version: 66.12
glider: 196
mission: 7
dive: 372
start: 9 18 114 5 35 4
data:
$ID,196
$MISSION,7
$DIVE,372
$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,55
$R_STBD_OVSHOOT,17
$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,19.86
$_SM_ANGLEo,-18.3
$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,-145.9,2980,2742,1880,1792,0.0,0.0,0,33,0.00,0.00,-14.02,0.000,16386,0.000,0.000,2980,2743,2844,2898,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.69,-145.9,2980,2743,2899,2792,22.5,0.0,1,55,0.90,2.35,-13.43,0.000,20996,0.064,0.088,2660,1373,3857,3921,3793,0,0,0,0,0,0,14.28,14.26,14.52
$GC,145,-0.69,-145.9,2660,1373,3922,3797,54.7,-26.9,23,152,0.00,2.50,0.00,0.000,1030,0.000,0.094,2645,2763,3859,3922,3796,0,0,0,0,0,0,28.83,14.19,28.83
$GC,450,-0.69,-145.9,2649,2763,3923,3796,124.2,-21.0,54,455,0.00,1.80,0.00,0.000,260,0.000,0.097,2640,3789,3859,3922,3796,0,0,0,0,0,0,28.83,14.22,28.83
$GC,485,-0.69,-145.9,2641,3790,3922,3797,131.4,-20.8,61,492,0.10,1.70,0.00,0.000,3078,0.241,0.049,2665,2757,3858,3922,3795,0,0,0,0,0,0,14.05,14.40,28.83
$GC,790,-0.69,-145.9,2665,2756,3923,3796,183.3,-16.6,92,795,0.00,2.33,0.00,0.000,516,0.000,0.061,2664,1372,3858,3921,3796,0,0,0,0,0,0,28.83,14.26,28.83
$GC,815,-0.69,-145.9,2666,1373,3922,3797,187.4,-16.3,97,821,0.00,2.47,0.00,0.000,1030,0.000,0.095,2662,2762,3859,3922,3796,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1120,-0.69,-145.9,2663,2762,3924,3796,234.8,-13.6,128,1125,0.00,1.80,0.00,0.000,260,0.000,0.098,2654,3786,3858,3921,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1165,-0.69,-145.9,2655,3786,3923,3796,241.5,-14.9,137,1171,0.00,1.67,0.00,0.000,1030,0.000,0.050,2654,2761,3858,3921,3796,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1470,-0.69,-145.9,2655,2761,3923,3796,282.8,-13.2,152,1475,0.00,2.33,0.00,0.000,516,0.000,0.061,2654,1370,3858,3921,3796,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1495,-0.69,-145.9,2655,1369,3923,3796,286.0,-12.8,157,1501,0.00,2.45,0.00,0.000,1030,0.000,0.093,2645,2759,3858,3921,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1800,-0.69,-145.9,2645,2759,3923,3796,327.4,-14.0,168,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2759,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2100,-0.69,-145.9,2646,2760,3922,3796,368.4,-13.4,178,2105,0.00,2.33,0.00,0.000,516,0.000,0.060,2644,1373,3858,3921,3796,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2155,-0.69,-145.9,2644,1372,3923,3796,375.3,-11.9,189,2162,0.12,2.45,0.00,0.000,3078,0.271,0.092,2665,2759,3859,3922,3796,0,0,0,0,0,0,14.12,14.32,28.83
$GC,2462,-0.69,-145.9,2666,2760,3922,3797,410.7,-11.5,200,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2759,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,-0.69,-145.9,2666,2760,3922,3797,444.3,-11.2,210,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-0.69,-145.9,2665,2759,3922,3796,477.6,-11.1,220,3065,0.00,2.30,0.00,0.000,516,0.000,0.059,2665,1378,3859,3922,3796,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3085,-0.69,-145.9,2665,1377,3923,3796,480.3,-10.7,225,3092,0.00,2.45,0.00,0.000,1030,0.000,0.092,2663,2759,3859,3922,3796,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3390,-0.69,-145.9,2664,2760,3921,3797,514.2,-11.1,236,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.69,-145.9,2664,2760,3922,3797,547.3,-11.0,246,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-0.69,-145.9,2664,2760,3922,3797,579.8,-10.9,256,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4290,-0.69,-145.9,2662,2759,3923,3796,612.2,-10.8,266,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.69,-145.9,2663,2759,3922,3796,644.2,-10.6,276,4595,0.00,2.30,0.00,0.000,516,0.000,0.059,2663,1377,3859,3922,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4635,-0.69,-145.9,2663,1378,3924,3796,648.7,-10.0,285,4640,0.00,2.45,0.00,0.000,1030,0.000,0.090,2651,2762,3859,3922,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4952,-0.69,-145.9,2654,2765,3922,3797,683.9,-11.2,298,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2764,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5251,-0.69,-145.9,2654,2765,3922,3797,717.5,-11.1,308,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5548,begin apogee
$GC,5554,-0.13,0.0,2654,2765,3922,3797,750.8,-11.0,318,5683,0.73,0.00,127.38,2.017,10244,0.221,0.000,2843,2765,3256,3275,3238,0,0,0,0,0,0,14.13,28.83,12.98
$STATE,5684,end apogee,CONTROL_FINISHED_OK
$STATE,5684,begin climb
$GC,5687,0.69,145.9,2844,2765,3272,3234,754.6,0.0,322,5824,0.93,1.90,125.88,1.858,10500,0.134,0.098,3110,3786,2657,2661,2653,0,0,0,0,0,0,13.72,13.75,12.57
$GC,6049,0.69,145.9,3111,3787,2661,2648,714.5,14.7,397,6054,0.00,1.77,0.00,0.000,1030,0.000,0.046,3118,2737,2654,2661,2648,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6366,0.69,145.9,3119,2736,2662,2645,672.6,13.2,410,6370,0.00,2.35,0.00,0.000,516,0.000,0.060,3129,1347,2653,2661,2645,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6595,0.69,146.1,3129,1347,2662,2645,644.6,11.6,456,6600,0.00,2.47,0.00,0.000,1030,0.000,0.086,3129,2749,2653,2661,2645,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6905,0.69,146.1,3129,2750,2662,2644,602.8,13.6,468,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2750,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7205,0.69,146.1,3129,2750,2662,2645,562.9,13.2,478,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2750,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7505,0.69,146.1,3131,2750,2657,2645,523.2,13.2,488,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2750,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7805,0.69,146.1,3130,2751,2662,2645,483.8,13.1,498,7810,0.00,1.83,0.00,0.000,260,0.000,0.096,3129,3792,2652,2661,2643,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7835,0.69,146.1,3130,3792,2662,2643,479.4,15.0,504,7840,0.00,1.73,0.00,0.000,1030,0.000,0.048,3137,2735,2652,2661,2644,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8167,0.69,146.1,3137,2736,2662,2645,435.5,13.2,520,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2734,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8465,0.69,146.1,3137,2735,2662,2644,396.4,13.0,530,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2735,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8767,0.69,146.1,3137,2735,2662,2642,357.0,13.2,540,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2735,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,0.69,146.1,3138,2736,2662,2645,318.3,12.6,550,9070,0.00,1.85,0.00,0.000,260,0.000,0.096,3137,3785,2652,2661,2643,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9110,0.69,146.1,3137,3785,2661,2643,312.2,14.2,559,9115,0.00,1.73,0.00,0.000,1030,0.000,0.048,3144,2747,2652,2661,2644,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9427,0.70,156.8,3145,2747,2662,2644,275.5,11.1,572,9438,0.00,0.00,9.68,1.366,8198,0.000,0.000,3144,2747,2618,2626,2610,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9727,0.71,173.7,3145,2747,2622,2604,243.4,10.7,586,9746,0.00,0.00,15.32,1.317,8710,0.000,0.000,3144,2747,2543,2550,2537,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10047,0.75,233.7,3145,2747,2550,2534,211.1,8.4,619,10106,0.00,2.45,50.05,1.269,8708,0.000,0.063,3155,1354,2298,2298,2298,0,0,0,0,0,0,28.83,14.15,13.54
$GC,10156,0.77,265.3,3156,1355,2298,2297,200.6,9.9,641,10189,0.00,2.47,26.95,1.280,9222,0.000,0.089,3155,2740,2172,2172,2173,0,0,0,0,0,0,28.83,14.14,13.47
$GC,10486,0.79,289.5,3156,2740,2172,2161,161.8,10.3,677,10512,0.00,2.38,20.98,1.235,8708,0.000,0.061,3164,1349,2069,2074,2065,0,0,0,0,0,0,28.83,14.28,13.63
$GC,10563,0.82,336.7,3165,1349,2074,2063,154.3,9.1,692,10609,0.00,2.47,40.25,1.235,9222,0.000,0.089,3164,2741,1881,1884,1879,0,0,0,0,0,0,28.83,14.19,13.49
$GC,10907,0.82,336.7,3165,2741,1882,1864,111.9,12.6,731,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2741,1871,1880,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11207,0.84,363.5,3165,2742,1882,1862,77.5,10.2,761,11223,0.00,2.38,10.82,0.418,8708,0.000,0.061,3171,1351,1776,1783,1769,0,0,0,0,0,0,28.83,14.26,13.90
$GC,11253,0.88,412.3,3172,1350,1790,1769,73.2,9.0,769,11284,0.00,2.47,23.10,0.406,9222,0.000,0.090,3171,2736,1577,1588,1566,0,0,0,0,0,0,28.83,14.20,13.90
$GC,11589,0.96,538.8,3172,2736,1594,1556,47.5,4.9,806,11650,0.00,1.95,57.22,0.329,8452,0.000,0.098,3171,3785,1061,1075,1048,0,0,0,0,0,0,28.83,14.16,13.93
$GC,11685,1.03,627.5,3172,3788,1075,1049,41.1,6.9,825,11732,0.10,1.75,41.03,0.310,11270,0.071,0.049,3231,2742,697,683,711,0,0,0,0,0,0,14.16,14.21,13.90
$GC,12031,1.07,696.1,3231,2742,681,705,13.1,8.0,864,12061,0.00,2.45,22.58,0.239,8708,0.000,0.067,3233,1354,498,452,544,0,0,0,0,0,0,28.83,14.14,14.00
$FREEZE,9.00,-1.428,-1.450,2,24,0
$STATE,12084,end climb,FINISH_DEPTH_REACHED
$STATE,12086,begin subsurface finish
$FINISH1,9.0,1.021288,347
$GC,12094,0.24,347.0,3240,2741,450,545,9.0,7.1,875,12133,0.88,2.40,-30.90,0.000,20996,0.161,0.086,2980,1349,1846,1892,1801,0,0,0,0,0,0,14.04,14.19,14.43
$FINISH2,8.7
$STATE,12133,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12133,begin surface
$RAFOS_CLK,172
$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,44.36
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,16
$SC_FREEKB,3771968
$24V_AH,12.57,116.364
$10V_AH,12.63,0.000
$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,3.750,77.025,571.225,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,0.000,9699.502,597.290,1768.775,182.921,0.000,1330.169,0.000,1316.894,1493.000,0.540,0.000
$DEVICE_MAMPS,270.810,97.920,2016.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12184.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.542,0.000,0.000,0.000
$MEM,146820
$DATA_FILE_SIZE,30062,883
$CAP_FILE_SIZE,134679,0
$CFSIZE,2097872896,2020376576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12382.37,0x2378b6,7,5
$INTR,1,5550.88,0x2378b6,2,5
$SOUNDSPEED,1450.2
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5