version: 66.12
glider: 196
mission: 7
dive: 371
start: 9 18 114 2 8 41
data:
$ID,196
$MISSION,7
$DIVE,371
$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,58
$R_STBD_OVSHOOT,25
$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,16.72
$_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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.69,-145.9,2984,2764,1891,1791,0.0,0.0,0,30,0.00,0.00,-11.27,0.000,16386,0.000,0.000,2983,2763,2576,2626,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2984,2764,2627,2529,19.3,0.0,1,57,0.93,2.40,-18.23,0.000,20996,0.065,0.080,2658,1363,3856,3919,3794,0,0,0,0,0,0,14.22,14.26,14.52
$GC,152,-0.69,-145.9,2656,1363,3917,3796,56.5,-27.0,25,157,0.00,2.50,0.00,0.000,1030,0.000,0.093,2647,2755,3857,3919,3796,0,0,0,0,0,0,28.83,14.21,28.83
$GC,462,-0.69,-145.9,2648,2755,3921,3796,128.3,-21.4,57,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2755,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,762,-0.69,-145.9,2649,2756,3919,3797,186.5,-17.7,87,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2755,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1062,-0.69,-145.9,2647,2755,3920,3797,237.7,-15.4,117,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2755,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.69,-145.9,2648,2755,3921,3797,281.9,-15.0,133,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2755,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.69,-145.9,2648,2755,3920,3797,323.0,-13.3,143,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2755,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,-0.69,-145.9,2648,2756,3921,3796,361.9,-12.9,153,1967,0.00,2.33,0.00,0.000,516,0.000,0.063,2647,1375,3857,3919,3796,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2011,-0.69,-145.9,2648,1375,3921,3797,368.0,-12.0,163,2017,0.12,2.47,0.00,0.000,3078,0.262,0.096,2665,2757,3857,3919,3796,0,0,0,0,0,0,14.17,14.35,28.83
$GC,2324,-0.69,-145.9,2666,2757,3920,3797,403.5,-11.5,175,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2622,-0.69,-145.9,2666,2758,3920,3797,436.9,-11.1,185,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.69,-145.9,2666,2757,3920,3796,469.7,-11.0,195,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.69,-145.9,2666,2758,3920,3798,502.4,-10.9,205,3227,0.00,2.33,0.00,0.000,516,0.000,0.062,2665,1374,3858,3919,3797,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3262,-0.69,-145.9,2666,1373,3921,3796,506.6,-9.8,213,3267,0.00,2.45,0.00,0.000,1030,0.000,0.095,2663,2757,3857,3919,3796,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3584,-0.69,-145.9,2663,2757,3920,3796,541.9,-11.1,227,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-0.69,-145.9,2664,2758,3920,3797,574.9,-11.0,237,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.69,-145.9,2663,2757,3920,3797,607.5,-10.9,247,4187,0.00,2.33,0.00,0.000,516,0.000,0.061,2663,1373,3858,3920,3797,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4227,-0.69,-145.9,2664,1373,3920,3798,612.3,-10.0,256,4232,0.00,2.45,0.00,0.000,1030,0.000,0.093,2652,2758,3858,3919,3797,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4544,-0.69,-145.9,2651,2758,3921,3797,648.0,-11.4,269,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4842,-0.69,-145.9,2653,2759,3920,3798,682.5,-11.5,279,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5142,-0.69,-145.9,2653,2758,3920,3797,716.7,-11.4,289,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5440,begin apogee
$GC,5445,-0.13,0.0,2653,2758,3921,3797,750.3,-11.2,299,5574,0.73,0.00,126.55,2.015,10244,0.220,0.000,2843,2759,3259,3278,3240,0,0,0,0,0,0,14.13,28.83,13.00
$STATE,5575,end apogee,CONTROL_FINISHED_OK
$STATE,5575,begin climb
$GC,5577,0.69,145.9,2843,2759,3273,3235,753.9,0.0,303,5715,0.93,1.92,125.90,1.846,10500,0.134,0.102,3108,3782,2656,2661,2651,0,0,0,0,0,0,13.72,13.75,12.57
$GC,5940,0.69,145.9,3109,3782,2662,2648,714.2,14.4,378,5945,0.00,1.77,0.00,0.000,1030,0.000,0.049,3116,2745,2654,2661,2647,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6257,0.69,145.9,3117,2745,2662,2646,673.7,12.8,391,6261,0.00,2.38,0.00,0.000,516,0.000,0.063,3127,1348,2652,2660,2644,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6486,0.69,146.7,3128,1348,2661,2644,646.4,11.6,437,6491,0.00,2.47,0.00,0.000,1030,0.000,0.089,3127,2746,2653,2661,2645,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6796,0.69,146.7,3128,2747,2662,2645,605.5,13.3,449,6801,0.00,2.38,0.00,0.000,516,0.000,0.062,3138,1339,2652,2661,2644,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6881,0.69,146.7,3138,1338,2662,2644,595.2,11.8,466,6888,0.00,2.50,0.00,0.000,1030,0.000,0.088,3137,2742,2652,2661,2644,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7186,0.69,146.7,3137,2742,2662,2644,553.8,13.7,477,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2742,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7486,0.69,146.7,3138,2742,2662,2644,512.9,13.6,487,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2742,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7787,0.69,146.7,3139,2743,2662,2651,472.5,13.4,497,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2742,2652,2661,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8086,0.69,146.7,3139,2741,2662,2645,432.8,13.1,507,8091,0.00,1.85,0.00,0.000,260,0.000,0.095,3138,3792,2651,2658,2644,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8121,0.69,146.7,3138,3792,2662,2644,427.6,15.1,514,8126,0.00,1.73,0.00,0.000,1030,0.000,0.049,3145,2726,2652,2661,2643,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8448,0.69,146.7,3145,2725,2662,2644,383.9,13.3,529,8452,0.00,1.85,0.00,0.000,260,0.000,0.094,3145,3786,2652,2661,2643,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8477,0.69,146.7,3146,3786,2663,2644,379.3,15.4,535,8482,0.08,1.73,0.00,0.000,5126,0.246,0.049,3123,2739,2652,2661,2644,0,0,0,0,0,0,14.06,14.45,28.83
$GC,8808,0.69,146.7,3124,2740,2662,2645,339.2,11.6,551,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2739,2652,2661,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9108,0.69,151.2,3124,2740,2662,2645,305.0,11.4,561,9113,0.00,2.33,1.12,0.290,8708,0.000,0.060,3132,1353,2644,2656,2633,0,0,0,0,0,0,28.83,14.41,13.90
$GC,9158,0.70,166.8,3133,1351,2668,2634,299.6,10.8,571,9183,0.00,2.45,18.05,1.377,9222,0.000,0.088,3132,2745,2571,2578,2564,0,0,0,0,0,0,28.83,14.40,13.77
$GC,9498,0.70,166.8,3133,2744,2579,2557,258.6,11.9,589,9503,0.00,2.35,0.00,0.000,516,0.000,0.061,3142,1351,2569,2578,2561,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9523,0.71,181.0,3143,1351,2579,2561,255.8,10.9,594,9542,0.00,2.45,11.95,1.346,9222,0.000,0.088,3142,2743,2516,2523,2510,0,0,0,0,0,0,28.83,14.34,13.76
$GC,9850,0.74,223.0,3143,2743,2524,2507,220.1,9.4,628,9889,0.00,0.00,35.95,1.265,8198,0.000,0.000,3142,2743,2344,2345,2344,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10190,0.76,246.1,3143,2744,2345,2338,185.3,10.4,662,10211,0.00,0.00,19.95,1.266,8198,0.000,0.000,3142,2743,2255,2258,2252,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10509,0.80,297.0,3143,2744,2254,2242,154.6,8.9,694,10559,0.00,0.00,43.85,1.250,8198,0.000,0.000,3142,2743,2040,2045,2035,0,0,0,0,0,0,28.83,28.83,13.58
$GC,10859,0.81,321.4,3143,2743,2046,2024,116.9,10.3,729,10883,0.00,2.38,17.92,1.237,8708,0.000,0.064,3151,1356,1940,1946,1935,0,0,0,0,0,0,28.83,14.28,13.66
$GC,10908,0.84,362.6,3151,1355,1945,1934,112.2,9.4,739,10950,0.00,2.47,33.62,1.255,9222,0.000,0.090,3151,2740,1771,1777,1766,0,0,0,0,0,0,28.83,14.21,13.50
$GC,11248,0.87,396.7,3152,2741,1777,1753,77.4,9.8,777,11269,0.00,0.00,14.40,0.422,8198,0.000,0.000,3151,2740,1639,1653,1626,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11570,0.96,531.1,3152,2741,1657,1624,52.9,4.5,809,11640,0.12,1.90,61.45,0.346,10500,0.125,0.097,3211,3777,1091,1105,1077,0,0,0,0,0,0,14.26,14.13,13.91
$GC,11666,0.99,580.4,3212,3777,1105,1076,45.4,9.0,828,11693,0.00,1.75,22.65,0.326,9222,0.000,0.050,3217,2736,890,892,889,0,0,0,0,0,0,28.83,14.19,13.90
$GC,11991,1.07,692.9,3219,2737,892,883,21.7,5.6,863,12043,0.00,2.38,44.90,0.265,8708,0.000,0.064,3221,1355,497,445,549,0,0,0,0,0,0,28.83,14.18,13.95
$GC,12163,1.16,816.7,3222,1354,446,549,10.4,5.0,897,12168,0.15,2.42,0.00,0.000,3078,0.120,0.087,3281,2711,497,445,549,0,0,0,0,0,0,14.20,14.14,28.83
$FREEZE,8.85,-1.424,-1.447,2,23,0
$STATE,12181,end climb,FINISH_DEPTH_REACHED
$STATE,12181,begin subsurface finish
$FINISH1,8.9,1.021249,349
$GC,12187,0.24,349.1,3282,2741,445,550,8.9,7.4,900,12224,1.10,0.00,-31.40,0.000,20486,0.189,0.000,2980,2743,1836,1884,1789,0,0,0,0,0,0,14.04,28.83,14.43
$FINISH2,8.8
$STATE,12225,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12225,begin surface
$RAFOS_CLK,272
$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,44.68
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,17
$SC_FREEKB,3772416
$24V_AH,12.57,116.050
$10V_AH,12.64,0.000
$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,4.150,62.800,578.275,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,0.000,9747.862,606.405,1807.598,179.053,0.000,1335.142,0.000,1349.537,1475.000,0.539,0.000
$DEVICE_MAMPS,262.395,338.130,2015.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.168,0.000,0.000,0.000
$MEM,147312
$DATA_FILE_SIZE,29995,904
$CAP_FILE_SIZE,132476,0
$CFSIZE,2097872896,2020573184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5442.28,0x2378b6,2,5
$SOUNDSPEED,1450.5
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5