version: 66.12
glider: 196
mission: 7
dive: 360
start: 9 16 114 11 29 3
data:
$ID,196
$MISSION,7
$DIVE,360
$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,45
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,18.57
$_SM_ANGLEo,-18.4
$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,-145.9,2976,2762,1866,1754,0.0,0.0,0,30,0.00,0.00,-11.93,0.000,16386,0.000,0.000,2975,2762,2619,2672,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2762,2674,2568,20.8,0.0,1,56,0.90,1.88,-17.02,0.000,20740,0.069,0.129,2654,3780,3857,3922,3792,0,0,0,0,0,0,14.21,14.12,14.52
$GC,281,-0.69,-145.9,2655,3781,3922,3795,88.4,-22.4,51,286,0.00,1.75,0.00,0.000,1030,0.000,0.056,2654,2750,3858,3922,3795,0,0,0,0,0,0,28.83,14.19,28.83
$GC,591,-0.69,-145.9,2655,2747,3923,3796,150.4,-18.2,83,596,0.00,1.85,0.00,0.000,260,0.000,0.099,2646,3792,3856,3922,3790,0,0,0,0,0,0,28.83,14.21,28.83
$GC,651,-0.69,-145.9,2646,3792,3923,3795,162.4,-20.5,95,656,0.00,1.75,0.00,0.000,1030,0.000,0.056,2646,2754,3858,3922,3795,0,0,0,0,0,0,28.83,14.30,28.83
$GC,961,-0.69,-145.9,2646,2753,3924,3795,220.1,-16.1,127,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2757,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1281,-0.69,-145.9,2647,2754,3923,3795,270.0,-15.8,151,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2753,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1581,-0.69,-145.9,2647,2754,3923,3795,312.6,-14.0,161,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2753,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1883,-0.69,-145.9,2646,2753,3923,3794,353.0,-13.0,171,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2181,-0.69,-145.9,2646,2753,3923,3794,391.7,-12.9,181,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2753,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2481,-0.69,-145.9,2647,2754,3923,3796,429.9,-12.6,191,2486,0.00,2.38,0.00,0.000,516,0.000,0.068,2647,1366,3858,3922,3794,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2511,-0.69,-145.9,2647,1367,3921,3796,433.7,-12.5,197,2517,0.15,2.53,0.00,0.000,3078,0.249,0.097,2667,2759,3858,3922,3794,0,0,0,0,0,0,14.05,14.22,28.83
$GC,2841,-0.69,-145.9,2668,2760,3923,3796,470.2,-11.0,213,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,-0.69,-145.9,2669,2760,3923,3796,503.0,-10.9,223,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140916120432.272892,3,508,-9,0094,0150,255,03,03,06,05,1,000,000,2,5,1,0,150,16.8,3.3,-100,-0.3,-01,0.2,28,900,0025*30
$GC,3443,-0.69,-145.9,2668,2759,3923,3795,535.5,-10.8,233,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-0.69,-145.9,2668,2760,3923,3796,568.0,-10.9,243,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4042,-0.69,-145.9,2668,2759,3923,3795,600.6,-10.8,253,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4342,-0.69,-145.9,2668,2760,3923,3796,632.7,-10.7,263,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4642,-0.69,-145.9,2668,2760,3923,3795,663.9,-10.3,273,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4942,-0.69,-145.9,2668,2760,3923,3796,694.4,-10.1,283,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3857,3922,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5242,-0.69,-145.9,2668,2760,3923,3796,724.5,-10.0,293,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2759,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5509,begin apogee
$GC,5514,-0.13,0.0,2668,2759,3923,3795,751.4,-10.0,302,5646,0.68,0.00,128.25,2.000,10244,0.211,0.000,2848,2760,3254,3272,3236,0,0,0,0,0,0,14.16,28.83,13.01
$STATE,5647,end apogee,CONTROL_FINISHED_OK
$STATE,5647,begin climb
$GC,5649,0.69,145.9,2849,2760,3269,3231,754.7,0.0,306,5785,0.85,0.00,125.28,1.832,11270,0.117,0.000,3109,2760,2654,2661,2648,0,0,0,0,0,0,13.73,28.83,12.58
$GC,6081,0.69,145.9,3108,2760,2663,2643,711.2,13.0,346,6086,0.00,2.47,0.00,0.000,516,0.000,0.066,3120,1347,2652,2662,2643,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6161,0.69,145.9,3120,1348,2663,2644,701.5,12.4,362,6166,0.00,2.53,0.00,0.000,1030,0.000,0.091,3120,2746,2652,2662,2643,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6472,0.69,145.9,3121,2747,2663,2642,660.7,13.2,374,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6771,0.69,145.9,3121,2747,2662,2643,621.3,13.1,384,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,0.69,145.9,3121,2747,2662,2643,582.7,12.8,394,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7372,0.69,145.9,3120,2746,2663,2642,544.3,12.8,404,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2651,2662,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,0.69,145.9,3121,2747,2663,2643,506.3,12.6,414,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2651,2662,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,0.69,145.9,3121,2747,2663,2643,469.1,12.4,424,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2651,2662,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,0.69,145.9,3121,2747,2662,2643,432.4,12.2,434,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8571,0.69,145.9,3121,2747,2663,2642,395.4,12.4,444,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,0.69,145.9,3121,2747,2663,2648,359.4,11.9,454,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2651,2662,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9172,0.69,147.7,3119,2747,2663,2643,324.1,11.5,464,9176,0.00,2.38,0.00,0.000,516,0.000,0.066,3129,1341,2652,2663,2641,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9186,0.70,154.3,3130,1341,2664,2642,322.5,11.3,467,9197,0.00,2.47,3.60,1.182,9222,0.000,0.092,3129,2736,2629,2639,2619,0,0,0,0,0,0,28.83,14.38,13.54
$GC,9503,0.70,154.3,3130,2737,2662,2625,286.5,11.7,480,9506,0.00,0.00,1.58,0.265,8198,0.000,0.000,3130,2736,2627,2641,2614,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9802,0.73,198.2,3128,2736,2664,2622,255.4,9.3,490,9845,0.00,0.00,41.78,1.351,8198,0.000,0.000,3130,2736,2448,2452,2445,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10132,0.75,226.9,3130,2736,2446,2434,219.0,10.1,519,10162,0.00,0.00,24.38,1.382,8710,0.000,0.000,3130,2736,2326,2327,2325,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10463,0.77,254.0,3130,2737,2327,2321,188.9,10.2,553,10493,0.00,2.42,23.12,1.306,8708,0.000,0.068,3138,1334,2215,2216,2215,0,0,0,0,0,0,28.83,14.31,13.64
$GC,10553,0.78,279.5,3139,1335,2215,2213,179.3,10.3,571,10584,0.00,2.53,22.75,1.346,9222,0.000,0.093,3139,2740,2110,2113,2108,0,0,0,0,0,0,28.83,14.23,13.52
$GC,10883,0.82,325.6,3139,2741,2114,2100,145.4,9.2,607,10924,0.00,0.00,38.90,1.271,8198,0.000,0.000,3138,2740,1928,1928,1928,0,0,0,0,0,0,28.83,28.83,13.57
$GC,11225,0.82,329.8,3139,2740,1925,1914,109.5,11.4,641,11229,0.00,2.40,0.00,0.000,516,0.000,0.068,3147,1342,1919,1924,1914,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11264,0.84,359.9,3148,1343,1924,1915,105.3,10.0,649,11296,0.00,2.50,27.27,1.179,9222,0.000,0.093,3146,2735,1788,1790,1786,0,0,0,0,0,0,28.83,14.22,13.62
$GC,11594,0.88,424.2,3147,2736,1786,1767,73.3,8.2,685,11626,0.00,1.95,28.27,0.410,8452,0.000,0.100,3146,3781,1527,1539,1516,0,0,0,0,0,0,28.83,14.17,13.89
$GC,11651,0.90,452.7,3147,3782,1541,1516,68.5,10.1,694,11668,0.08,1.77,13.52,0.396,11270,0.081,0.054,3193,2738,1411,1426,1397,0,0,0,0,0,0,14.13,14.16,13.87
$GC,11966,0.97,553.0,3194,2739,1431,1386,42.1,6.3,727,12018,0.00,2.50,46.00,0.314,8708,0.000,0.070,3203,1335,1001,1011,992,0,0,0,0,0,0,28.83,14.18,13.89
$GC,12050,1.01,605.4,3203,1336,1014,993,35.8,8.8,743,12080,0.00,2.53,24.17,0.295,9222,0.000,0.093,3203,2738,788,784,792,0,0,0,0,0,0,28.83,14.13,13.93
$GC,12378,1.07,695.5,3203,2738,784,788,15.1,6.8,779,12420,0.12,2.47,33.10,0.243,10756,0.148,0.067,3241,1342,498,452,544,0,0,0,0,0,0,14.15,14.17,14.00
$FREEZE,8.83,-1.424,-1.437,2,12,0
$STATE,12478,end climb,FINISH_DEPTH_REACHED
$STATE,12478,begin subsurface finish
$FINISH1,8.8,1.021101,357
$GC,12485,0.25,356.8,3242,2747,455,544,8.8,7.3,799,12525,0.85,2.50,-32.92,0.000,20996,0.109,0.088,2975,1334,1806,1862,1751,0,0,0,0,0,0,14.12,14.19,14.42
$FINISH2,6.3
$STATE,12525,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12525,begin surface
$RAFOS_CLK,533
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.58
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,13
$SC_FREEKB,3777344
$24V_AH,12.58,112.540
$10V_AH,12.62,0.000
$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,3.625,50.725,581.975,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,0.000,10246.969,589.794,1643.875,162.958,0.000,1249.154,0.000,1219.816,1478.000,0.539,0.000
$DEVICE_MAMPS,249.390,128.520,2000.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.311,0.000,0.000,0.000
$MEM,152928
$DATA_FILE_SIZE,26711,807
$CAP_FILE_SIZE,127363,0
$CFSIZE,2097872896,2022703104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5511.76,0x2378b6,2,5
$SOUNDSPEED,1448.8
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5