version: 66.12
glider: 196
mission: 7
dive: 344
start: 9 14 114 2 56 44
data:
$ID,196
$MISSION,7
$DIVE,344
$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,-7971.7593
$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,56
$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
$GPS1,140914,024812,7435.467,-14038.857,34,0.7,54,24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-77.7
$GPS2,140914,025625,7435.453,-14038.893,6,0.8,26,24.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,166.4,236688,-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,-145.9,208,2734,436,547,0.0,0.0,0,91,0.00,0.00,-71.90,0.000,16386,0.000,0.000,207,2735,2278,2282,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.69,-145.9,208,2735,2283,2271,3.6,-3.4,7,142,12.25,2.38,-28.60,0.000,18948,0.398,0.088,2664,1381,3856,3915,3797,0,0,0,0,0,0,13.90,14.19,14.46
$GC,367,-0.69,-145.9,2665,1381,3916,3802,80.2,-20.4,62,374,0.00,2.50,0.00,0.000,1030,0.000,0.097,2655,2761,3858,3915,3801,0,0,0,0,0,0,28.83,14.21,28.83
$GC,672,-0.69,-145.9,2657,2761,3916,3802,143.3,-19.5,93,677,0.00,2.35,0.00,0.000,516,0.000,0.063,2656,1373,3857,3914,3801,0,0,0,0,0,0,28.83,14.34,28.83
$GC,764,-0.69,-145.9,2656,1373,3916,3801,159.1,-16.3,111,768,0.00,2.47,0.00,0.000,1030,0.000,0.095,2644,2761,3858,3915,3801,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1073,-0.69,-145.9,2645,2761,3916,3801,215.7,-17.4,143,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1373,-0.69,-145.9,2645,2761,3916,3801,264.3,-16.0,167,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1673,-0.69,-145.9,2646,2762,3916,3802,308.5,-14.4,177,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.69,-145.9,2646,2762,3916,3802,350.2,-13.8,187,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.69,-145.9,2646,2761,3916,3802,390.8,-13.4,197,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2573,-0.69,-145.9,2643,2761,3916,3800,430.8,-13.3,207,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2873,-0.69,-145.9,2646,2762,3914,3801,470.5,-13.2,217,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3173,-0.69,-145.9,2646,2762,3916,3802,509.6,-13.0,227,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-0.69,-145.9,2645,2761,3916,3800,548.1,-12.7,237,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2757,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.69,-145.9,2646,2762,3916,3802,586.3,-12.8,247,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-0.69,-145.9,2646,2761,3916,3801,624.2,-12.6,257,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.69,-145.9,2646,2762,3916,3802,661.8,-12.5,267,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4673,-0.69,-145.9,2646,2761,3916,3802,699.2,-12.3,277,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-0.69,-145.9,2646,2762,3916,3802,736.0,-12.4,287,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5091,begin apogee
$GC,5096,-0.13,0.0,2646,2762,3916,3803,750.6,-12.2,291,5227,0.77,0.00,127.90,2.023,10244,0.223,0.000,2846,2762,3256,3274,3239,0,0,0,0,0,0,14.05,28.83,12.92
$STATE,5228,end apogee,CONTROL_FINISHED_OK
$STATE,5228,begin climb
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b1b1a83ec;,*51
$MODEM_MSG,CACST,6,0,20140914040104.894957,3,552,-8,0150,0150,255,02,02,06,05,1,004,000,0,5,1,0,150,6.0,3.2,-100,-0.2,-01,0.2,33,900,0025*05
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5a76baa520;,*0C
$MODEM_MSG,CACST,6,0,20140914040437.698972,3,120,-9,0125,0150,217,04,04,05,04,1,005,000,0,5,1,0,150,8.8,4.3,-100,-1.3,-01,-0.3,22,900,0025*2B
$GC,5230,0.69,145.9,2847,2763,3271,3237,754.2,0.0,295,5363,0.88,0.00,126.70,1.866,11270,0.119,0.000,3110,2762,2658,2663,2653,0,0,0,0,0,0,13.64,28.83,12.55
$GC,5668,0.69,145.9,3111,2763,2662,2645,710.7,12.7,335,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5968,0.69,145.9,3110,2762,2664,2644,672.4,12.8,345,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6268,0.69,145.9,3110,2762,2663,2643,634.6,12.6,355,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6568,0.69,145.9,3111,2762,2663,2643,597.0,12.5,365,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6868,0.69,145.9,3111,2762,2664,2643,559.4,12.4,375,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7168,0.69,145.9,3110,2762,2665,2643,522.5,12.2,385,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7468,0.69,145.9,3111,2763,2663,2644,486.2,12.1,395,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7768,0.69,145.9,3111,2762,2663,2643,450.0,12.0,405,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8068,0.69,145.9,3110,2762,2663,2643,414.2,11.9,415,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,0.69,145.9,3110,2761,2664,2643,378.9,11.8,425,8372,0.00,1.80,0.00,0.000,260,0.000,0.096,3110,3796,2653,2663,2643,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8388,0.69,145.9,3110,3795,2665,2643,376.2,13.1,429,8392,0.00,1.73,0.00,0.000,1030,0.000,0.050,3117,2738,2653,2663,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8698,0.69,145.9,3118,2739,2663,2644,339.1,11.7,441,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8998,0.69,149.2,3117,2739,2663,2644,304.5,11.5,451,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9298,0.71,177.3,3118,2739,2664,2644,273.0,10.1,461,9329,0.00,0.00,26.38,1.342,8198,0.000,0.000,3117,2738,2528,2536,2521,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9628,0.73,202.7,3118,2744,2536,2518,237.7,10.3,478,9651,0.00,0.00,21.60,1.330,8710,0.000,0.000,3117,2738,2430,2437,2424,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9949,0.76,252.4,3118,2739,2433,2418,206.6,9.0,511,9999,0.00,2.42,42.30,1.347,8708,0.000,0.066,3125,1327,2221,2223,2219,0,0,0,0,0,0,28.83,14.17,13.57
$GC,10030,0.80,297.7,3126,1327,2222,2216,199.1,9.2,525,10074,0.00,2.53,38.53,1.403,9222,0.000,0.091,3125,2741,2040,2043,2038,0,0,0,0,0,0,28.83,14.20,13.45
$GC,10379,0.81,323.2,3126,2741,2042,2022,162.3,10.3,565,10402,0.00,0.00,21.73,1.225,8198,0.000,0.000,3125,2741,1939,1943,1935,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10701,0.83,347.3,3126,2741,1939,1922,128.3,10.3,597,10731,0.12,2.45,20.40,1.177,10756,0.128,0.066,3196,1346,1835,1837,1833,0,0,0,0,0,0,14.38,14.24,13.71
$GC,10757,0.83,347.3,3196,1349,1836,1832,121.1,13.0,608,10763,0.15,2.47,0.00,0.000,5126,0.237,0.090,3163,2742,1833,1834,1832,0,0,0,0,0,0,14.12,14.23,28.83
$GC,11062,0.84,363.8,3164,2742,1837,1826,85.5,10.7,639,11072,0.00,0.00,6.57,0.432,8198,0.000,0.000,3163,2742,1774,1778,1770,0,0,0,0,0,0,28.83,28.83,13.85
$GC,11371,0.88,416.7,3163,2742,1792,1769,56.4,8.8,670,11402,0.00,2.42,24.58,0.356,8708,0.000,0.067,3171,1350,1559,1570,1549,0,0,0,0,0,0,28.83,14.24,13.96
$GC,11462,0.95,518.6,3172,1350,1573,1549,50.0,6.2,688,11514,0.00,2.50,46.70,0.336,9222,0.000,0.092,3172,2739,1142,1159,1125,0,0,0,0,0,0,28.83,14.14,13.93
$GC,11812,1.04,641.0,3172,2740,1160,1115,30.5,5.1,728,11873,0.17,0.00,56.65,0.291,10246,0.106,0.000,3245,2739,642,620,664,0,0,0,0,0,0,14.26,28.83,13.95
$FREEZE,8.45,-1.293,-1.437,2,1,0
$FREEZE,7.66,-1.293,-1.436,2,1,0
$FREEZE,6.78,-1.292,-1.436,2,1,0
$FREEZE,5.99,-1.294,-1.435,2,1,0
$FREEZE,5.11,-1.301,-1.434,2,1,0
$FREEZE,4.34,-1.300,-1.434,2,1,0
$FREEZE,3.46,-1.303,-1.433,2,1,0
$FREEZE,2.53,-1.307,-1.432,2,1,0
$FREEZE,1.70,-1.307,-1.432,2,1,0
$STATE,12170,end climb,SURFACE_DEPTH_REACHED
$STATE,12170,begin surface coast
$FREEZE,0.99,-1.301,-1.431,2,1,0
$FREEZE,0.97,-1.295,-1.418,2,1,0
$FINISH,1.0,1.020912
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12191,begin surface
$SM_CCo,12208,16.15,0.205,0,0,497,676.54
$SM_GC,1.69,9.38,0.00,16.15,0.080,0.000,0.205,200,2739,497,-8.37,-0.59,676.54,0,0,0,0,0,0,14.35,28.83,14.13
$RAFOS_CLK,417
$MODEM,5,1410667477,74.10780,-140.37759,37.699,54645.6
$MODEM,4,1410667264,74.63380,-143.77760,64.895,94066.9
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7350.26,-14044.92,130914,231740
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.11
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,16
$SC_FREEKB,3784512
$24V_AH,12.55,107.401
$10V_AH,12.55,0.000
$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,23.725,28.025,560.025,16.150,0.000,0.000,0.000,287.025,4.000,0.000,27.586,0.000,9997.022,620.329,1873.696,220.715,0.000,1536.728,0.000,1151.252,1495.000,0.540,0.000
$DEVICE_MAMPS,397.800,97.155,2022.660,205.020,0.000,0.000,0.000,154.530,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12241.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.217,0.000,0.000,0.000
$MEM,161028
$DATA_FILE_SIZE,26749,766
$CAP_FILE_SIZE,127196,0
$CFSIZE,2097872896,2025652224
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12823.31,0x2378b6,7,5
$INTR,1,5093.17,0x2378b6,2,5
$INTR,2,12195.14,0x2378b6,7,5
$SOUNDSPEED,1448.3
$GPS,140914,062154,7433.840,-14039.170,34,0.8,54,24.6