version: 66.12
glider: 196
mission: 7
dive: 369
start: 9 17 114 19 13 29
data:
$ID,196
$MISSION,7
$DIVE,369
$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,-9074.1016
$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,22
$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,2.18
$_SM_ANGLEo,-51.1
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,203,2736,442,547,0.0,0.0,0,100,0.00,0.00,-80.88,0.000,16386,0.000,0.000,202,2735,2533,2542,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.69,-145.9,203,2736,2543,2527,4.3,-4.6,8,142,12.27,2.33,-21.73,0.000,18948,0.399,0.083,2665,1367,3854,3913,3795,0,0,0,0,0,0,13.93,14.28,14.54
$GC,367,-0.69,-145.9,2666,1368,3914,3800,81.5,-20.3,61,374,0.00,2.50,0.00,0.000,1030,0.000,0.093,2656,2758,3856,3913,3799,0,0,0,0,0,0,28.83,14.21,28.83
$GC,672,-0.69,-145.9,2657,2759,3915,3798,145.3,-19.1,92,677,0.00,2.35,0.00,0.000,516,0.000,0.062,2657,1376,3856,3914,3799,0,0,0,0,0,0,28.83,14.32,28.83
$GC,712,-0.69,-145.9,2658,1376,3914,3800,152.3,-16.4,100,717,0.00,2.47,0.00,0.000,1030,0.000,0.093,2646,2760,3856,3913,3799,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1022,-0.69,-145.9,2646,2761,3914,3800,207.4,-16.7,132,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3859,3913,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1342,-0.69,-145.9,2646,2762,3914,3800,259.6,-16.0,160,1347,0.00,2.35,0.00,0.000,516,0.000,0.062,2646,1375,3856,3913,3799,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1382,-0.69,-145.9,2646,1374,3913,3799,265.6,-14.5,168,1388,0.15,2.47,0.00,0.000,3078,0.259,0.095,2662,2762,3856,3913,3799,0,0,0,0,0,0,14.12,14.32,28.83
$GC,1704,-0.69,-145.9,2666,2762,3915,3799,307.8,-12.6,182,1709,0.00,2.33,0.00,0.000,516,0.000,0.061,2667,1376,3856,3913,3799,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1739,-0.69,-145.9,2667,1376,3914,3800,312.3,-11.9,189,1744,0.00,2.45,0.00,0.000,1030,0.000,0.095,2663,2753,3856,3913,3799,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2065,-0.69,-145.9,2663,2754,3914,3800,350.6,-11.5,204,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3855,3913,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2364,-0.69,-145.9,2663,2754,3914,3800,385.2,-11.7,214,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-0.69,-145.9,2663,2754,3915,3799,421.3,-12.2,224,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-0.69,-145.9,2664,2755,3914,3800,457.2,-11.9,234,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,-0.69,-145.9,2663,2753,3914,3800,492.6,-11.7,244,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-0.69,-145.9,2664,2754,3914,3800,527.4,-11.5,254,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3864,-0.69,-145.9,2663,2754,3914,3800,561.9,-11.4,264,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4164,-0.69,-145.9,2663,2753,3915,3799,595.9,-11.3,274,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,-0.69,-145.9,2664,2754,3914,3801,629.5,-11.1,284,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4764,-0.69,-145.9,2664,2754,3914,3801,662.5,-11.1,294,4769,0.00,2.33,0.00,0.000,516,0.000,0.061,2662,1375,3856,3913,3800,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4804,-0.69,-145.9,2663,1375,3914,3801,666.7,-10.1,302,4809,0.00,2.45,0.00,0.000,1030,0.000,0.093,2651,2761,3857,3914,3800,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5126,-0.69,-145.9,2652,2761,3915,3801,703.5,-11.5,316,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2761,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.69,-145.9,2652,2761,3915,3801,737.6,-11.3,326,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2761,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5542,begin apogee
$GC,5547,-0.13,0.0,2653,2762,3914,3802,751.0,-11.2,330,5676,0.73,0.00,126.75,2.013,10244,0.214,0.000,2843,2761,3256,3275,3238,0,0,0,0,0,0,14.12,28.83,12.97
$STATE,5677,end apogee,CONTROL_FINISHED_OK
$STATE,5677,begin climb
$GC,5680,0.69,145.9,2844,2763,3272,3236,754.5,0.0,334,5817,0.90,1.95,125.62,1.837,10500,0.131,0.102,3108,3792,2655,2661,2650,0,0,0,0,0,0,13.70,13.72,12.57
$GC,6042,0.69,145.9,3109,3793,2662,2646,714.1,14.4,409,6047,0.00,1.80,0.00,0.000,1030,0.000,0.048,3116,2743,2653,2661,2645,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6359,0.69,145.9,3117,2743,2662,2644,672.7,13.0,422,6364,0.00,2.38,0.00,0.000,516,0.000,0.063,3126,1345,2652,2661,2643,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6588,0.69,145.9,3128,1346,2662,2644,645.1,11.7,468,6594,0.00,2.47,0.00,0.000,1030,0.000,0.089,3126,2747,2652,2662,2643,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6899,0.69,145.9,3127,2747,2663,2643,604.2,13.2,480,6904,0.00,2.38,0.00,0.000,516,0.000,0.062,3137,1340,2652,2661,2643,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6953,0.69,145.9,3138,1340,2663,2643,597.3,12.4,491,6960,0.00,2.47,0.00,0.000,1030,0.000,0.088,3137,2747,2652,2661,2643,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7259,0.69,145.9,3138,2748,2663,2643,555.7,13.6,502,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2748,2652,2661,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,0.69,145.9,3138,2748,2661,2644,514.7,13.6,512,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2747,2651,2661,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7859,0.69,145.9,3138,2744,2663,2643,474.2,13.4,522,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2747,2655,2661,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8159,0.69,145.9,3138,2747,2663,2642,434.1,13.3,532,8163,0.00,1.83,0.00,0.000,260,0.000,0.096,3137,3789,2651,2661,2642,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8213,0.69,145.9,3141,3789,2663,2643,426.1,15.3,543,8220,0.00,1.73,0.00,0.000,1030,0.000,0.048,3145,2735,2651,2661,2642,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8519,0.69,145.9,3146,2735,2663,2643,385.7,13.0,554,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2734,2650,2661,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8819,0.69,145.9,3146,2734,2663,2643,347.0,12.8,564,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2734,2651,2661,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9119,0.69,145.9,3146,2734,2663,2642,309.6,12.4,574,9123,0.00,1.85,0.00,0.000,260,0.000,0.096,3145,3792,2652,2662,2643,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9163,0.69,145.9,3146,3792,2663,2643,303.5,13.7,583,9169,0.12,1.75,0.00,0.000,5126,0.253,0.049,3122,2734,2652,2662,2643,0,0,0,0,0,0,14.00,14.38,28.83
$GC,9481,0.71,169.5,3123,2734,2663,2643,269.8,10.4,596,9502,0.00,0.00,20.08,1.336,8198,0.000,0.000,3122,2734,2566,2575,2558,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9779,0.73,198.3,3123,2734,2570,2548,238.7,10.1,612,9810,0.00,2.35,24.15,1.290,8708,0.000,0.064,3131,1350,2444,2449,2440,0,0,0,0,0,0,28.83,14.39,13.73
$GC,9851,0.76,240.7,3135,1349,2455,2439,232.0,9.4,626,9892,0.00,2.45,35.92,1.261,9222,0.000,0.089,3131,2735,2276,2276,2277,0,0,0,0,0,0,28.83,14.16,13.58
$GC,10190,0.77,255.5,3129,2736,2276,2262,195.5,10.8,664,10204,0.00,0.00,12.98,1.274,8198,0.000,0.000,3131,2735,2215,2219,2211,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10502,0.78,270.8,3132,2735,2216,2201,163.0,10.8,695,10521,0.00,0.00,14.00,1.239,8710,0.000,0.000,3131,2735,2147,2154,2140,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10822,0.82,324.9,3132,2736,2155,2136,132.5,8.8,728,10872,0.00,2.45,45.95,1.158,8708,0.000,0.066,3139,1350,1927,1929,1925,0,0,0,0,0,0,28.83,14.23,13.65
$GC,10907,0.85,379.7,3140,1351,1923,1920,124.8,8.7,745,10962,0.00,2.47,46.75,1.164,9222,0.000,0.090,3140,2734,1701,1709,1693,0,0,0,0,0,0,28.83,14.19,13.50
$GC,11262,0.88,419.8,3140,2735,1709,1676,90.1,9.5,786,11284,0.12,2.45,17.08,0.463,10756,0.125,0.066,3203,1352,1546,1559,1533,0,0,0,0,0,0,14.23,14.19,13.86
$GC,11320,0.88,419.8,3204,1353,1563,1529,83.1,13.3,797,11326,0.00,2.45,0.00,0.000,1030,0.000,0.090,3203,2721,1547,1563,1532,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11624,0.96,534.4,3204,2719,1566,1529,48.8,5.5,828,11679,0.00,0.00,53.00,0.336,8198,0.000,0.000,3203,2721,1078,1091,1065,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11974,1.03,628.4,3204,2721,1091,1056,26.8,6.6,863,12025,0.00,1.95,43.40,0.282,8452,0.000,0.097,3203,3783,693,681,706,0,0,0,0,0,0,28.83,14.14,13.97
$GC,12075,1.10,725.8,3204,3783,684,708,20.3,6.4,882,12106,0.15,1.77,22.75,0.263,11270,0.117,0.050,3270,2700,500,447,553,0,0,0,0,0,0,14.21,14.13,13.96
$FREEZE,8.85,-1.417,-1.445,2,21,0
$STATE,12213,end climb,FINISH_DEPTH_REACHED
$STATE,12213,begin subsurface finish
$FINISH1,8.8,1.021225,350
$GC,12219,0.25,350.3,3271,2746,449,549,8.8,7.2,899,12258,1.08,2.40,-30.77,0.000,20996,0.206,0.087,2978,1350,1833,1879,1788,0,0,0,0,0,0,13.99,14.14,14.43
$FINISH2,9.3
$STATE,12258,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12258,begin surface
$RAFOS_CLK,464
$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,45.39
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,14
$SC_FREEKB,3773312
$24V_AH,12.57,115.413
$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,15.525,65.450,588.425,0.000,0.000,0.000,0.000,122.225,3.500,0.000,181.892,0.000,9827.227,678.084,2114.265,392.825,0.000,1547.368,0.000,1351.706,1480.000,0.539,0.000
$DEVICE_MAMPS,398.565,192.780,2012.715,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12309.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.176,0.000,0.000,0.000
$MEM,148212
$DATA_FILE_SIZE,30082,907
$CAP_FILE_SIZE,141106,0
$CFSIZE,2097872896,2020966400
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13270.88,0x2378b6,7,5
$INTR,1,5543.77,0x2378b6,2,5
$SOUNDSPEED,1449.8
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5