version: 66.12
glider: 196
mission: 7
dive: 333
start: 9 12 114 11 18 50
data:
$ID,196
$MISSION,7
$DIVE,333
$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,-7592.2954
$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,49
$R_STBD_OVSHOOT,17
$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
$GPS1,120914,111024,7441.872,-14100.430,35,0.8,55,24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.1
$GPS2,120914,111831,7441.831,-14100.305,6,0.8,26,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.8,15887,-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,-145.9,199,2767,439,546,0.0,0.0,0,90,0.00,0.00,-71.10,0.000,16386,0.000,0.000,198,2766,2279,2282,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.69,-145.9,199,2772,2283,2279,3.8,-4.0,7,141,12.23,2.45,-27.83,0.000,18948,0.396,0.084,2665,1362,3856,3914,3798,0,0,0,0,0,0,13.90,14.19,14.45
$GC,366,-0.69,-145.9,2665,1362,3916,3801,80.5,-20.7,62,373,0.00,2.55,0.00,0.000,1030,0.000,0.093,2656,2771,3857,3914,3801,0,0,0,0,0,0,28.83,14.21,28.83
$GC,671,-0.69,-145.9,2657,2771,3916,3801,144.2,-20.1,93,676,0.00,2.40,0.00,0.000,516,0.000,0.060,2656,1355,3857,3914,3801,0,0,0,0,0,0,28.83,14.34,28.83
$GC,896,-0.69,-145.9,2657,1356,3915,3802,183.2,-16.3,138,902,0.00,2.50,0.00,0.000,1030,0.000,0.093,2645,2761,3857,3914,3801,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1201,-0.69,-145.9,2646,2761,3915,3801,235.8,-16.4,169,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1503,-0.69,-145.9,2646,2761,3915,3802,282.5,-15.4,185,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1801,-0.69,-145.9,2645,2761,3916,3801,326.1,-14.2,195,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2101,-0.69,-145.9,2645,2761,3916,3799,367.4,-13.6,205,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2401,-0.69,-145.9,2645,2761,3916,3801,407.2,-13.3,215,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2703,-0.69,-145.9,2645,2761,3915,3801,447.0,-13.2,225,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2760,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3001,-0.69,-145.9,2646,2762,3915,3802,485.8,-12.9,235,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-0.69,-145.9,2646,2761,3916,3800,524.5,-12.9,245,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-0.69,-145.9,2645,2760,3916,3801,562.8,-12.6,255,3602,0.12,0.00,0.00,0.000,2054,0.288,0.000,2669,2760,3857,3914,3801,0,0,0,0,0,0,14.09,28.83,28.83
$GC,3902,-0.69,-145.9,2671,2761,3915,3802,595.7,-10.9,265,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2761,3861,3922,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b2f0a8390;,*5D
$MODEM_MSG,CACST,6,0,20140912120058.078616,3,722,-7,0153,0150,250,03,03,06,05,1,004,000,0,5,1,0,150,4.4,3.0,-100,0.1,-01,0.1,36,900,0025*29
$GC,4201,-0.69,-145.9,2670,2761,3916,3801,628.1,-10.9,275,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2760,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4501,-0.69,-145.9,2670,2761,3915,3802,660.2,-10.7,285,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2761,3855,3909,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-0.69,-145.9,2670,2761,3915,3803,692.7,-10.8,295,4806,0.00,2.35,0.00,0.000,516,0.000,0.061,2669,1366,3858,3914,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4836,-0.69,-145.9,2670,1366,3915,3803,696.5,-10.0,302,4841,0.00,2.47,0.00,0.000,1030,0.000,0.094,2662,2763,3858,3914,3802,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5163,-0.69,-145.9,2663,2765,3915,3803,732.4,-11.1,317,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2763,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5339,begin apogee
$GC,5344,-0.13,0.0,2663,2763,3915,3802,752.4,-11.0,323,5474,0.70,0.00,126.80,2.003,10246,0.216,0.000,2848,2763,3256,3275,3238,0,0,0,0,0,0,14.22,28.83,13.02
$STATE,5475,end apogee,CONTROL_FINISHED_OK
$STATE,5475,begin climb
$GC,5477,0.69,145.9,2849,2764,3273,3236,756.1,0.0,327,5613,0.90,2.62,126.75,1.854,10756,0.118,0.060,3126,1348,2657,2663,2652,0,0,0,0,0,0,13.74,13.30,12.59
$GC,5649,0.70,153.6,3127,1348,2662,2650,746.8,11.2,349,5664,0.00,2.62,8.27,1.730,9222,0.000,0.087,3127,2741,2626,2633,2620,0,0,0,0,0,0,28.83,13.49,12.76
$GC,5976,0.70,153.6,3127,2742,2634,2615,701.9,13.8,364,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2741,2624,2633,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6274,0.70,153.6,3128,2742,2634,2616,660.0,13.9,374,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2741,2624,2633,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6574,0.70,153.6,3128,2742,2634,2616,618.5,13.8,384,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2741,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6874,0.70,153.6,3127,2742,2634,2615,577.4,13.6,394,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2741,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7174,0.70,153.6,3128,2742,2634,2616,536.7,13.6,404,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7474,0.70,153.6,3127,2740,2634,2615,496.3,13.5,414,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2741,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7774,0.70,153.6,3128,2742,2634,2615,456.2,13.4,424,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2742,2623,2632,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,0.70,153.6,3128,2742,2634,2614,416.6,13.2,434,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2748,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8374,0.70,153.6,3127,2742,2634,2615,377.6,12.9,444,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2741,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8674,0.70,153.6,3128,2742,2634,2615,340.2,12.2,454,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8975,0.70,155.4,3128,2742,2634,2615,305.1,11.5,464,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2623,2633,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,0.71,175.4,3127,2742,2634,2614,272.2,10.6,474,9299,0.00,2.40,18.52,1.336,8708,0.000,0.064,3137,1345,2538,2544,2532,0,0,0,0,0,0,28.83,14.51,13.84
$GC,9329,0.73,202.4,3138,1346,2544,2533,266.6,10.2,485,9360,0.00,2.45,23.50,1.341,9222,0.000,0.090,3137,2740,2426,2429,2423,0,0,0,0,0,0,28.83,14.31,13.72
$GC,9665,0.73,208.7,3138,2741,2430,2419,225.2,11.3,514,9670,0.00,0.00,3.03,1.080,8710,0.000,0.000,3137,2740,2409,2414,2404,0,0,0,0,0,0,28.83,28.83,13.45
$GC,9975,0.77,259.5,3138,2741,2431,2403,193.4,8.9,546,10027,0.00,2.47,46.62,1.327,8708,0.000,0.063,3145,1337,2194,2196,2192,0,0,0,0,0,0,28.83,14.23,13.57
$GC,10058,0.80,298.8,3147,1337,2196,2188,185.5,9.5,559,10098,0.00,2.50,33.70,1.358,9222,0.000,0.090,3147,2740,2035,2038,2033,0,0,0,0,0,0,28.83,14.22,13.52
$GC,10396,0.80,309.4,3148,2741,2037,2020,146.9,11.1,597,10412,0.00,2.42,9.12,1.252,8708,0.000,0.063,3154,1346,1990,1998,1982,0,0,0,0,0,0,28.83,14.31,13.69
$GC,10437,0.82,332.9,3155,1346,1997,1980,142.5,10.4,605,10463,0.00,2.47,21.05,1.180,9222,0.000,0.090,3154,2737,1898,1899,1898,0,0,0,0,0,0,28.83,14.26,13.64
$GC,10768,0.83,342.9,3155,2737,1896,1885,104.7,11.1,641,10773,0.00,0.00,3.58,1.101,8710,0.000,0.000,3154,2737,1859,1863,1855,0,0,0,0,0,0,28.83,28.83,13.48
$GC,11078,0.87,396.1,3155,2738,1876,1856,73.8,8.8,673,11109,0.00,2.40,24.98,0.410,8708,0.000,0.062,3164,1338,1643,1652,1635,0,0,0,0,0,0,28.83,14.26,13.95
$GC,11169,0.90,449.7,3164,1338,1652,1634,65.8,8.8,691,11201,0.00,2.50,24.80,0.385,9222,0.000,0.092,3164,2732,1422,1437,1408,0,0,0,0,0,0,28.83,14.14,13.91
$GC,11499,1.00,591.6,3165,2734,1440,1397,40.8,4.1,727,11571,0.17,2.40,63.92,0.307,10756,0.104,0.066,3234,1348,846,845,847,0,0,0,0,0,0,14.28,14.16,13.96
$GC,11662,1.03,637.0,3235,1348,846,843,26.7,9.2,759,11688,0.00,2.47,21.25,0.285,9222,0.000,0.090,3234,2727,659,638,680,0,0,0,0,0,0,28.83,14.16,13.93
$FREEZE,8.80,-1.292,-1.434,2,1,0
$FREEZE,8.08,-1.293,-1.434,2,1,0
$FREEZE,7.26,-1.293,-1.433,2,1,0
$FREEZE,6.61,-1.294,-1.432,2,1,0
$FREEZE,5.98,-1.295,-1.432,2,1,0
$FREEZE,5.66,-1.295,-1.432,2,1,0
$FREEZE,5.08,-1.296,-1.431,2,1,0
$FREEZE,4.59,-1.295,-1.431,2,1,0
$FREEZE,3.79,-1.295,-1.430,2,1,0
$FREEZE,3.16,-1.296,-1.430,2,1,0
$FREEZE,2.45,-1.298,-1.429,2,1,0
$FREEZE,2.22,-1.298,-1.429,2,1,0
$FREEZE,1.74,-1.297,-1.429,2,1,0
$GC,11993,1.10,729.8,3235,2728,635,680,2.4,6.7,795,12007,0.00,0.00,12.73,0.203,8706,0.000,0.000,3233,2728,543,505,582,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12008,end climb,SURFACE_DEPTH_REACHED
$STATE,12008,begin surface coast
$FREEZE,1.04,-1.298,-1.428,2,1,0
$FREEZE,0.95,-1.278,-1.388,2,1,0
$FINISH,0.9,1.020475
$STATE,12021,end surface coast,CONTROL_FINISHED_OK
$STATE,12021,begin surface
$SM_CCo,12039,5.22,0.216,0,0,498,676.54
$SM_GC,2.86,9.38,0.05,5.22,0.081,0.249,0.216,204,2760,498,-8.35,-0.74,676.54,0,0,0,0,0,0,14.35,14.32,14.12
$RAFOS_CLK,477
$MODEM,4,1410523258,74.69760,-143.81441,58.079,84184.8
$RAFOS_FIX,7442.325684,-14113.402344,120914,000045,2,255,0.43
$IRIDIUM_FIX,7358.04,-14103.86,120914,073805
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.51
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.70
$XPDR_PINGS,7
$SC_FREEKB,3789440
$24V_AH,12.59,103.634
$10V_AH,12.80,0.000
$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,23.500,44.525,568.625,5.225,0.000,0.000,0.000,282.575,1.750,0.000,27.575,0.000,9744.354,635.091,1928.231,218.411,0.000,1568.284,0.000,1195.523,1481.000,0.538,0.000
$DEVICE_MAMPS,395.505,249.390,2002.770,216.495,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12061.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.892,0.000,0.000,0.000
$MEM,167016
$DATA_FILE_SIZE,26731,799
$CAP_FILE_SIZE,130969,0
$CFSIZE,2097872896,2027814912
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12901.30,0x2378b6,7,5
$INTR,1,5341.39,0x2378b6,2,5
$SOUNDSPEED,1448.1
$GPS,120914,144054,7442.315,-14055.300,28,0.8,48,24.5