version: 66.12
glider: 196
mission: 7
dive: 310
start: 9 9 114 0 17 28
data:
$ID,196
$MISSION,7
$DIVE,310
$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,-7202.5088
$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,54
$R_STBD_OVSHOOT,20
$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
$GPS1,090914,000654,7446.449,-14212.355,23,0.8,43,24.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-77.6
$GPS2,090914,001709,7446.445,-14212.196,5,0.8,25,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7500.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,349.0,25776,-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,-145.9,206,2751,431,550,0.0,0.0,0,90,0.00,0.00,-71.68,0.000,16386,0.000,0.000,204,2750,2257,2267,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,206,2751,2268,2250,3.6,-3.4,7,141,12.30,2.38,-28.80,0.000,18948,0.399,0.086,2666,1372,3856,3922,3791,0,0,0,0,0,0,13.87,14.15,14.36
$GC,316,-0.69,-145.9,2667,1372,3923,3796,71.4,-20.3,52,322,0.00,2.50,0.00,0.000,1030,0.000,0.093,2657,2760,3858,3922,3795,0,0,0,0,0,0,28.83,14.15,28.83
$MODEM_MSG,CACST,6,1,20140909000054.990561,3,8,-9,0133,0150,255,02,02,03,06,-1,-01,-01,1,3,0,0,150,8.2,0.9,-100,2.1,-01,-0.1,33,900,0025*2A
$GC,622,-0.69,-145.9,2658,2760,3922,3795,138.2,-20.7,83,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,920,-0.69,-145.9,2658,2760,3923,3796,197.1,-19.0,113,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-0.69,-145.9,2657,2759,3924,3795,247.2,-15.1,143,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1540,-0.69,-145.9,2658,2760,3923,3796,293.5,-14.1,155,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.69,-145.9,2658,2760,3923,3795,334.2,-13.4,165,1845,0.00,1.85,0.00,0.000,260,0.000,0.102,2649,3786,3858,3922,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1890,-0.69,-145.9,2649,3786,3923,3794,341.3,-14.4,175,1895,0.00,1.70,0.00,0.000,1030,0.000,0.054,2649,2756,3856,3922,3790,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2201,-0.69,-145.9,2650,2757,3922,3796,383.8,-13.5,187,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2755,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.69,-145.9,2649,2756,3923,3795,423.5,-13.3,197,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.69,-145.9,2650,2757,3923,3796,462.4,-12.9,207,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.69,-145.9,2649,2756,3923,3795,500.9,-12.8,217,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2756,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3401,-0.69,-145.9,2650,2757,3922,3795,538.8,-12.6,227,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2756,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3700,-0.69,-145.9,2649,2756,3923,3794,576.2,-12.5,237,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2756,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.69,-145.9,2650,2757,3923,3796,613.9,-12.7,247,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.69,-145.9,2649,2757,3923,3796,651.3,-12.5,257,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2756,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4601,-0.69,-145.9,2650,2757,3923,3795,688.7,-12.3,267,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2755,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.69,-145.9,2650,2757,3923,3796,725.8,-12.3,277,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5113,-0.13,0.0,2650,2756,3923,3795,751.8,-12.3,284,5243,0.75,0.00,127.05,1.997,10244,0.221,0.000,2847,2756,3257,3279,3236,0,0,0,0,0,0,14.28,28.83,13.07
$STATE,5244,end apogee,CONTROL_FINISHED_OK
$STATE,5244,begin climb
$GC,5246,0.69,145.9,2849,2756,3274,3233,755.6,0.0,288,5377,0.85,0.00,124.97,1.828,11270,0.116,0.000,3110,2756,2663,2673,2653,0,0,0,0,0,0,13.80,28.83,12.64
$GC,5682,0.69,145.9,3110,2756,2665,2645,712.7,12.6,328,5687,0.00,2.42,0.00,0.000,516,0.000,0.063,3121,1352,2653,2664,2643,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5707,0.69,145.9,3122,1353,2665,2645,709.5,11.9,333,5713,0.00,2.53,0.00,0.000,1030,0.000,0.088,3121,2741,2654,2664,2644,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6012,0.69,145.9,3122,2742,2665,2644,669.4,13.1,344,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,0.69,145.9,3121,2742,2665,2643,629.6,13.3,354,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,0.69,145.9,3122,2742,2665,2644,590.3,13.2,364,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,0.69,145.9,3122,2742,2665,2644,551.2,13.1,374,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,0.69,145.9,3122,2742,2665,2644,512.1,13.0,384,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7512,0.69,145.9,3122,2742,2665,2644,474.1,12.6,394,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,0.69,145.9,3122,2742,2664,2643,436.4,12.4,404,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,0.69,145.9,3118,2742,2666,2644,399.4,12.3,414,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,0.69,145.9,3121,2742,2665,2643,361.9,12.6,424,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,0.69,145.9,3121,2742,2666,2643,325.1,12.1,434,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9012,0.70,160.9,3122,2739,2665,2644,292.5,10.8,444,9027,0.00,0.00,13.52,1.366,8198,0.000,0.000,3121,2742,2600,2608,2592,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9312,0.72,186.0,3120,2742,2605,2584,261.1,10.3,454,9337,0.00,0.00,21.23,1.316,8710,0.000,0.000,3121,2741,2493,2501,2486,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9642,0.75,226.8,3121,2742,2502,2482,226.8,9.5,484,9683,0.00,0.00,34.38,1.291,8198,0.000,0.000,3121,2741,2328,2332,2324,0,0,0,0,0,0,28.83,28.83,13.69
$GC,9983,0.77,263.9,3121,2742,2335,2318,192.9,9.7,518,10023,0.00,2.42,31.73,1.286,8708,0.000,0.065,3125,1359,2175,2178,2172,0,0,0,0,0,0,28.83,14.24,13.64
$GC,10055,0.81,311.7,3125,1359,2178,2169,186.1,9.1,531,10099,0.00,2.47,39.97,1.332,9222,0.000,0.090,3125,2749,1989,1993,1985,0,0,0,0,0,0,28.83,14.24,13.48
$GC,10404,0.82,338.8,3126,2750,1990,1968,149.8,10.2,571,10436,0.12,2.45,23.83,1.225,10756,0.124,0.066,3192,1357,1869,1871,1868,0,0,0,0,0,0,14.36,14.19,13.64
$GC,10472,0.82,338.8,3193,1358,1869,1867,140.8,13.7,583,10478,0.12,2.47,0.00,0.000,5126,0.244,0.090,3167,2745,1867,1869,1865,0,0,0,0,0,0,14.10,14.23,28.83
$GC,10777,0.83,347.3,3168,2745,1871,1862,103.4,11.2,614,10781,0.00,0.00,2.65,0.835,8198,0.000,0.000,3166,2745,1843,1847,1839,0,0,0,0,0,0,28.83,28.83,13.45
$GC,11076,0.85,381.3,3167,2745,1860,1841,70.9,9.8,644,11097,0.00,2.45,16.65,0.401,8708,0.000,0.065,3175,1362,1701,1708,1695,0,0,0,0,0,0,28.83,14.24,13.96
$GC,11112,0.87,404.3,3176,1359,1712,1696,67.1,10.4,649,11129,0.00,2.47,10.77,0.390,9222,0.000,0.091,3175,2746,1609,1618,1601,0,0,0,0,0,0,28.83,14.20,13.95
$GC,11429,0.99,571.0,3176,2746,1626,1594,43.5,2.8,682,11509,0.12,1.92,74.72,0.314,10500,0.126,0.096,3236,3785,930,934,927,0,0,0,0,0,0,14.28,14.16,13.97
$GC,11535,0.99,571.0,3237,3786,934,928,34.2,12.7,703,11542,0.08,1.73,0.00,0.000,5126,0.212,0.049,3221,2758,930,933,927,0,0,0,0,0,0,14.03,14.21,28.83
$GC,11842,1.09,716.3,3222,2758,931,917,13.7,3.9,734,11896,0.00,2.42,48.33,0.236,8708,0.000,0.067,3221,1354,499,448,551,0,0,0,0,0,0,28.83,14.20,14.03
$FREEZE,8.82,-1.194,-1.422,2,1,0
$FREEZE,8.48,-1.194,-1.422,2,1,0
$FREEZE,8.11,-1.195,-1.422,2,1,0
$FREEZE,7.85,-1.195,-1.422,2,1,0
$FREEZE,7.59,-1.195,-1.422,2,1,0
$FREEZE,7.32,-1.195,-1.421,2,1,0
$FREEZE,7.04,-1.195,-1.421,2,1,0
$FREEZE,6.60,-1.195,-1.421,2,1,0
$FREEZE,6.26,-1.194,-1.420,2,1,0
$FREEZE,6.02,-1.194,-1.420,2,1,0
$FREEZE,5.61,-1.195,-1.420,2,1,0
$FREEZE,5.39,-1.195,-1.420,2,1,0
$FREEZE,4.95,-1.195,-1.419,2,1,0
$FREEZE,4.63,-1.195,-1.419,2,1,0
$FREEZE,4.33,-1.195,-1.419,2,1,0
$FREEZE,3.97,-1.195,-1.419,2,1,0
$GC,12006,1.15,805.1,3221,1353,448,551,4.0,6.9,767,12013,0.15,2.45,0.00,0.000,3078,0.124,0.086,3275,2739,498,446,550,0,0,0,0,0,0,14.22,14.19,28.83
$FREEZE,3.16,-1.195,-1.418,2,1,0
$FREEZE,2.21,-1.194,-1.417,2,1,0
$FREEZE,1.39,-1.194,-1.417,2,1,0
$STATE,12039,end climb,SURFACE_DEPTH_REACHED
$STATE,12039,begin surface coast
$FREEZE,0.82,-1.195,-0.806,2,1,0
$FINISH,0.8,1.011859
$STATE,12051,end surface coast,FINISH_DEPTH_REACHED
$STATE,12051,begin surface
$SM_CCo,12128,0.00,0.000,0,0,495,677.76
$SM_GC,1.98,9.40,0.00,0.00,0.077,0.000,0.000,205,2740,495,-8.36,-0.59,677.76,0,0,0,0,0,0,14.33,28.83,28.83
$RAFOS_CLK,591
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7405.88,-14216.87,090914,001043
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.95
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,5
$SC_FREEKB,3799744
$24V_AH,12.64,95.854
$10V_AH,12.74,0.000
$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,23.900,36.650,569.800,0.000,0.000,0.000,0.000,354.225,1.250,0.000,26.990,0.000,9970.092,616.331,1942.282,208.624,0.000,1610.991,0.000,1153.381,0.000,0.539,0.000
$DEVICE_MAMPS,399.330,101.745,1997.415,0.000,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12104.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.512,0.000,0.000,0.000
$MEM,185856
$DATA_FILE_SIZE,26701,772
$CAP_FILE_SIZE,128904,0
$CFSIZE,2097872896,2032304128
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12875.35,0x2378b6,7,5
$INTR,1,5110.67,0x2378b6,2,5
$INTR,2,12055.59,0x2378b6,7,5
$SOUNDSPEED,1447.9
$GPS,090914,034054,7447.870,-14210.066,29,0.8,49,24.1