,2748,2664,2647,321.2,12.6,448,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9041,0.69,145.9,3141,2747,2664,2644,284.9,11.8,458,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9341,0.70,159.3,3141,2747,2665,2644,251.1,10.9,468,9357,0.00,2.40,12.10,1.330,8708,0.000,0.064,3152,1348,2602,2608,2597,0,0,0,0,0,0,28.83,14.57,13.91
$GC,9433,0.72,195.6,3152,1349,2606,2596,242.4,9.7,486,9468,0.00,2.45,30.17,1.292,9222,0.000,0.091,3151,2749,2458,2459,2458,0,0,0,0,0,0,28.83,14.47,13.75
$GC,9773,0.74,221.9,3152,2750,2457,2449,206.0,10.2,524,9798,0.00,0.00,22.25,1.301,8454,0.000,0.000,3151,2749,2349,2348,2350,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10104,0.76,248.1,3152,2750,2348,2346,172.5,10.2,559,10128,0.00,0.00,22.90,1.294,8198,0.000,0.000,3151,2753,2245,2245,2246,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10424,0.78,279.5,3152,2755,2242,2235,139.6,10.0,591,10455,0.00,2.45,27.12,1.275,8708,0.000,0.064,3161,1358,2113,2115,2112,0,0,0,0,0,0,28.83,14.28,13.64
$GC,10501,0.81,320.6,3162,1357,2113,2110,132.4,9.4,606,10541,0.00,2.45,35.10,1.323,9222,0.000,0.091,3161,2735,1950,1946,1954,0,0,0,0,0,0,28.83,14.24,13.52
$GC,10846,0.83,340.3,3162,2734,1944,1938,94.1,10.6,645,10857,0.00,0.00,8.12,0.469,8198,0.000,0.000,3161,2734,1870,1871,1869,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11156,0.86,394.2,3162,2735,1880,1870,63.7,8.8,676,11187,0.00,0.00,24.98,0.379,8198,0.000,0.000,3161,2734,1650,1654,1646,0,0,0,0,0,0,28.83,28.83,13.98
$GC,11487,0.97,542.7,3162,2735,1664,1638,44.2,3.7,709,11558,0.12,1.95,66.57,0.316,10500,0.127,0.099,3217,3786,1043,1052,1035,0,0,0,0,0,0,14.30,14.17,13.99
$GC,11579,0.99,573.6,3217,3786,1052,1035,36.9,10.0,727,11601,0.00,1.75,13.98,0.301,9222,0.000,0.050,3220,2749,918,920,917,0,0,0,0,0,0,28.83,14.22,13.97
$GC,11901,1.06,677.7,3222,2750,918,910,13.3,6.1,761,11955,0.00,2.47,47.05,0.236,8708,0.000,0.068,3220,1351,498,448,549,0,0,0,0,0,0,28.83,14.19,14.06
$FREEZE,8.95,-1.406,-1.448,2,4,0
$STATE,11964,end climb,FINISH_DEPTH_REACHED
$STATE,11964,begin subsurface finish
$FINISH1,9.0,1.021270,348
$GC,11972,0.24,348.0,3221,2738,449,549,9.0,6.8,774,12010,0.85,2.40,-30.73,0.000,20996,0.167,0.087,2976,1348,1842,1895,1789,0,0,0,0,0,0,14.09,14.21,14.43
$FINISH2,9.0
$STATE,12011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12011,begin surface
$RAFOS_CLK,559
$MODEM,5,1409990665,74.54300,-142.01280,265.489,384702.5
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7334.88,-14309.39,050914,210726
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.03
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,7
$SC_FREEKB,3807808
$24V_AH,12.62,89.810
$10V_AH,12.73,0.000
$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,3.550,41.400,562.600,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,0.000,9835.186,552.637,1592.580,143.245,0.000,1195.110,0.000,1175.178,1490.000,0.539,0.000
$DEVICE_MAMPS,265.455,124.695,2018.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12060.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.600,0.000,0.000,0.000
$MEM,196036
$DATA_FILE_SIZE,26714,782
$CAP_FILE_SIZE,121270,0
$CFSIZE,2097872896,2035646464
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12581.69,0x2378b6,7,5
$INTR,1,5320.09,0x2378b6,2,5
$SOUNDSPEED,1449.0
$GPS,050914,211346,7418.154,-14310.700,181,99.0,181,23.7