version: 66.12
glider: 196
mission: 7
dive: 361
start: 9 16 114 15 0 28
data:
$ID,196
$MISSION,7
$DIVE,361
$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,47
$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,16.94
$_SM_ANGLEo,-19.7
$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,-145.9,2976,2765,1864,1753,0.0,0.0,0,30,0.00,0.00,-12.10,0.000,16386,0.000,0.000,2975,2765,2624,2678,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2764,2680,2573,20.4,0.0,1,56,0.90,2.42,-16.83,0.000,20996,0.067,0.090,2659,1365,3857,3924,3790,0,0,0,0,0,0,14.25,14.19,14.52
$GC,281,-0.69,-145.9,2660,1365,3924,3795,86.4,-18.6,51,286,0.00,2.53,0.00,0.000,1030,0.000,0.097,2649,2762,3858,3923,3794,0,0,0,0,0,0,28.83,14.22,28.83
$GC,591,-0.69,-145.9,2650,2763,3924,3795,150.7,-20.2,83,596,0.00,2.38,0.00,0.000,516,0.000,0.067,2649,1365,3858,3923,3794,0,0,0,0,0,0,28.83,14.33,28.83
$GC,786,-0.69,-145.9,2649,1365,3924,3794,182.9,-16.0,122,793,0.15,2.50,0.00,0.000,3078,0.270,0.097,2669,2761,3859,3923,3795,0,0,0,0,0,0,14.06,14.24,28.83
$GC,1091,-0.69,-145.9,2670,2761,3924,3795,229.7,-15.8,153,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2761,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1391,-0.69,-145.9,2669,2761,3924,3794,270.4,-13.0,173,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2761,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-0.69,-145.9,2664,2762,3924,3794,307.1,-12.2,183,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2761,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-0.69,-145.9,2669,2761,3924,3794,343.5,-11.9,193,1996,0.00,2.38,0.00,0.000,516,0.000,0.067,2669,1365,3858,3922,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2056,-0.69,-145.9,2669,1364,3924,3794,350.7,-10.7,206,2061,0.00,2.50,0.00,0.000,1030,0.000,0.099,2663,2763,3858,3922,3794,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2383,-0.69,-145.9,2663,2763,3924,3794,388.6,-11.6,221,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2682,-0.69,-145.9,2664,2764,3924,3795,422.7,-11.2,231,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,-0.69,-145.9,2665,2764,3930,3794,455.9,-11.0,241,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3282,-0.69,-145.9,2663,2763,3923,3794,489.1,-11.1,251,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3583,-0.69,-145.9,2663,2763,3924,3794,522.3,-11.1,261,3587,0.00,2.38,0.00,0.000,516,0.000,0.067,2663,1366,3858,3922,3794,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3612,-0.69,-145.9,2664,1366,3924,3795,525.8,-10.6,267,3617,0.00,2.53,0.00,0.000,1030,0.000,0.099,2662,2771,3858,3923,3794,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3944,-0.69,-145.9,2664,2771,3923,3795,562.6,-11.2,283,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2771,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4243,-0.69,-145.9,2664,2772,3925,3795,596.3,-11.2,293,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2771,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4543,-0.69,-145.9,2664,2771,3923,3795,629.7,-10.9,303,4547,0.00,2.42,0.00,0.000,516,0.000,0.065,2663,1357,3859,3923,3795,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4577,-0.69,-145.9,2664,1358,3924,3795,633.6,-10.6,310,4583,0.00,2.55,0.00,0.000,1030,0.000,0.097,2663,2765,3858,3923,3794,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4904,-0.69,-145.9,2664,2765,3924,3795,669.2,-10.9,325,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5ae1da96c8;,*58
$MODEM_MSG,CACST,6,0,20140916160435.284956,3,253,-6,0175,0150,255,02,02,05,04,1,005,000,0,5,1,0,150,12.6,5.7,-100,-2.7,-01,0.5,30,900,0025*36
$GC,5203,-0.69,-145.9,2663,2765,3924,3794,701.6,-10.7,335,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5503,-0.69,-145.9,2664,2766,3922,3794,734.0,-10.8,345,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5655,-0.13,0.0,2664,2766,3926,3795,750.2,-10.7,350,5786,0.70,0.00,127.53,2.030,10244,0.215,0.000,2847,2765,3254,3274,3235,0,0,0,0,0,0,14.12,28.83,12.95
$STATE,5787,end apogee,CONTROL_FINISHED_OK
$STATE,5787,begin climb
$GC,5789,0.69,145.9,2848,2766,3272,3234,754.0,0.0,354,5925,0.88,0.00,125.25,1.837,11270,0.118,0.000,3111,2765,2658,2664,2652,0,0,0,0,0,0,13.67,28.83,12.57
$GC,6222,0.69,145.9,3114,2766,2664,2648,711.9,12.7,394,6227,0.00,2.50,0.00,0.000,516,0.000,0.067,3124,1342,2655,2664,2646,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6292,0.69,145.9,3125,1342,2665,2646,703.6,11.7,408,6297,0.00,2.55,0.00,0.000,1030,0.000,0.091,3124,2749,2655,2664,2646,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6614,0.69,145.9,3125,2750,2665,2646,661.9,12.9,422,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2658,2672,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,0.69,145.9,3125,2748,2665,2645,623.3,12.9,432,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,0.69,145.9,3124,2750,2663,2646,584.8,12.8,442,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7513,0.69,145.9,3125,2750,2665,2646,546.4,12.7,452,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,0.69,145.9,3125,2750,2665,2645,508.7,12.5,462,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,0.69,145.9,3125,2749,2665,2644,470.9,12.6,472,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,0.69,145.9,3125,2750,2665,2645,433.4,12.4,482,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,0.69,145.9,3124,2749,2665,2644,396.2,12.4,492,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9012,0.69,145.9,3125,2749,2666,2643,359.4,12.2,502,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,0.69,151.8,3125,2749,2665,2644,324.8,11.3,512,9316,0.00,0.00,2.78,0.960,8198,0.000,0.000,3124,2749,2639,2649,2629,0,0,0,0,0,0,28.83,28.83,13.48
$GC,9612,0.69,151.8,3124,2749,2670,2631,290.1,11.8,522,9618,0.00,2.38,1.30,0.332,8708,0.000,0.063,3133,1344,2646,2668,2625,0,0,0,0,0,0,28.83,14.45,13.74
$GC,9653,0.70,162.8,3134,1343,2668,2628,285.6,11.0,530,9674,0.00,2.47,14.02,1.378,9222,0.000,0.093,3133,2742,2588,2596,2580,0,0,0,0,0,0,28.83,14.40,13.81
$GC,9974,0.72,188.4,3134,2742,2595,2578,249.8,10.3,544,10004,0.00,2.42,21.20,1.343,8708,0.000,0.067,3144,1341,2486,2490,2483,0,0,0,0,0,0,28.83,14.40,13.75
$GC,10009,0.73,208.3,3145,1342,2491,2484,245.9,10.6,551,10035,0.00,2.47,18.30,1.382,9222,0.000,0.092,3144,2741,2403,2403,2403,0,0,0,0,0,0,28.83,14.37,13.64
$GC,10334,0.75,230.9,3145,2743,2403,2398,209.0,10.4,586,10355,0.00,0.00,19.83,1.346,8198,0.000,0.000,3144,2741,2314,2314,2314,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10656,0.77,265.7,3145,2742,2310,2306,176.0,9.8,618,10690,0.00,2.40,29.73,1.332,8708,0.000,0.066,3153,1345,2169,2170,2168,0,0,0,0,0,0,28.83,14.26,13.59
$GC,10737,0.80,303.2,3153,1345,2167,2167,168.1,9.6,634,10776,0.00,2.47,32.28,1.361,9222,0.000,0.092,3152,2732,2015,2017,2014,0,0,0,0,0,0,28.83,14.21,13.51
$GC,11075,0.82,329.0,3153,2733,2019,2003,129.8,10.3,672,11098,0.00,0.00,22.02,1.195,8198,0.000,0.000,3153,2732,1915,1917,1914,0,0,0,0,0,0,28.83,28.83,13.65
$GC,11397,0.82,329.0,3154,2733,1913,1901,95.8,11.7,704,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2733,1905,1912,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11695,0.88,414.8,3154,2733,1913,1899,69.4,7.1,734,11737,0.00,2.47,37.55,0.396,8708,0.000,0.068,3161,1341,1566,1575,1557,0,0,0,0,0,0,28.83,14.22,13.90
$GC,11773,0.90,440.4,3161,1342,1578,1555,62.5,10.3,749,11789,0.00,2.53,11.77,0.374,9222,0.000,0.093,3160,2744,1462,1478,1446,0,0,0,0,0,0,28.83,14.16,13.87
$GC,12089,1.00,587.2,3161,2743,1485,1435,44.5,3.8,782,12163,0.15,2.47,67.40,0.319,11012,0.113,0.070,3234,1352,862,864,860,0,0,0,0,0,0,14.22,14.14,13.93
$GC,12193,1.02,621.7,3235,1352,866,861,36.3,9.8,798,12214,0.00,2.50,16.17,0.314,9222,0.000,0.091,3234,2739,722,710,734,0,0,0,0,0,0,28.83,14.12,13.90
$GC,12519,1.08,702.7,3234,2741,705,735,11.9,7.3,833,12550,0.00,2.42,25.77,0.233,8708,0.000,0.068,3234,1341,497,448,547,0,0,0,0,0,0,28.83,14.18,13.97
$FREEZE,8.83,-1.409,-1.438,2,13,0
$STATE,12558,end climb,FINISH_DEPTH_REACHED
$STATE,12558,begin subsurface finish
$FINISH1,8.8,1.021120,356
$GC,12566,0.25,355.8,3235,2740,450,549,8.8,6.9,839,12602,0.88,2.47,-30.85,0.000,20996,0.150,0.089,2978,1343,1810,1867,1753,0,0,0,0,0,0,14.06,14.19,14.42
$FINISH2,8.5
$STATE,12603,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12603,begin surface
$RAFOS_CLK,449
$MODEM,5,1410883475,74.45060,-141.84641,35.285,51119.9
$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,44.80
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,13
$SC_FREEKB,3776896
$24V_AH,12.57,112.862
$10V_AH,12.60,0.000
$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,3.650,64.300,572.900,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,0.000,10248.832,587.879,1709.380,174.306,0.000,1274.288,0.000,1264.337,1493.000,0.539,0.000
$DEVICE_MAMPS,270.045,98.685,2030.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12655.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.789,0.000,0.000,0.000
$MEM,152400
$DATA_FILE_SIZE,30026,844
$CAP_FILE_SIZE,132204,0
$CFSIZE,2097872896,2022506496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5653.18,0x2378b6,2,5
$SOUNDSPEED,1449.2
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5