version: 66.12
glider: 196
mission: 7
dive: 380
start: 9 19 114 9 46 8
data:
$ID,196
$MISSION,7
$DIVE,380
$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,190
$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,-9806.5869
$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,60
$R_STBD_OVSHOOT,21
$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,18.07
$_SM_ANGLEo,-21.6
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,7416.750,-14047.392
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.5,20000,-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,-145.9,2976,2764,1888,1790,0.0,0.0,0,30,0.00,0.00,-11.73,0.000,16386,0.000,0.000,2975,2763,2648,2700,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2763,2702,2599,21.5,0.0,1,56,0.90,1.85,-16.15,0.000,20740,0.057,0.121,2644,3782,3858,3922,3794,0,0,0,0,0,0,14.26,14.20,14.52
$GC,176,-0.69,-145.9,2645,3782,3923,3796,68.0,-28.8,30,182,0.00,1.70,0.00,0.000,1030,0.000,0.050,2644,2764,3859,3922,3796,0,0,0,0,0,0,28.83,14.23,28.83
$GC,482,-0.69,-145.9,2645,2764,3924,3796,135.1,-20.2,61,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2764,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,782,-0.69,-145.9,2645,2765,3923,3797,193.6,-18.6,91,787,0.00,2.33,0.00,0.000,516,0.000,0.066,2642,1378,3859,3922,3796,0,0,0,0,0,0,28.83,14.30,28.83
$GC,852,-0.69,-145.9,2645,1378,3923,3796,206.1,-16.6,105,857,0.15,2.45,0.00,0.000,3078,0.259,0.095,2665,2751,3859,3923,3796,0,0,0,0,0,0,14.10,14.30,28.83
$GC,1172,-0.69,-145.9,2666,2752,3924,3796,254.2,-14.1,136,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1472,-0.69,-145.9,2666,2752,3924,3796,293.1,-12.8,146,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1772,-0.69,-145.9,2666,2756,3923,3797,330.3,-12.3,156,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-0.69,-145.9,2667,2753,3923,3797,366.0,-12.0,166,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2372,-0.69,-145.9,2666,2752,3923,3797,401.6,-11.7,176,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2751,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2672,-0.69,-145.9,2666,2753,3922,3796,435.0,-10.9,186,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-0.69,-145.9,2667,2753,3923,3796,467.5,-10.9,196,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3857,3922,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3272,-0.69,-145.9,2666,2753,3924,3796,500.0,-10.8,206,3277,0.00,2.33,0.00,0.000,516,0.000,0.063,2665,1369,3859,3923,3796,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3322,-0.69,-145.9,2666,1368,3924,3796,505.3,-10.3,216,3327,0.00,2.47,0.00,0.000,1030,0.000,0.095,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3633,-0.69,-145.9,2664,2757,3923,3797,539.0,-10.9,228,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3861,3927,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,-0.69,-145.9,2664,2757,3922,3797,571.4,-10.8,238,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4232,-0.69,-145.9,2663,2756,3923,3796,603.6,-10.8,248,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,-0.69,-145.9,2664,2757,3923,3797,636.1,-10.8,258,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4832,-0.69,-145.9,2664,2756,3924,3796,668.3,-10.7,268,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,-0.69,-145.9,2663,2756,3924,3796,700.1,-10.6,278,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5432,-0.69,-145.9,2664,2758,3923,3797,731.6,-10.5,288,5437,0.00,2.33,0.00,0.000,516,0.000,0.063,2663,1369,3859,3922,3796,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5467,-0.69,-145.9,2664,1370,3923,3797,735.1,-9.6,295,5472,0.00,2.45,0.00,0.000,1030,0.000,0.093,2653,2749,3859,3922,3796,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,5610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5610,begin apogee
$GC,5615,-0.13,0.0,2655,2750,3923,3797,750.9,-10.9,304,5745,0.73,0.00,127.85,2.014,10244,0.209,0.000,2847,2749,3257,3274,3241,0,0,0,0,0,0,14.14,28.83,12.98
$STATE,5746,end apogee,CONTROL_FINISHED_OK
$STATE,5746,begin climb
$GC,5748,0.69,145.9,2848,2750,3270,3238,754.5,0.0,308,5885,0.85,2.47,125.90,1.858,10756,0.096,0.060,3113,1351,2660,2659,2661,0,0,0,0,0,0,13.74,13.76,12.55
$GC,6110,0.69,145.9,3114,1351,2661,2657,725.0,11.7,383,6115,0.00,2.55,0.00,0.000,1030,0.000,0.090,3113,2743,2657,2659,2656,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6425,0.69,145.9,3116,2743,2663,2652,685.3,12.7,396,6430,0.00,1.85,0.00,0.000,260,0.000,0.095,3113,3789,2657,2662,2652,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6655,0.69,145.9,3114,3789,2663,2652,651.0,15.4,442,6660,0.00,1.75,0.00,0.000,1030,0.000,0.049,3121,2733,2657,2662,2652,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6966,0.69,145.9,3121,2732,2664,2652,610.0,13.2,454,6970,0.00,1.85,0.00,0.000,260,0.000,0.095,3121,3796,2657,2662,2652,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7040,0.69,145.9,3122,3793,2663,2653,598.8,15.3,469,7045,0.00,1.73,0.00,0.000,1030,0.000,0.048,3128,2744,2657,2663,2651,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7355,0.69,145.9,3129,2744,2664,2652,557.2,13.2,482,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2744,2657,2663,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,0.69,145.9,3128,2744,2663,2651,518.2,12.9,492,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2743,2656,2663,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7955,0.69,145.9,3129,2743,2664,2650,479.2,12.9,502,7960,0.00,1.83,0.00,0.000,260,0.000,0.095,3130,3792,2656,2663,2650,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7988,0.69,145.9,3129,3791,2664,2653,474.5,15.0,507,7995,0.00,1.75,0.00,0.000,1030,0.000,0.050,3136,2733,2656,2663,2650,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8294,0.69,145.9,3137,2733,2664,2650,433.8,13.3,518,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2733,2656,2663,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8594,0.69,145.9,3137,2734,2664,2651,394.3,13.2,528,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2733,2656,2663,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8894,0.69,145.9,3137,2733,2664,2650,354.9,13.1,538,8899,0.00,1.85,0.00,0.000,260,0.000,0.095,3136,3785,2656,2663,2650,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8939,0.69,145.9,3134,3785,2663,2646,348.4,14.7,547,8944,0.00,1.73,0.00,0.000,1030,0.000,0.050,3144,2745,2656,2663,2650,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9255,0.69,145.9,3145,2745,2665,2650,308.7,12.1,560,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2745,2656,2664,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,0.70,164.1,3144,2745,2665,2650,275.2,10.7,570,9571,0.00,0.00,15.77,1.367,8198,0.000,0.000,3144,2745,2590,2592,2588,0,0,0,0,0,0,28.83,28.83,13.71
$GC,9856,0.72,192.1,3150,2745,2591,2583,242.6,10.1,584,9886,0.00,2.38,24.60,1.317,8708,0.000,0.062,3155,1347,2470,2471,2469,0,0,0,0,0,0,28.83,14.29,13.69
$GC,9906,0.75,235.3,3156,1348,2471,2470,237.6,9.3,594,9947,0.00,2.47,36.20,1.318,9222,0.000,0.089,3155,2743,2297,2294,2301,0,0,0,0,0,0,28.83,14.26,13.53
$GC,10246,0.75,235.3,3156,2743,2294,2292,193.9,11.9,632,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2743,2293,2293,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10546,0.78,280.4,3156,2744,2294,2293,162.0,9.2,662,10587,0.00,0.00,38.35,1.265,8198,0.000,0.000,3155,2743,2111,2112,2111,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10887,0.80,300.1,3156,2743,2113,2103,124.9,10.6,696,10907,0.00,0.00,16.10,1.248,8198,0.000,0.000,3155,2742,2030,2033,2027,0,0,0,0,0,0,28.83,28.83,13.67
$GC,11207,0.84,357.0,3156,2742,2033,2020,95.7,8.6,728,11238,0.00,2.45,25.48,0.492,8708,0.000,0.065,3164,1357,1802,1802,1802,0,0,0,0,0,0,28.83,14.24,13.85
$GC,11253,0.87,402.1,3165,1356,1804,1798,91.5,9.2,737,11279,0.00,2.47,21.10,0.474,9222,0.000,0.090,3164,2736,1617,1625,1610,0,0,0,0,0,0,28.83,14.17,13.85
$GC,11578,0.91,461.6,3161,2736,1625,1594,60.7,8.5,772,11609,0.00,2.45,26.50,0.375,8708,0.000,0.067,3164,1358,1376,1395,1357,0,0,0,0,0,0,28.83,14.20,13.89
$GC,11661,0.97,551.2,3164,1357,1396,1354,54.3,6.9,788,11711,0.15,2.47,41.62,0.351,11270,0.106,0.090,3232,2734,1009,1019,999,0,0,0,0,0,0,14.23,14.12,13.87
$GC,12009,1.04,650.0,3233,2734,1017,986,22.2,6.4,828,12061,0.00,2.38,45.12,0.269,8708,0.000,0.063,3230,1358,607,583,632,0,0,0,0,0,0,28.83,14.14,13.93
$GC,12092,1.10,738.4,3235,1358,582,633,16.8,6.9,844,12112,0.00,2.47,12.38,0.257,9222,0.000,0.088,3234,2737,498,448,548,0,0,0,0,0,0,28.83,14.13,13.92
$FREEZE,8.88,-1.432,-1.452,2,32,0
$STATE,12191,end climb,FINISH_DEPTH_REACHED
$STATE,12191,begin subsurface finish
$FINISH1,8.9,1.021327,345
$GC,12196,0.24,345.0,3234,2737,448,548,8.9,8.2,856,12233,0.88,0.00,-31.45,0.000,20998,0.149,0.000,2977,2738,1853,1906,1800,0,0,0,0,0,0,14.04,28.83,14.42
$FINISH2,8.9
$STATE,12234,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12234,begin surface
$RAFOS_CLK,210
$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,44.64
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.30
$XPDR_PINGS,14
$SC_FREEKB,3768384
$24V_AH,12.55,118.952
$10V_AH,12.61,0.000
$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,3.650,59.375,556.975,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,0.000,9875.337,570.431,1734.434,171.761,0.000,1274.309,0.000,1289.372,1499.000,0.539,0.000
$DEVICE_MAMPS,258.570,120.870,2014.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12284.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.327,0.000,0.000,0.000
$MEM,142212
$DATA_FILE_SIZE,30059,863
$CAP_FILE_SIZE,128465,0
$CFSIZE,2097872896,2018869248
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5612.14,0x2378b6,2,5
$INTR,1,12193.34,0x2378b6,5,5
$SOUNDSPEED,1450.8
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376