version: 66.12
glider: 196
mission: 7
dive: 293
start: 9 6 114 11 9 41
data:
$ID,196
$MISSION,7
$DIVE,293
$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,52
$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,18.46
$_SM_ANGLEo,-18.6
$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,-145.9,2976,2762,1898,1791,0.0,0.0,0,30,0.00,0.00,-12.40,0.000,16386,0.000,0.000,2975,2762,2700,2757,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2976,2763,2762,2647,21.5,0.0,1,52,0.90,1.88,-15.43,0.000,20740,0.068,0.126,2652,3786,3856,3924,3788,0,0,0,0,0,0,14.27,14.27,14.53
$GC,277,-0.69,-145.9,2653,3786,3925,3794,92.5,-22.7,50,284,0.00,1.73,0.00,0.000,1030,0.000,0.051,2653,2751,3858,3924,3793,0,0,0,0,0,0,28.83,14.35,28.83
$GC,582,-0.69,-145.9,2653,2751,3925,3795,154.8,-18.8,81,587,0.00,1.85,0.00,0.000,260,0.000,0.098,2645,3779,3858,3924,3793,0,0,0,0,0,0,28.83,14.33,28.83
$GC,787,-0.69,-145.9,2645,3780,3925,3795,196.4,-20.4,122,793,0.00,1.70,0.00,0.000,1030,0.000,0.052,2645,2754,3859,3924,3794,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1092,-0.69,-145.9,2646,2755,3925,3794,249.0,-15.8,153,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2754,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-0.69,-145.9,2646,2754,3925,3795,295.2,-14.3,164,1407,0.00,2.33,0.00,0.000,516,0.000,0.067,2645,1372,3858,3924,3793,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1427,-0.69,-145.9,2646,1373,3925,3794,298.6,-14.2,169,1434,0.10,2.50,0.00,0.000,3078,0.209,0.096,2669,2758,3858,3924,3793,0,0,0,0,0,0,14.27,14.41,28.83
$GC,1733,-0.69,-145.9,2670,2758,3925,3793,335.8,-12.0,180,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2758,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2032,-0.69,-145.9,2670,2759,3925,3794,371.2,-11.7,190,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2758,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2332,-0.69,-145.9,2670,2758,3925,3793,406.2,-11.6,200,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2758,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-0.69,-145.9,2670,2758,3925,3793,441.0,-11.5,210,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2757,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-0.69,-145.9,2669,2757,3925,3794,475.0,-11.2,220,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2758,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3234,-0.69,-145.9,2670,2758,3925,3794,508.7,-11.2,230,3238,0.00,2.33,0.00,0.000,516,0.000,0.063,2669,1371,3858,3923,3793,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3253,-0.69,-145.9,2670,1370,3925,3793,511.1,-11.4,234,3258,0.00,2.45,0.00,0.000,1030,0.000,0.094,2662,2752,3858,3924,3793,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3563,-0.69,-145.9,2663,2752,3925,3793,547.2,-11.6,246,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2752,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3863,-0.69,-145.9,2664,2753,3924,3794,582.2,-11.6,256,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2752,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4163,-0.69,-145.9,2664,2752,3924,3794,616.6,-11.4,266,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2751,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4463,-0.69,-145.9,2663,2752,3925,3793,650.5,-11.3,276,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2752,3857,3924,3790,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b032a959e;,*5E
$MODEM_MSG,CACST,6,0,20140906120424.196678,3,1365,-4,0151,0150,217,04,04,06,04,1,005,000,0,5,1,0,150,16.6,5.9,-100,-2.9,-01,0.0,18,900,0025*0F
$GC,4763,-0.69,-145.9,2663,2752,3925,3794,684.1,-11.2,286,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2752,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5063,-0.69,-145.9,2664,2753,3925,3795,717.4,-11.0,296,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2752,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5361,begin apogee
$GC,5366,-0.13,0.0,2664,2753,3926,3795,750.4,-10.9,306,5496,0.68,0.00,126.68,2.007,10244,0.219,0.000,2842,2753,3256,3276,3237,0,0,0,0,0,0,14.28,28.83,13.07
$STATE,5497,end apogee,CONTROL_FINISHED_OK
$STATE,5497,begin climb
$GC,5499,0.69,145.9,2844,2753,3274,3234,754.1,0.0,310,5630,0.88,0.00,125.75,1.862,11270,0.122,0.000,3110,2753,2661,2666,2657,0,0,0,0,0,0,13.75,28.83,12.62
$GC,5935,0.69,145.9,3111,2753,2664,2647,710.9,12.8,350,5940,0.00,2.42,0.00,0.000,516,0.000,0.063,3121,1356,2655,2663,2647,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5970,0.69,145.9,3122,1355,2663,2648,706.5,11.8,357,5975,0.00,2.50,0.00,0.000,1030,0.000,0.090,3121,2742,2655,2663,2647,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6296,0.69,145.9,3122,2744,2664,2646,663.4,13.2,372,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6595,0.69,145.9,3122,2744,2664,2646,623.5,13.3,382,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6895,0.69,145.9,3122,2743,2664,2651,583.6,13.3,392,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7195,0.69,145.9,3122,2743,2664,2645,544.0,13.1,402,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2656,2663,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7495,0.69,145.9,3122,2743,2663,2645,505.1,12.9,412,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7795,0.69,145.9,3122,2744,2664,2646,466.5,12.8,422,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8095,0.69,145.9,3119,2744,2659,2645,428.6,12.5,432,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2743,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8395,0.69,145.9,3122,2744,2664,2646,391.5,12.1,442,8400,0.00,1.85,0.00,0.000,260,0.000,0.097,3121,3780,2653,2663,2644,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8439,0.69,145.9,3121,3780,2664,2645,385.3,14.3,451,8445,0.00,1.70,0.00,0.000,1030,0.000,0.049,3129,2733,2651,2659,2644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8756,0.69,145.9,3127,2732,2665,2644,346.2,12.2,464,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2732,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9055,0.69,147.7,3129,2732,2665,2645,310.5,11.5,474,9060,0.00,2.30,0.00,0.000,516,0.000,0.064,3139,1347,2653,2663,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9085,0.71,175.6,3140,1347,2665,2644,307.3,10.1,480,9116,0.00,2.42,24.95,1.380,9222,0.000,0.090,3139,2739,2536,2540,2532,0,0,0,0,0,0,28.83,14.51,13.81
$GC,9414,0.71,175.6,3140,2739,2541,2529,264.3,12.9,496,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2739,2533,2539,2528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,0.73,209.1,3140,2740,2541,2528,230.6,9.8,516,9746,0.00,0.00,28.42,1.343,8198,0.000,0.000,3139,2739,2401,2402,2401,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10046,0.76,241.8,3140,2740,2400,2395,196.2,9.9,549,10076,0.00,0.00,27.95,1.318,8198,0.000,0.000,3139,2739,2268,2267,2269,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10376,0.78,271.3,3140,2739,2268,2260,163.4,10.1,582,10406,0.00,0.00,25.73,1.278,8198,0.000,0.000,3139,2739,2145,2148,2143,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10706,0.80,309.4,3140,2739,2148,2137,129.5,9.6,615,10740,0.00,0.00,32.03,1.242,8710,0.000,0.000,3139,2739,1993,1997,1989,0,0,0,0,0,0,28.83,28.83,13.64
$GC,11046,0.83,343.2,3140,2740,1997,1978,96.5,9.8,650,11067,0.00,2.38,14.60,0.484,8708,0.000,0.063,3149,1354,1858,1862,1855,0,0,0,0,0,0,28.83,14.21,13.90
$GC,11118,0.86,393.9,3150,1354,1870,1855,89.7,8.9,664,11148,0.00,2.45,24.05,0.463,9222,0.000,0.091,3149,2725,1651,1657,1645,0,0,0,0,0,0,28.83,14.21,13.89
$GC,11447,0.90,450.8,3150,2727,1665,1636,58.5,8.6,700,11478,0.12,0.00,25.98,0.364,10246,0.129,0.000,3201,2726,1419,1435,1404,0,0,0,0,0,0,14.30,28.83,13.90
$GC,11778,0.98,559.6,3202,2726,1439,1393,33.4,5.8,733,11829,0.00,0.00,49.05,0.286,8710,0.000,0.000,3202,2726,974,980,969,0,0,0,0,0,0,28.83,28.83,14.01
$FREEZE,8.81,-1.419,-1.445,2,5,0
$GC,12127,1.07,695.5,3202,2727,979,960,12.7,4.4,772,12185,0.12,2.42,53.08,0.231,10758,0.134,0.067,3259,1360,499,445,554,0,0,0,0,0,0,14.28,14.16,14.05
$STATE,12185,end climb,FINISH_DEPTH_REACHED
$STATE,12187,begin subsurface finish
$FINISH1,8.8,1.021220,351
$GC,12194,0.25,350.6,3260,2746,446,554,8.8,8.1,783,12233,1.00,2.40,-31.55,0.000,20996,0.184,0.082,2979,1343,1830,1886,1775,0,0,0,0,0,0,14.08,14.21,14.43
$FINISH2,8.4
$STATE,12233,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12233,begin surface
$RAFOS_CLK,453
$MODEM,5,1410005064,74.55720,-141.96561,264.197,382807.9
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7334.88,-14309.39,050914,210726
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.92
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,13
$SC_FREEKB,3807360
$24V_AH,12.62,90.119
$10V_AH,12.72,0.000
$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,3.800,44.700,558.250,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,0.000,10028.228,569.865,1607.681,140.407,0.000,1209.132,0.000,1188.747,1499.000,0.539,0.000
$DEVICE_MAMPS,218.790,126.225,2006.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.811,0.000,0.000,0.000
$MEM,195568
$DATA_FILE_SIZE,26688,791
$CAP_FILE_SIZE,121780,0
$CFSIZE,2097872896,2035482624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5363.59,0x2378b6,2,5
$SOUNDSPEED,1448.9
$GPS,050914,211346,7418.154,-14310.700,181,99.0,181,23.7