version: 66.12
glider: 196
mission: 7
dive: 327
start: 9 11 114 13 55 13
data:
$ID,196
$MISSION,7
$DIVE,327
$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,1
$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,-7585.8955
$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,23
$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
$GPS1,110914,134524,7440.369,-14133.104,27,0.8,47,24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-71.1
$GPS2,110914,135453,7440.349,-14133.030,6,0.8,26,24.3
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,50.0,31890,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,196,2740,435,549,0.0,0.0,0,91,0.00,0.00,-72.05,0.000,16386,0.000,0.000,195,2740,2251,2257,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.69,-145.9,196,2740,2259,2248,3.3,-2.7,7,142,12.45,2.35,-29.48,0.000,18948,0.405,0.087,2665,1371,3855,3914,3796,0,0,0,0,0,0,13.90,14.19,14.45
$GC,367,-0.69,-145.9,2666,1371,3915,3801,80.9,-20.7,62,374,0.00,2.53,0.00,0.000,1030,0.000,0.096,2657,2761,3857,3914,3800,0,0,0,0,0,0,28.83,14.21,28.83
$GC,672,-0.69,-145.9,2657,2762,3915,3801,144.5,-20.0,93,677,0.00,2.35,0.00,0.000,516,0.000,0.061,2656,1371,3857,3914,3800,0,0,0,0,0,0,28.83,14.35,28.83
$GC,872,-0.69,-145.9,2657,1370,3916,3800,179.3,-16.8,133,877,0.00,2.50,0.00,0.000,1030,0.000,0.094,2645,2768,3857,3914,3800,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1182,-0.69,-145.9,2646,2774,3916,3800,234.6,-16.8,165,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2767,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1492,-0.69,-145.9,2646,2769,3915,3801,282.8,-15.1,182,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2768,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1792,-0.69,-145.9,2646,2768,3914,3800,325.6,-14.0,192,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2768,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2092,-0.69,-145.9,2646,2768,3916,3800,366.9,-13.6,202,2097,0.00,2.35,0.00,0.000,516,0.000,0.062,2645,1370,3857,3914,3801,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2127,-0.69,-145.9,2646,1370,3916,3800,371.4,-12.1,209,2133,0.15,2.47,0.00,0.000,3078,0.262,0.095,2666,2767,3857,3914,3800,0,0,0,0,0,0,14.21,14.41,28.83
$GC,2454,-0.69,-145.9,2667,2768,3916,3800,410.1,-11.8,224,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2752,-0.69,-145.9,2667,2769,3913,3801,444.7,-11.5,234,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,-0.69,-145.9,2667,2769,3915,3801,479.0,-11.4,244,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3353,-0.69,-145.9,2667,2768,3916,3800,513.3,-11.5,254,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3653,-0.69,-145.9,2667,2769,3915,3801,547.9,-11.5,264,3657,0.00,2.33,0.00,0.000,516,0.000,0.061,2666,1370,3858,3917,3800,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3688,-0.69,-145.9,2667,1369,3916,3800,551.8,-11.1,271,3692,0.00,2.45,0.00,0.000,1030,0.000,0.095,2661,2759,3857,3914,3800,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4014,-0.69,-145.9,2663,2760,3916,3796,589.3,-11.6,286,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4312,-0.69,-145.9,2663,2761,3915,3800,623.7,-11.4,296,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4613,-0.69,-145.9,2663,2761,3915,3801,658.2,-11.4,306,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4913,-0.69,-145.9,2663,2761,3915,3801,692.0,-11.3,316,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,-0.69,-145.9,2663,2761,3916,3801,725.5,-11.1,326,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2760,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5450,begin apogee
$GC,5455,-0.13,0.0,2663,2761,3916,3801,752.0,-11.1,334,5584,0.70,0.00,126.78,2.014,10246,0.221,0.000,2847,2760,3257,3275,3239,0,0,0,0,0,0,14.23,28.83,13.04
$STATE,5585,end apogee,CONTROL_FINISHED_OK
$STATE,5585,begin climb
$GC,5588,0.69,145.9,2848,2761,3271,3236,755.6,0.0,338,5724,0.90,2.65,126.05,1.851,10756,0.122,0.062,3124,1354,2657,2662,2652,0,0,0,0,0,0,13.76,13.29,12.61
$GC,5755,0.69,148.3,3125,1354,2661,2650,746.3,11.5,359,5760,0.00,2.62,0.00,0.000,1030,0.000,0.087,3124,2744,2654,2660,2649,0,0,0,0,0,0,28.83,13.48,28.83
$GC,6087,0.69,148.3,3125,2745,2661,2648,701.9,13.5,375,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2654,2660,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6385,0.69,148.3,3124,2745,2666,2648,661.7,13.4,385,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2743,2653,2660,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6685,0.69,148.3,3125,2745,2661,2649,621.9,13.2,395,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2660,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,0.69,148.3,3125,2745,2661,2648,582.7,13.1,405,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2657,2667,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,0.69,148.3,3125,2745,2661,2648,543.4,13.1,415,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2660,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7587,0.69,148.3,3125,2745,2662,2647,504.6,13.0,425,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2660,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7885,0.69,148.3,3125,2744,2662,2647,465.9,13.0,435,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2654,2660,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,0.69,148.3,3125,2745,2661,2647,427.6,12.7,445,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2660,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8485,0.69,148.3,3125,2745,2661,2648,390.2,12.4,455,8490,0.00,2.35,0.00,0.000,516,0.000,0.065,3133,1354,2653,2660,2647,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8520,0.69,151.2,3134,1351,2661,2647,386.0,11.5,462,8526,0.00,2.47,1.40,0.323,9222,0.000,0.089,3133,2753,2642,2650,2634,0,0,0,0,0,0,28.83,14.31,13.76
$GC,8846,0.69,151.2,3134,2754,2669,2638,345.7,12.3,477,8848,0.00,0.00,1.20,0.306,8198,0.000,0.000,3133,2753,2642,2654,2630,0,0,0,0,0,0,28.83,28.83,13.80
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b45da7f10;,*09
$MODEM_MSG,CACST,6,0,20140911160057.606309,3,457,-9,0105,0150,255,04,04,06,06,1,004,000,0,5,1,0,150,20.9,3.9,-100,-0.9,-01,0.1,21,900,0025*39
$GC,9146,0.69,151.2,3134,2753,2671,2635,310.0,11.7,487,9151,0.00,2.38,1.27,0.324,8708,0.000,0.059,3142,1344,2645,2661,2629,0,0,0,0,0,0,28.83,14.41,13.74
$GC,9196,0.71,171.8,3143,1343,2667,2639,304.5,10.5,497,9225,0.00,2.45,21.85,1.367,9222,0.000,0.090,3142,2739,2555,2565,2545,0,0,0,0,0,0,28.83,14.38,13.73
$GC,9536,0.71,171.8,3143,2739,2559,2542,261.0,12.7,515,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2739,2550,2558,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9836,0.73,205.3,3143,2739,2559,2542,228.4,9.8,537,9868,0.00,2.42,28.15,1.310,8708,0.000,0.062,3152,1348,2417,2421,2413,0,0,0,0,0,0,28.83,14.36,13.70
$GC,9910,0.76,243.5,3152,1348,2419,2412,221.3,9.6,551,9950,0.00,2.45,32.42,1.372,9222,0.000,0.090,3152,2734,2260,2260,2261,0,0,0,0,0,0,28.83,14.30,13.52
$GC,10248,0.77,266.6,3153,2735,2261,2254,183.3,10.4,589,10274,0.00,2.38,19.88,1.288,8708,0.000,0.063,3161,1345,2166,2168,2165,0,0,0,0,0,0,28.83,14.29,13.64
$GC,10299,0.79,295.6,3162,1346,2167,2164,178.1,10.1,599,10330,0.00,2.45,25.40,1.286,9222,0.000,0.090,3161,2721,2048,2050,2047,0,0,0,0,0,0,28.83,14.23,13.55
$GC,10629,0.79,295.6,3162,2722,2050,2038,138.3,12.1,635,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2721,2041,2049,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10929,0.80,306.2,3162,2721,2050,2040,105.3,11.1,665,10940,0.00,2.38,3.78,1.157,8708,0.000,0.063,3169,1353,2011,2021,2002,0,0,0,0,0,0,28.83,14.37,13.52
$GC,10985,0.83,344.2,3165,1353,2028,2003,99.6,9.6,676,11011,0.00,2.42,18.48,0.496,9222,0.000,0.090,3169,2721,1854,1854,1854,0,0,0,0,0,0,28.83,14.28,13.91
$GC,11312,0.86,389.7,3170,2722,1862,1853,66.5,9.2,711,11334,0.00,0.00,20.92,0.385,8198,0.000,0.000,3168,2722,1670,1674,1666,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11632,0.97,539.4,3170,2722,1679,1661,44.1,3.7,743,11702,0.12,0.00,67.65,0.317,10758,0.127,0.000,3218,2721,1057,1066,1048,0,0,0,0,0,0,14.28,28.83,13.95
$GC,12000,1.06,671.5,3219,2722,1067,1036,19.7,4.6,782,12066,0.00,2.35,60.28,0.257,8708,0.000,0.063,3221,1353,519,474,564,0,0,0,0,0,0,28.83,14.14,13.98
$GC,12131,1.14,782.7,3222,1353,474,565,12.6,5.7,808,12142,0.12,2.45,2.28,0.258,11270,0.142,0.088,3265,2721,498,450,547,0,0,0,0,0,0,14.12,14.09,13.99
$FREEZE,8.80,-1.227,-1.430,2,1,0
$FREEZE,8.00,-1.226,-1.430,2,1,0
$FREEZE,7.00,-1.226,-1.429,2,1,0
$FREEZE,6.20,-1.226,-1.428,2,1,0
$FREEZE,5.43,-1.226,-1.428,2,1,0
$FREEZE,4.48,-1.226,-1.427,2,1,0
$FREEZE,3.70,-1.228,-1.426,2,1,0
$FREEZE,2.80,-1.225,-1.426,2,1,0
$FREEZE,1.92,-1.227,-1.425,2,1,0
$STATE,12259,end climb,SURFACE_DEPTH_REACHED
$STATE,12259,begin surface coast
$FREEZE,1.13,-1.227,-1.424,2,1,0
$FREEZE,0.97,-1.211,-1.423,2,1,0
$FINISH,1.0,1.020983
$STATE,12280,end surface coast,CONTROL_FINISHED_OK
$STATE,12280,begin surface
$SM_CCo,12357,0.00,0.000,0,0,498,677.03
$SM_GC,1.94,9.52,0.08,0.00,0.088,0.185,0.000,201,2773,498,-8.36,-0.62,677.03,0,0,0,0,0,0,14.33,14.30,28.83
$RAFOS_CLK,243
$MODEM,4,1410451257,74.77060,-144.27521,57.606,83489.5
$RAFOS_FIX,7443.150879,-14155.582031,100914,202043,2,255,10.71
$IRIDIUM_FIX,7358.04,-14131.84,110914,101059
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.99
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,5
$SC_FREEKB,3792128
$24V_AH,12.61,101.645
$10V_AH,12.85,0.000
$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,23.975,53.625,557.775,0.000,0.000,0.000,0.000,363.150,1.250,0.000,27.549,0.000,9997.084,638.393,2033.562,249.747,0.000,1667.628,0.000,1239.013,1494.000,0.539,0.000
$DEVICE_MAMPS,404.685,185.130,2014.245,0.000,0.000,0.000,0.000,150.705,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12319.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.322,0.000,0.000,0.000
$MEM,171296
$DATA_FILE_SIZE,26777,824
$CAP_FILE_SIZE,136012,0
$CFSIZE,2097872896,2028961792
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13063.24,0x2378b6,7,5
$INTR,1,5452.19,0x2378b6,2,5
$SOUNDSPEED,1448.3
$GPS,110914,172224,7440.809,-14127.394,25,0.7,45,24.3