version: 66.12
glider: 196
mission: 7
dive: 384
start: 9 20 114 0 2 16
data:
$ID,196
$MISSION,7
$DIVE,384
$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,-9991.1924
$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,16
$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,1.61
$_SM_ANGLEo,-46.9
$GPS2,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,7317.610,-14114.188
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.9,20000,-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,-145.9,195,2755,435,557,0.0,0.0,0,126,0.00,0.00,-107.85,0.000,16386,0.000,0.000,193,2756,2949,2981,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.69,-145.9,194,2757,2982,2918,5.8,-8.9,11,160,12.35,2.45,-13.82,0.000,18948,0.396,0.085,2665,1379,3857,3918,3796,0,0,0,0,0,0,13.82,14.13,14.36
$GC,385,-0.69,-145.9,2666,1374,3919,3801,83.6,-21.1,62,391,0.00,2.53,0.00,0.000,1030,0.000,0.093,2657,2768,3859,3918,3800,0,0,0,0,0,0,28.83,14.05,28.83
$GC,690,-0.69,-145.9,2657,2768,3920,3801,145.2,-18.4,93,695,0.00,2.38,0.00,0.000,516,0.000,0.061,2657,1377,3859,3918,3800,0,0,0,0,0,0,28.83,14.12,28.83
$GC,740,-0.69,-145.9,2657,1376,3920,3796,154.0,-16.9,103,745,0.00,2.50,0.00,0.000,1030,0.000,0.093,2646,2760,3860,3919,3801,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1050,-0.69,-145.9,2646,2761,3920,3801,212.0,-17.5,135,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2760,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-0.69,-145.9,2647,2762,3919,3802,259.7,-14.8,162,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2760,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1660,-0.69,-145.9,2647,2761,3919,3802,303.2,-14.0,172,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2760,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.69,-145.9,2647,2761,3920,3801,342.8,-13.1,182,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2760,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.69,-145.9,2647,2761,3919,3802,382.3,-13.1,192,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2760,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.69,-145.9,2647,2762,3919,3801,421.5,-12.9,202,2565,0.10,2.35,0.00,0.000,2564,0.294,0.060,2665,1375,3859,3919,3800,0,0,0,0,0,0,14.22,14.30,28.83
$GC,2590,-0.69,-145.9,2667,1375,3919,3802,425.0,-11.0,208,2595,0.00,2.47,0.00,0.000,1030,0.000,0.095,2657,2761,3860,3919,3801,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2922,-0.69,-145.9,2658,2761,3920,3801,464.5,-11.9,224,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2760,3864,3927,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.69,-145.9,2658,2760,3920,3802,499.8,-11.6,234,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.69,-145.9,2657,2761,3920,3801,535.0,-11.7,244,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.69,-145.9,2658,2761,3920,3801,570.0,-11.6,254,3825,0.00,2.33,0.00,0.000,516,0.000,0.062,2657,1374,3860,3919,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3865,-0.69,-145.9,2658,1375,3920,3801,575.0,-10.8,263,3870,0.00,2.45,0.00,0.000,1030,0.000,0.093,2647,2756,3860,3919,3801,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4181,-0.69,-145.9,2647,2756,3920,3801,612.4,-12.0,276,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.69,-145.9,2648,2757,3919,3803,649.1,-12.2,286,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2757,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4780,-0.69,-145.9,2647,2756,3920,3802,685.2,-11.9,296,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2756,3860,3919,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5080,-0.69,-145.9,2648,2757,3920,3803,721.2,-12.0,306,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2756,3861,3919,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5348,begin apogee
$GC,5354,-0.13,0.0,2647,2756,3920,3803,752.6,-11.7,315,5484,0.75,0.00,128.25,1.946,10244,0.213,0.000,2846,2757,3255,3273,3237,0,0,0,0,0,0,14.12,28.83,13.00
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5488,0.69,145.9,2847,2757,3272,3234,756.4,0.0,319,5623,0.85,0.00,127.22,1.893,11270,0.110,0.000,3109,2756,2657,2665,2649,0,0,0,0,0,0,13.75,28.83,12.55
$GC,5920,0.69,145.9,3110,2757,2666,2643,714.0,12.7,359,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6220,0.69,145.9,3110,2757,2666,2642,676.2,12.7,369,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6520,0.69,145.9,3111,2757,2666,2643,638.8,12.4,379,6525,0.00,1.83,0.00,0.000,260,0.000,0.096,3109,3793,2653,2664,2642,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6550,0.69,145.9,3108,3794,2661,2643,634.6,14.0,385,6555,0.00,1.75,0.00,0.000,1030,0.000,0.049,3117,2736,2654,2665,2643,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6882,0.69,145.9,3117,2736,2666,2642,593.1,12.4,401,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,0.69,145.9,3117,2736,2668,2642,556.0,12.4,411,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2735,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,0.69,145.9,3117,2736,2666,2649,518.8,12.5,421,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7781,0.69,145.9,3117,2735,2666,2642,482.0,12.2,431,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8080,0.69,145.9,3118,2736,2666,2643,445.8,12.0,441,8085,0.00,1.85,0.00,0.000,260,0.000,0.096,3117,3788,2653,2665,2642,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8115,0.69,145.9,3117,3789,2666,2643,441.0,14.1,448,8120,0.00,1.67,0.00,0.000,1030,0.000,0.050,3124,2738,2653,2665,2642,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8442,0.69,145.9,3126,2739,2667,2643,401.1,12.3,463,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2738,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8740,0.69,145.9,3125,2738,2667,2641,364.2,12.3,473,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2738,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9040,0.69,145.9,3126,2739,2666,2643,327.7,12.0,483,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2738,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9340,0.70,157.2,3126,2739,2666,2643,294.2,11.0,493,9352,0.00,0.00,10.18,1.398,8198,0.000,0.000,3125,2738,2617,2627,2607,0,0,0,0,0,0,28.83,28.83,13.79
$GC,9640,0.71,177.7,3125,2739,2623,2603,261.3,10.5,503,9660,0.00,0.00,18.20,1.340,8198,0.000,0.000,3128,2738,2531,2540,2522,0,0,0,0,0,0,28.83,28.83,13.79
$GC,9941,0.74,216.0,3125,2738,2537,2516,230.8,9.6,525,9981,0.00,2.40,32.20,1.285,8708,0.000,0.063,3133,1354,2371,2374,2369,0,0,0,0,0,0,28.83,14.32,13.68
$GC,10018,0.76,249.8,3134,1354,2374,2367,223.6,9.8,540,10053,0.00,2.47,28.77,1.274,9222,0.000,0.089,3133,2748,2235,2237,2233,0,0,0,0,0,0,28.83,14.25,13.56
$GC,10351,0.78,269.6,3134,2747,2237,2225,187.4,10.6,577,10372,0.00,0.00,17.38,1.256,8198,0.000,0.000,3133,2748,2153,2157,2150,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10673,0.80,305.8,3134,2749,2157,2143,154.9,9.7,609,10705,0.00,0.00,30.75,1.207,8198,0.000,0.000,3133,2748,2011,2016,2006,0,0,0,0,0,0,28.83,28.83,13.67
$GC,11003,0.82,334.9,3134,2748,2014,1991,120.8,10.1,642,11033,0.00,0.00,23.38,1.187,8198,0.000,0.000,3133,2748,1887,1891,1883,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11333,0.86,389.1,3134,2748,1892,1876,89.9,8.7,675,11363,0.12,2.40,24.08,0.458,10756,0.121,0.063,3203,1360,1672,1678,1666,0,0,0,0,0,0,14.26,14.22,13.85
$GC,11400,0.87,397.4,3204,1360,1683,1665,82.4,11.2,688,11410,0.00,2.47,4.35,0.414,9222,0.000,0.090,3203,2738,1637,1647,1627,0,0,0,0,0,0,28.83,14.16,13.81
$GC,11717,0.94,504.5,3204,2739,1656,1624,47.8,5.9,721,11771,0.00,2.38,49.15,0.328,8708,0.000,0.063,3211,1357,1200,1219,1182,0,0,0,0,0,0,28.83,14.19,13.90
$GC,11851,1.00,594.8,3211,1357,1221,1180,39.6,6.8,748,11898,0.00,2.45,41.47,0.305,9222,0.000,0.090,3211,2718,832,833,831,0,0,0,0,0,0,28.83,14.12,13.90
$GC,12196,1.09,718.0,3211,2718,832,824,17.1,5.1,787,12242,0.10,1.98,38.03,0.248,10500,0.154,0.096,3262,3784,498,448,549,0,0,0,0,0,0,14.18,14.12,13.97
$GC,12253,1.12,765.6,3263,3784,449,550,12.6,9.1,798,12259,0.00,1.75,0.00,0.000,1030,0.000,0.049,3266,2720,498,448,549,0,0,0,0,0,0,28.83,14.22,28.83
$FREEZE,8.59,-1.436,-1.433,2,1,0
$STATE,12295,end climb,FINISH_DEPTH_REACHED
$STATE,12295,begin subsurface finish
$FINISH1,8.6,1.021058,359
$GC,12300,0.25,359.0,3267,2720,450,549,8.6,8.5,803,12338,1.00,2.38,-30.42,0.000,20996,0.170,0.089,2981,1344,1797,1853,1741,0,0,0,0,0,0,13.97,14.17,14.41
$FINISH2,9.0
$STATE,12338,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12338,begin surface
$RAFOS_CLK,611
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14109.78,190914,234656
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.84
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,6
$SC_FREEKB,3766592
$24V_AH,12.55,120.271
$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,15.275,47.225,573.400,0.000,0.000,0.000,0.000,838.750,1.500,0.000,50.686,0.000,10108.006,578.924,2552.960,380.183,0.000,2176.745,0.000,1212.448,1274.000,0.540,0.000
$DEVICE_MAMPS,395.505,96.390,1946.160,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12394.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.209,0.000,0.000,0.000
$MEM,140140
$DATA_FILE_SIZE,26640,810
$CAP_FILE_SIZE,140050,0
$CFSIZE,2097872896,2018082816
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14048.08,0x2378b6,7,5
$INTR,1,5351.04,0x2378b6,2,5
$INTR,2,12297.99,0x2378b6,5,5
$SOUNDSPEED,1448.6
$GPS,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376