version: 66.12
glider: 196
mission: 7
dive: 313
start: 9 9 114 10 52 59
data:
$ID,196
$MISSION,7
$DIVE,313
$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,-7206.29
$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,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
$GPS1,090914,104512,7444.899,-14216.296,36,0.9,56,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-77.2
$GPS2,090914,105238,7444.896,-14216.326,5,1.0,26,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7330.000,-14500.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,187.7,163254,-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,-145.9,195,2761,434,551,0.0,0.0,0,90,0.00,0.00,-71.65,0.000,16386,0.000,0.000,194,2761,2290,2302,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,195,2761,2305,2280,3.9,-4.1,7,136,12.25,1.90,-27.55,0.000,18692,0.399,0.123,2658,3795,3855,3922,3788,0,0,0,0,0,0,13.93,14.21,14.46
$GC,361,-0.69,-145.9,2659,3795,3923,3795,91.3,-23.0,61,366,0.00,1.73,0.00,0.000,1030,0.000,0.050,2658,2760,3858,3922,3795,0,0,0,0,0,0,28.83,14.23,28.83
$GC,671,-0.69,-145.9,2658,2760,3923,3795,156.3,-19.4,93,676,0.00,1.85,0.00,0.000,260,0.000,0.099,2650,3782,3858,3922,3795,0,0,0,0,0,0,28.83,14.24,28.83
$GC,836,-0.69,-145.9,2650,3782,3923,3795,190.0,-19.8,126,842,0.00,1.67,0.00,0.000,1030,0.000,0.052,2650,2765,3858,3922,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1141,-0.69,-145.9,2651,2765,3923,3795,242.9,-16.4,157,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1463,-0.69,-145.9,2651,2765,3922,3796,290.6,-14.2,171,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1761,-0.69,-145.9,2651,2765,3923,3796,332.2,-13.7,181,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2061,-0.69,-145.9,2651,2765,3923,3801,372.8,-13.2,191,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-0.69,-145.9,2651,2771,3923,3796,411.5,-12.8,201,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2661,-0.69,-145.9,2650,2765,3923,3795,450.1,-12.9,211,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2961,-0.69,-145.9,2651,2765,3922,3796,488.5,-12.8,221,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.69,-145.9,2651,2765,3923,3795,526.6,-12.6,231,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2769,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,-0.69,-145.9,2651,2765,3922,3796,564.1,-12.4,241,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.69,-145.9,2651,2765,3923,3796,601.3,-12.2,251,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4163,-0.69,-145.9,2651,2764,3923,3795,638.1,-12.2,261,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4462,-0.69,-145.9,2651,2765,3923,3796,674.5,-12.2,271,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.69,-145.9,2651,2765,3923,3796,710.9,-12.1,281,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.69,-145.9,2651,2765,3923,3796,747.0,-12.1,291,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5089,begin apogee
$GC,5094,-0.13,0.0,2651,2764,3923,3795,750.6,-12.0,292,5224,0.75,0.00,127.38,1.994,10246,0.223,0.000,2845,2764,3256,3276,3237,0,0,0,0,0,0,14.12,28.83,12.98
$STATE,5225,end apogee,CONTROL_FINISHED_OK
$STATE,5225,begin climb
$GC,5227,0.69,145.9,2846,2764,3274,3234,754.3,0.0,296,5362,0.90,0.00,127.32,1.832,10246,0.119,0.000,3111,2765,2657,2665,2649,0,0,0,0,0,0,13.68,28.83,12.57
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b737a7c5e;,*00
$MODEM_MSG,CACST,6,0,20140909120048.170432,3,126,-9,0100,0150,255,02,02,05,05,1,004,000,0,5,1,0,150,8.0,3.5,-100,-0.5,-01,-0.1,34,900,0025*24
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5ae46aa15a;,*50
$MODEM_MSG,CACST,6,0,20140909120438.892085,3,576,-8,0208,0150,217,04,04,06,04,1,005,000,0,5,1,0,150,4.1,4.0,-100,-1.0,-01,0.0,26,900,0025*06
$GC,5661,0.69,145.9,3112,2764,2666,2644,710.2,13.0,311,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2764,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5961,0.69,145.9,3112,2765,2665,2645,671.4,12.9,321,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,0.69,145.9,3112,2765,2665,2645,633.1,12.8,331,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2764,2657,2664,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6562,0.69,145.9,3112,2764,2666,2643,595.2,12.6,341,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2764,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6861,0.69,145.9,3112,2764,2666,2644,557.6,12.5,351,6866,0.00,2.38,0.00,0.000,516,0.000,0.063,3123,1348,2653,2664,2643,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6896,0.69,145.9,3123,1347,2667,2643,553.5,12.2,358,6901,0.00,2.42,0.00,0.000,1030,0.000,0.088,3123,2740,2654,2665,2643,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7223,0.69,145.9,3123,2740,2666,2643,512.1,12.8,373,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,0.69,145.9,3123,2741,2666,2644,474.2,12.8,383,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,0.69,145.9,3123,2740,2667,2643,436.4,12.6,393,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8121,0.69,145.9,3123,2740,2666,2643,398.4,12.7,403,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2657,2665,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8421,0.69,145.9,3124,2741,2666,2639,361.4,12.2,413,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8721,0.69,145.9,3124,2741,2666,2644,325.3,12.2,423,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9021,0.69,152.3,3123,2741,2666,2644,290.3,11.3,433,9026,0.00,0.00,3.12,1.104,8198,0.000,0.000,3123,2740,2637,2649,2626,0,0,0,0,0,0,28.83,28.83,13.58
$GC,9321,0.72,194.3,3123,2737,2667,2628,260.1,9.4,443,9366,0.00,2.40,38.75,1.318,8708,0.000,0.065,3126,1351,2458,2465,2452,0,0,0,0,0,0,28.83,14.38,13.76
$GC,9386,0.74,218.6,3127,1350,2465,2452,253.5,10.3,456,9413,0.00,2.45,20.80,1.381,9222,0.000,0.088,3126,2741,2361,2364,2358,0,0,0,0,0,0,28.83,14.35,13.62
$GC,9713,0.76,241.1,3127,2741,2364,2354,215.5,10.4,489,9737,0.00,2.35,19.52,1.333,8708,0.000,0.060,3135,1353,2268,2271,2266,0,0,0,0,0,0,28.83,14.31,13.65
$GC,9762,0.77,266.8,3136,1352,2269,2265,210.3,10.3,499,9793,0.00,2.47,22.35,1.343,9222,0.000,0.089,3135,2743,2164,2167,2161,0,0,0,0,0,0,28.83,14.27,13.57
$GC,10092,0.79,285.4,3136,2743,2168,2154,172.9,10.6,535,10113,0.00,0.00,16.33,1.284,8710,0.000,0.000,3135,2743,2088,2094,2083,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10413,0.81,310.7,3136,2743,2095,2075,139.7,10.3,568,10437,0.00,0.00,21.95,1.233,8710,0.000,0.000,3135,2742,1990,1997,1984,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10733,0.82,326.8,3136,2743,1994,1970,106.3,10.8,602,10748,0.00,2.45,10.93,1.221,8708,0.000,0.066,3138,1353,1922,1927,1918,0,0,0,0,0,0,28.83,14.28,13.71
$GC,10809,0.85,372.6,3139,1352,1922,1917,98.9,9.2,617,10835,0.00,2.47,20.65,0.492,9222,0.000,0.090,3138,2739,1738,1741,1735,0,0,0,0,0,0,28.83,14.18,13.86
$GC,11133,0.90,443.2,3138,2739,1751,1730,69.0,7.9,652,11175,0.15,2.45,32.40,0.393,10756,0.109,0.064,3211,1353,1451,1465,1438,0,0,0,0,0,0,14.31,14.22,13.93
$GC,11214,0.90,443.2,3212,1353,1467,1437,59.2,11.9,666,11219,0.00,2.47,0.00,0.000,1030,0.000,0.090,3212,2737,1450,1466,1435,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11525,0.98,558.3,3212,2737,1467,1423,34.3,5.5,698,11578,0.00,0.00,51.92,0.288,8454,0.000,0.000,3212,2738,981,988,974,0,0,0,0,0,0,28.83,28.83,13.98
$GC,11875,1.06,671.5,3212,2738,989,966,14.1,5.6,734,11931,0.00,1.95,51.62,0.238,8452,0.000,0.099,3211,3789,519,474,565,0,0,0,0,0,0,28.83,14.17,14.02
$GC,11952,1.15,797.4,3212,3788,474,565,9.9,4.9,749,11958,0.17,1.73,2.30,0.254,11270,0.103,0.049,3290,2730,498,445,552,0,0,0,0,0,0,14.25,14.25,14.02
$FREEZE,8.75,-1.244,-1.422,2,1,0
$FREEZE,7.88,-1.245,-1.421,2,1,0
$FREEZE,7.01,-1.244,-1.421,2,1,0
$FREEZE,6.07,-1.245,-1.420,2,1,0
$FREEZE,4.99,-1.246,-1.419,2,1,0
$FREEZE,3.92,-1.247,-1.418,2,1,0
$FREEZE,2.88,-1.247,-1.417,2,1,0
$FREEZE,1.65,-1.248,-1.416,2,1,0
$STATE,12034,end climb,SURFACE_DEPTH_REACHED
$STATE,12034,begin surface coast
$FREEZE,0.84,-1.285,-1.271,2,1,0
$FINISH,0.8,1.018761
$STATE,12044,end surface coast,FINISH_DEPTH_REACHED
$STATE,12044,begin surface
$SM_CCo,12121,0.00,0.000,0,0,498,677.03
$SM_GC,2.08,9.35,0.03,0.00,0.067,0.341,0.000,200,2758,498,-8.35,-0.82,677.03,0,0,0,0,0,0,14.33,14.31,28.83
$RAFOS_CLK,409
$MODEM,5,1410264278,74.45880,-140.76401,278.892,403860.9
$MODEM,4,1410264048,74.91660,-144.55119,48.170,69755.1
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14215.40,090914,071329
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.80
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.60
$XPDR_PINGS,4
$SC_FREEKB,3798400
$24V_AH,12.57,96.864
$10V_AH,12.87,0.000
$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,23.575,35.175,567.350,0.000,0.000,0.000,0.000,248.475,1.000,0.000,27.821,0.000,9883.074,641.312,1835.550,206.965,0.000,1499.197,0.000,1136.204,1482.000,0.540,0.000
$DEVICE_MAMPS,398.565,341.190,1994.355,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12082.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.432,0.000,0.000,0.000
$MEM,184088
$DATA_FILE_SIZE,26715,759
$CAP_FILE_SIZE,127538,0
$CFSIZE,2097872896,2031714304
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12898.83,0x2378b6,7,5
$INTR,1,5091.45,0x2378b6,2,5
$SOUNDSPEED,1447.7
$GPS,090914,141624,7443.501,-14219.608,31,0.9,51,24.1