version: 66.12
glider: 196
mission: 7
dive: 359
start: 9 16 114 8 1 24
data:
$ID,196
$MISSION,7
$DIVE,359
$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,-8708.3135
$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,51
$R_STBD_OVSHOOT,30
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-55.1
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,167.0,221862,-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,-145.9,201,2772,440,545,0.0,0.0,0,86,0.00,0.00,-68.25,0.000,16386,0.000,0.000,201,2773,2179,2196,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.69,-145.9,201,2772,2197,2164,3.7,-3.5,7,140,12.18,2.40,-32.53,0.000,18948,0.393,0.086,2663,1370,3858,3924,3792,0,0,0,0,0,0,13.92,14.22,14.45
$GC,250,-0.69,-145.9,2665,1369,3922,3795,53.7,-29.0,39,255,0.00,2.50,0.00,0.000,1030,0.000,0.095,2655,2752,3858,3921,3795,0,0,0,0,0,0,28.83,14.10,28.83
$GC,560,-0.69,-145.9,2657,2754,3921,3796,125.5,-20.7,71,564,0.00,2.38,0.00,0.000,516,0.000,0.066,2655,1370,3858,3921,3795,0,0,0,0,0,0,28.83,14.15,28.83
$GC,595,-0.69,-145.9,2656,1371,3921,3795,132.6,-19.7,78,601,0.00,2.53,0.00,0.000,1030,0.000,0.096,2644,2764,3858,3921,3795,0,0,0,0,0,0,28.83,14.09,28.83
$GC,900,-0.69,-145.9,2645,2764,3922,3795,192.2,-18.5,109,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1200,-0.69,-145.9,2645,2763,3922,3795,245.5,-17.3,139,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140916080428.467848,3,516,-2,0182,0150,255,03,03,05,03,-1,-01,-01,1,3,0,0,150,15.2,0.6,-100,2.4,-01,0.2,29,900,0025*35
$GC,1500,-0.69,-145.9,2645,2764,3921,3795,290.2,-14.6,151,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-0.69,-145.9,2645,2764,3922,3795,332.0,-13.4,161,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2100,-0.69,-145.9,2645,2765,3922,3796,371.0,-13.0,171,2104,0.00,2.38,0.00,0.000,516,0.000,0.067,2644,1365,3858,3921,3795,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2119,-0.69,-145.9,2646,1365,3921,3796,373.6,-13.0,175,2125,0.15,2.50,0.00,0.000,3078,0.256,0.097,2665,2764,3858,3921,3795,0,0,0,0,0,0,14.14,14.33,28.83
$GC,2431,-0.69,-145.9,2666,2764,3922,3795,408.6,-11.1,187,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2764,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-0.69,-145.9,2666,2764,3922,3794,441.8,-11.0,197,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2764,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,-0.69,-145.9,2666,2765,3921,3796,474.7,-11.0,207,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,-0.69,-145.9,2666,2765,3921,3797,507.8,-11.1,217,3335,0.00,2.38,0.00,0.000,516,0.000,0.066,2665,1363,3857,3920,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3390,-0.69,-145.9,2666,1363,3921,3796,514.2,-10.6,229,3395,0.00,2.50,0.00,0.000,1030,0.000,0.097,2662,2761,3857,3920,3794,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3721,-0.69,-145.9,2663,2761,3922,3795,552.0,-11.6,245,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-0.69,-145.9,2663,2761,3921,3796,587.1,-11.7,255,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4320,-0.69,-145.9,2664,2767,3922,3797,621.6,-11.3,265,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-0.69,-145.9,2663,2761,3922,3795,655.0,-11.2,275,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2767,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4920,-0.69,-145.9,2663,2761,3922,3796,687.9,-11.0,285,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5220,-0.69,-145.9,2663,2762,3921,3797,720.8,-11.0,295,5225,0.00,2.35,0.00,0.000,516,0.000,0.066,2662,1367,3857,3920,3795,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5260,-0.69,-145.9,2664,1367,3921,3797,724.9,-10.1,303,5265,0.00,2.47,0.00,0.000,1030,0.000,0.096,2652,2759,3858,3921,3796,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,5488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5488,begin apogee
$GC,5493,-0.13,0.0,2653,2760,3922,3797,751.3,-11.5,314,5622,0.73,0.00,126.55,2.021,10246,0.214,0.000,2843,2761,3260,3280,3240,0,0,0,0,0,0,14.16,28.83,12.97
$STATE,5623,end apogee,CONTROL_FINISHED_OK
$STATE,5623,begin climb
$GC,5625,0.69,145.9,2844,2761,3276,3235,754.9,0.0,318,5760,0.90,0.00,127.70,1.887,10246,0.115,0.000,3111,2760,2657,2665,2650,0,0,0,0,0,0,13.74,28.83,12.55
$GC,6060,0.69,145.9,3112,2760,2666,2645,711.7,12.7,333,6065,0.00,2.47,0.00,0.000,516,0.000,0.066,3122,1350,2654,2665,2644,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6085,0.69,145.9,3123,1351,2666,2645,708.6,12.0,338,6091,0.00,2.53,0.00,0.000,1030,0.000,0.090,3122,2743,2654,2665,2644,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6390,0.69,145.9,3123,2743,2666,2644,668.9,13.1,349,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6690,0.69,145.9,3123,2744,2667,2645,629.5,13.1,359,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,0.69,145.9,3123,2743,2666,2644,589.8,13.1,369,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7290,0.69,145.9,3124,2744,2666,2644,550.4,13.1,379,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7590,0.69,145.9,3123,2740,2665,2644,511.6,12.8,389,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7890,0.69,145.9,3124,2744,2666,2644,473.7,12.5,399,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8190,0.69,145.9,3123,2743,2666,2643,435.8,12.6,409,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8490,0.69,145.9,3123,2744,2666,2644,398.5,12.4,419,8495,0.00,1.85,0.00,0.000,260,0.000,0.099,3122,3787,2654,2665,2643,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8520,0.69,145.9,3123,3786,2666,2644,394.5,13.9,425,8525,0.00,1.75,0.00,0.000,1030,0.000,0.054,3130,2736,2654,2665,2643,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8851,0.69,145.9,3131,2737,2666,2649,353.5,12.3,441,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2737,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9150,0.69,149.7,3131,2738,2665,2644,317.5,11.4,451,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2737,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9450,0.71,176.6,3131,2737,2666,2644,285.6,10.2,461,9481,0.00,0.00,26.05,1.347,8198,0.000,0.000,3130,2736,2531,2538,2525,0,0,0,0,0,0,28.83,28.83,13.79
$GC,9781,0.71,176.6,3131,2737,2539,2521,245.2,12.7,474,9786,0.00,2.35,0.00,0.000,516,0.000,0.067,3141,1350,2529,2538,2521,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9806,0.72,182.5,3141,1350,2539,2521,242.2,11.3,479,9813,0.00,2.50,2.85,0.996,9222,0.000,0.093,3141,2747,2515,2524,2507,0,0,0,0,0,0,28.83,14.33,13.47
$GC,10113,0.76,243.2,3142,2748,2541,2509,214.4,8.4,510,10173,0.00,1.92,54.78,1.390,8452,0.000,0.099,3141,3786,2260,2262,2259,0,0,0,0,0,0,28.83,14.17,13.55
$GC,10199,0.76,243.2,3141,3786,2261,2258,204.4,14.7,522,10205,0.00,1.73,0.00,0.000,1030,0.000,0.054,3149,2741,2258,2259,2257,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10504,0.78,275.8,3149,2741,2260,2253,170.0,9.9,553,10538,0.00,2.40,27.83,1.275,8708,0.000,0.069,3159,1345,2127,2130,2124,0,0,0,0,0,0,28.83,14.23,13.62
$GC,10558,0.80,306.2,3159,1345,2129,2122,164.5,10.0,564,10589,0.00,2.50,25.83,1.281,9222,0.000,0.093,3159,2743,2006,2009,2004,0,0,0,0,0,0,28.83,14.14,13.53
$GC,10894,0.80,306.2,3163,2743,2009,1989,123.7,12.0,601,10898,0.00,2.40,0.00,0.000,516,0.000,0.068,3173,1345,1998,2008,1988,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10914,0.80,308.7,3169,1346,2009,1989,121.4,11.5,605,10919,0.00,2.50,0.00,0.000,1030,0.000,0.092,3168,2748,1998,2009,1988,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11224,0.84,363.6,3168,2748,2011,1986,87.8,8.7,637,11255,0.00,0.00,25.30,0.454,8198,0.000,0.000,3168,2746,1779,1787,1771,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11555,0.92,478.1,3169,2747,1786,1766,57.1,5.5,670,11615,0.00,2.47,51.88,0.360,8708,0.000,0.069,3176,1329,1307,1328,1286,0,0,0,0,0,0,28.83,14.13,13.93
$GC,11690,0.98,554.5,3177,1329,1329,1287,48.0,7.6,697,11730,0.00,2.58,34.95,0.331,9222,0.000,0.092,3176,2743,996,1009,984,0,0,0,0,0,0,28.83,14.14,13.90
$GC,12036,1.06,671.7,3177,2743,1006,973,25.7,5.4,736,12097,0.15,1.88,54.65,0.278,11012,0.119,0.097,3246,3794,517,470,564,0,0,0,0,0,0,14.19,14.14,13.90
$GC,12127,1.06,677.5,3246,3794,471,564,18.6,11.3,752,12137,0.00,1.80,2.60,0.272,9222,0.000,0.054,3246,2717,495,441,550,0,0,0,0,0,0,28.83,14.19,13.93
$FREEZE,8.84,-1.419,-1.437,2,11,0
$STATE,12255,end climb,FINISH_DEPTH_REACHED
$STATE,12255,begin subsurface finish
$FINISH1,8.8,1.021100,357
$GC,12260,0.25,356.8,3246,2718,444,552,8.8,7.2,766,12297,0.93,2.40,-29.67,0.000,20996,0.174,0.094,2983,1336,1807,1863,1751,0,0,0,0,0,0,13.99,14.17,14.41
$FINISH2,9.4
$STATE,12297,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12298,begin surface
$RAFOS_CLK,598
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.99
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.30
$XPDR_PINGS,12
$SC_FREEKB,3777792
$24V_AH,12.55,112.218
$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,15.025,62.400,560.950,0.000,0.000,0.000,0.000,122.525,3.000,0.000,181.868,0.000,10095.464,642.185,1935.150,373.098,0.000,1447.068,0.000,1165.894,1326.000,0.541,0.000
$DEVICE_MAMPS,393.210,99.450,2021.130,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12337.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.785,0.000,0.000,0.000
$MEM,153324
$DATA_FILE_SIZE,26771,773
$CAP_FILE_SIZE,134689,0
$CFSIZE,2097872896,2022866944
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13435.94,0x2378b6,7,5
$INTR,1,5490.48,0x2378b6,2,5
$INTR,2,12257.91,0x2378b6,5,5
$SOUNDSPEED,1448.5
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5