version: 66.12
glider: 196
mission: 7
dive: 352
start: 9 15 114 7 34 59
data:
$ID,196
$MISSION,7
$DIVE,352
$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,-8342.5654
$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,59
$R_STBD_OVSHOOT,18
$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,17.57
$_SM_ANGLEo,-19.0
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,2980,2744,1848,1737,0.0,0.0,0,33,0.00,0.00,-14.02,0.000,16386,0.000,0.000,2979,2744,2721,2777,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.69,-145.9,2980,2745,2779,2667,19.4,0.0,1,58,0.90,0.00,-16.15,0.000,20998,0.068,0.000,2664,2745,3857,3923,3792,0,0,0,0,0,0,14.28,28.83,14.53
$GC,359,-0.69,-145.9,2664,2745,3924,3795,104.1,-21.4,35,364,0.00,2.35,0.00,0.000,516,0.000,0.064,2664,1373,3859,3923,3795,0,0,0,0,0,0,28.83,14.28,28.83
$GC,409,-0.69,-145.9,2664,1374,3924,3795,113.7,-17.6,45,414,0.00,2.47,0.00,0.000,1030,0.000,0.094,2649,2758,3859,3923,3795,0,0,0,0,0,0,28.83,14.24,28.83
$GC,719,-0.69,-145.9,2652,2758,3924,3795,174.1,-19.0,77,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.69,-145.9,2654,2759,3929,3796,226.4,-16.9,107,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2758,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1329,-0.69,-145.9,2653,2759,3924,3796,272.5,-14.4,128,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-0.69,-145.9,2654,2759,3924,3796,314.3,-13.3,138,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1929,-0.69,-145.9,2654,2758,3923,3796,353.6,-12.9,148,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2229,-0.69,-145.9,2653,2760,3923,3796,391.6,-12.6,158,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.69,-145.9,2654,2758,3922,3796,429.4,-12.5,168,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2758,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2829,-0.69,-145.9,2653,2755,3924,3795,466.6,-12.4,178,2834,0.00,2.38,0.00,0.000,516,0.000,0.063,2653,1369,3859,3923,3795,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2854,-0.69,-145.9,2653,1369,3924,3795,469.6,-12.0,183,2860,0.00,2.50,0.00,0.000,1030,0.000,0.096,2656,2756,3859,3923,3795,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3161,-0.69,-145.9,2650,2757,3923,3796,506.8,-12.3,194,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2756,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3459,-0.69,-145.9,2651,2757,3923,3796,543.3,-12.2,204,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2756,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3759,-0.69,-145.9,2650,2757,3924,3795,580.2,-12.2,214,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2756,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4059,-0.69,-145.9,2651,2757,3923,3796,616.9,-12.2,224,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.69,-145.9,2651,2758,3923,3796,653.1,-12.0,234,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4659,-0.69,-145.9,2651,2757,3923,3796,688.2,-11.6,244,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2757,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-0.69,-145.9,2650,2757,3924,3796,722.7,-11.4,254,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5202,-0.13,0.0,2651,2757,3924,3796,750.0,-11.2,262,5332,0.75,0.00,127.60,2.030,10244,0.223,0.000,2846,2757,3256,3274,3238,0,0,0,0,0,0,14.17,28.83,12.98
$STATE,5333,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5336,0.69,145.9,2848,2758,3271,3234,753.4,0.0,266,5473,0.90,1.95,125.90,1.863,10500,0.135,0.102,3105,3789,2657,2662,2652,0,0,0,0,0,0,13.71,13.74,12.57
$GC,5697,0.69,145.9,3106,3790,2662,2647,713.4,14.8,341,5702,0.00,1.77,0.00,0.000,1030,0.000,0.050,3113,2750,2658,2670,2646,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6014,0.69,145.9,3115,2751,2662,2645,671.5,13.2,354,6019,0.00,2.40,0.00,0.000,516,0.000,0.064,3124,1341,2653,2662,2644,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6243,0.69,145.9,3126,1342,2663,2645,643.8,12.2,400,6249,0.00,2.47,0.00,0.000,1030,0.000,0.090,3125,2742,2653,2662,2644,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6554,0.69,145.9,3126,2743,2663,2645,602.2,13.5,412,6558,0.00,2.35,0.00,0.000,516,0.000,0.063,3135,1349,2653,2662,2644,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6628,0.69,145.9,3136,1349,2663,2645,592.7,12.6,427,6634,0.00,2.45,0.00,0.000,1030,0.000,0.090,3135,2743,2653,2662,2644,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6945,0.69,145.9,3136,2744,2663,2644,548.9,14.0,440,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2743,2650,2662,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7244,0.69,145.9,3136,2744,2663,2644,507.8,13.4,450,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2743,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7544,0.69,145.9,3136,2743,2663,2643,467.9,13.2,460,7548,0.00,1.83,0.00,0.000,260,0.000,0.096,3135,3786,2652,2662,2643,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7593,0.69,145.9,3136,3787,2663,2644,460.5,15.6,470,7598,0.00,1.73,0.00,0.000,1030,0.000,0.050,3143,2735,2652,2662,2643,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7905,0.69,145.9,3143,2735,2663,2643,419.5,13.2,482,7906,0.10,0.00,0.00,0.000,4102,0.304,0.000,3123,2735,2652,2662,2643,0,0,0,0,0,0,14.25,28.83,28.83
$GC,8204,0.69,145.9,3124,2735,2662,2644,382.7,12.2,492,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2734,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8504,0.69,145.9,3124,2734,2663,2644,346.9,11.7,502,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2735,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8804,0.69,145.9,3124,2735,2663,2644,311.1,11.7,512,8808,0.00,1.83,0.00,0.000,260,0.000,0.096,3123,3782,2652,2662,2643,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8838,0.69,145.9,3124,3782,2664,2643,306.7,12.8,519,8843,0.00,1.70,0.00,0.000,1030,0.000,0.050,3128,2742,2653,2663,2643,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9165,0.69,145.9,3128,2743,2663,2644,269.6,11.6,534,9170,0.00,2.33,0.00,0.000,516,0.000,0.064,3139,1353,2653,2663,2643,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9209,0.70,166.6,3140,1354,2664,2644,264.7,10.5,543,9235,0.00,2.45,17.83,1.328,9222,0.000,0.089,3139,2741,2572,2578,2566,0,0,0,0,0,0,28.83,14.40,13.83
$GC,9535,0.75,230.8,3140,2742,2579,2562,232.2,8.2,574,9596,0.00,1.90,53.30,1.309,8452,0.000,0.094,3139,3780,2310,2310,2310,0,0,0,0,0,0,28.83,14.16,13.60
$GC,9666,0.75,230.8,3140,3780,2311,2309,216.9,14.5,596,9671,0.00,1.73,0.00,0.000,1030,0.000,0.050,3146,2745,2308,2309,2308,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9976,0.77,262.6,3147,2746,2310,2305,183.4,9.9,628,10008,0.00,2.42,26.55,1.257,8708,0.000,0.064,3157,1355,2183,2185,2182,0,0,0,0,0,0,28.83,14.29,13.67
$GC,10038,0.79,291.7,3157,1355,2183,2180,177.0,10.1,638,10069,0.00,2.50,25.27,1.241,9222,0.000,0.090,3156,2754,2064,2066,2062,0,0,0,0,0,0,28.83,14.16,13.58
$GC,10368,0.81,311.6,3157,2755,2067,2050,138.3,10.6,674,10389,0.00,0.00,17.20,1.216,8710,0.000,0.000,3155,2755,1980,1984,1976,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10689,0.83,348.0,3158,2755,1983,1973,105.2,9.7,707,10723,0.00,2.42,28.40,1.156,8708,0.000,0.066,3164,1348,1834,1836,1832,0,0,0,0,0,0,28.83,14.21,13.66
$GC,10760,0.85,373.8,3165,1348,1834,1828,97.7,10.3,721,10780,0.00,2.53,11.27,0.484,9222,0.000,0.090,3164,2755,1734,1738,1730,0,0,0,0,0,0,28.83,14.17,13.83
$GC,11080,0.87,398.5,3165,2756,1745,1727,62.8,10.3,755,11093,0.00,0.00,11.60,0.373,8710,0.000,0.000,3164,2756,1632,1642,1623,0,0,0,0,0,0,28.83,28.83,13.91
$GC,11390,0.97,549.0,3165,2756,1650,1619,42.7,3.6,787,11465,0.12,2.42,68.65,0.315,10756,0.125,0.064,3221,1355,1016,1027,1006,0,0,0,0,0,0,14.19,14.20,13.90
$GC,11536,1.03,629.4,3222,1356,1028,1005,33.9,7.4,816,11582,0.00,2.50,36.80,0.306,9222,0.000,0.090,3221,2745,691,680,703,0,0,0,0,0,0,28.83,14.15,13.92
$FREEZE,8.95,-1.413,-1.435,2,4,0
$GC,11881,1.11,750.8,3222,2746,678,698,10.1,5.2,855,11905,0.00,0.00,22.00,0.228,8710,0.000,0.000,3222,2746,498,454,542,0,0,0,0,0,0,28.83,28.83,14.01
$STATE,11905,end climb,FINISH_DEPTH_REACHED
$STATE,11905,begin subsurface finish
$FINISH1,8.9,1.021071,358
$GC,11910,0.25,358.3,3222,2747,455,543,8.9,5.6,858,11948,0.82,2.42,-29.80,0.000,20996,0.165,0.088,2984,1348,1801,1851,1752,0,0,0,0,0,0,14.07,14.19,14.43
$FINISH2,9.1
$STATE,11949,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11949,begin surface
$RAFOS_CLK,516
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.99
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,16
$SC_FREEKB,3780928
$24V_AH,12.57,110.027
$10V_AH,12.65,0.000
$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,3.600,55.800,572.375,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,0.000,9579.217,584.045,1730.586,168.377,0.000,1290.994,0.000,1286.523,1494.000,0.539,0.000
$DEVICE_MAMPS,303.705,101.745,2030.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11998.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.818,0.000,0.000,0.000
$MEM,156996
$DATA_FILE_SIZE,30085,865
$CAP_FILE_SIZE,128128,0
$CFSIZE,2097872896,2024177664
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12220.18,0x2378b6,7,5
$INTR,1,5199.25,0x2378b6,2,5
$INTR,2,11907.44,0x2378b6,5,5
$SOUNDSPEED,1450.2
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5