version: 66.12
glider: 196
mission: 7
dive: 385
start: 9 20 114 3 30 36
data:
$ID,196
$MISSION,7
$DIVE,385
$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,53
$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
$GPS1,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.50
$_SM_ANGLEo,-19.5
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,2976,2759,1855,1744,0.0,0.0,0,31,0.00,0.00,-12.30,0.000,16386,0.000,0.000,2975,2759,2666,2721,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2974,2759,2722,2614,22.4,0.0,1,54,0.90,1.90,-15.65,0.000,20740,0.063,0.122,2649,3793,3858,3924,3792,0,0,0,0,0,0,14.26,14.21,14.52
$GC,279,-0.69,-145.9,2650,3795,3924,3797,93.2,-24.5,50,285,0.00,1.73,0.00,0.000,1030,0.000,0.050,2649,2756,3860,3924,3796,0,0,0,0,0,0,28.83,14.28,28.83
$GC,584,-0.69,-145.9,2649,2755,3925,3799,154.8,-19.0,81,588,0.00,1.83,0.00,0.000,260,0.000,0.099,2640,3790,3860,3924,3796,0,0,0,0,0,0,28.83,14.27,28.83
$GC,654,-0.69,-145.9,2642,3791,3924,3797,169.0,-20.1,95,659,0.05,1.70,0.00,0.000,3078,0.251,0.051,2665,2767,3860,3924,3796,0,0,0,0,0,0,14.08,14.39,28.83
$GC,964,-0.69,-145.9,2673,2767,3925,3797,219.5,-15.1,127,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2767,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1274,-0.69,-145.9,2666,2768,3925,3797,263.2,-13.8,152,1279,0.00,2.35,0.00,0.000,516,0.000,0.064,2665,1370,3860,3924,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1329,-0.69,-145.9,2666,1370,3925,3797,270.4,-12.2,163,1335,0.00,2.50,0.00,0.000,1030,0.000,0.096,2663,2766,3860,3924,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1634,-0.69,-145.9,2663,2767,3925,3796,309.2,-12.6,174,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2767,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,-0.69,-145.9,2664,2767,3925,3796,346.0,-12.0,184,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2766,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2234,-0.69,-145.9,2664,2766,3925,3796,381.1,-11.6,194,2239,0.00,2.38,0.00,0.000,516,0.000,0.063,2663,1372,3860,3924,3796,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2269,-0.69,-145.9,2663,1371,3925,3796,385.0,-11.2,201,2274,0.00,2.53,0.00,0.000,1030,0.000,0.096,2662,2765,3859,3924,3795,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2596,-0.69,-145.9,2663,2766,3925,3797,421.1,-11.1,216,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.69,-145.9,2663,2766,3927,3797,454.5,-11.3,226,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3860,3925,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.69,-145.9,2661,2765,3924,3797,488.1,-11.1,236,3199,0.00,2.38,0.00,0.000,516,0.000,0.062,2662,1367,3860,3924,3796,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3214,-0.69,-145.9,2667,1368,3925,3796,490.3,-11.4,240,3219,0.00,2.53,0.00,0.000,1030,0.000,0.093,2654,2765,3860,3924,3796,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3526,-0.69,-145.9,2655,2763,3925,3797,525.6,-11.3,252,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,-0.69,-145.9,2655,2765,3925,3796,559.6,-11.3,262,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,-0.69,-145.9,2655,2766,3924,3797,593.5,-11.2,272,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4424,-0.69,-145.9,2655,2764,3925,3796,626.4,-10.8,282,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-0.69,-145.9,2655,2766,3925,3797,659.1,-11.0,292,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,-0.69,-145.9,2655,2766,3925,3797,692.3,-11.1,302,5029,0.00,2.35,0.00,0.000,516,0.000,0.063,2654,1371,3860,3924,3796,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5069,-0.69,-145.9,2655,1370,3925,3796,697.3,-10.8,311,5074,0.00,2.47,0.00,0.000,1030,0.000,0.094,2650,2765,3860,3924,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5386,-0.69,-145.9,2650,2766,3922,3796,732.2,-11.1,324,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3860,3925,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5562,begin apogee
$GC,5567,-0.13,0.0,2651,2766,3925,3797,752.0,-11.0,330,5698,0.75,0.00,127.60,1.963,10244,0.215,0.000,2848,2766,3256,3275,3237,0,0,0,0,0,0,14.12,28.83,12.97
$STATE,5699,end apogee,CONTROL_FINISHED_OK
$STATE,5699,begin climb
$GC,5701,0.69,145.9,2849,2767,3273,3236,755.1,0.0,334,5837,0.82,0.00,127.32,1.916,11270,0.114,0.000,3102,2766,2656,2662,2650,0,0,0,0,0,0,13.74,28.83,12.55
$GC,6134,0.69,145.9,3103,2764,2663,2646,713.3,12.3,374,6139,0.00,2.47,0.00,0.000,516,0.000,0.063,3112,1345,2653,2662,2645,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6235,0.70,154.7,3113,1345,2664,2646,701.7,11.2,394,6249,0.00,2.53,8.48,1.734,9222,0.000,0.088,3112,2751,2623,2631,2616,0,0,0,0,0,0,28.83,14.10,13.32
$GC,6556,0.70,154.7,3113,2752,2631,2614,660.3,13.0,408,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2751,2621,2630,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6854,0.70,154.7,3113,2751,2630,2612,622.5,12.5,418,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2751,2621,2630,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,0.70,154.7,3112,2752,2631,2612,585.3,12.4,428,7159,0.00,1.80,0.00,0.000,260,0.000,0.096,3112,3780,2621,2630,2612,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7189,0.70,154.7,3113,3781,2630,2613,580.4,14.3,435,7194,0.00,1.73,0.00,0.000,1030,0.000,0.047,3120,2732,2621,2630,2612,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7516,0.70,154.7,3121,2731,2631,2612,538.4,12.9,450,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2731,2621,2630,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7814,0.70,154.7,3121,2731,2631,2612,500.0,12.8,460,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2730,2621,2630,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8114,0.70,154.7,3121,2732,2630,2613,461.1,13.0,470,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2731,2621,2630,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,0.70,154.7,3120,2732,2630,2613,423.1,12.5,480,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2731,2620,2629,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8714,0.70,154.7,3121,2731,2631,2612,386.3,12.1,490,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2730,2621,2630,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9014,0.70,154.7,3121,2731,2631,2612,349.1,12.5,500,9019,0.00,1.85,0.00,0.000,260,0.000,0.096,3120,3785,2621,2630,2612,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9049,0.70,154.7,3121,3784,2631,2612,344.1,14.8,507,9054,0.00,1.70,0.00,0.000,1030,0.000,0.047,3127,2742,2621,2630,2612,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9376,0.70,154.7,3128,2742,2631,2613,302.6,12.4,522,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2621,2630,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,0.70,164.1,3129,2743,2631,2613,268.7,11.1,532,9685,0.00,0.00,9.35,1.372,8198,0.000,0.000,3127,2742,2587,2594,2580,0,0,0,0,0,0,28.83,28.83,13.80
$GC,9974,0.73,207.8,3128,2743,2591,2576,236.4,9.3,550,10016,0.00,2.40,36.38,1.290,8708,0.000,0.063,3138,1361,2405,2406,2405,0,0,0,0,0,0,28.83,14.37,13.73
$GC,10036,0.77,259.2,3139,1361,2404,2405,230.8,8.9,560,10087,0.00,2.42,43.38,1.281,9222,0.000,0.089,3138,2734,2195,2195,2195,0,0,0,0,0,0,28.83,14.30,13.52
$GC,10386,0.77,259.2,3139,2734,2196,2185,189.4,11.9,600,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2734,2189,2194,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10686,0.80,297.6,3139,2735,2195,2186,158.6,9.6,630,10727,0.00,2.40,32.22,1.224,8708,0.000,0.063,3147,1363,2037,2041,2034,0,0,0,0,0,0,28.83,14.31,13.69
$GC,10759,0.82,331.0,3149,1362,2041,2031,151.6,9.9,644,10793,0.00,2.45,28.85,1.226,9222,0.000,0.090,3147,2740,1905,1905,1905,0,0,0,0,0,0,28.83,14.23,13.56
$GC,11098,0.84,365.3,3148,2741,1904,1892,113.6,9.8,682,11130,0.00,1.92,26.98,1.185,8452,0.000,0.097,3147,3782,1761,1767,1756,0,0,0,0,0,0,28.83,14.20,13.61
$GC,11160,0.84,365.3,3148,3783,1766,1754,106.7,12.4,693,11164,0.00,1.75,0.00,0.000,1030,0.000,0.048,3154,2719,1759,1765,1753,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11471,0.87,409.8,3155,2719,1767,1744,75.4,9.3,725,11492,0.00,0.00,19.33,0.411,8198,0.000,0.000,3154,2719,1586,1597,1575,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11791,0.96,525.7,3155,2720,1604,1570,51.4,5.5,757,11851,0.12,2.35,53.08,0.336,10756,0.125,0.063,3221,1349,1113,1129,1097,0,0,0,0,0,0,14.24,14.19,13.87
$GC,11911,0.99,576.9,3220,1350,1129,1099,40.6,8.9,781,11943,0.00,2.47,23.77,0.308,9222,0.000,0.090,3218,2726,904,908,901,0,0,0,0,0,0,28.83,14.14,13.91
$GC,12241,1.08,703.9,3220,2726,908,895,16.3,4.9,817,12293,0.00,2.40,46.28,0.247,8708,0.000,0.065,3218,1351,498,448,549,0,0,0,0,0,0,28.83,14.17,13.97
$FREEZE,8.72,-1.432,-1.434,2,2,0
$STATE,12356,end climb,FINISH_DEPTH_REACHED
$STATE,12356,begin subsurface finish
$FINISH1,8.7,1.021065,359
$GC,12364,0.25,358.6,3219,2743,451,549,8.7,7.9,840,12403,0.80,2.40,-31.40,0.000,20996,0.136,0.080,2979,1345,1799,1856,1743,0,0,0,0,0,0,14.00,14.19,14.42
$FINISH2,7.4
$STATE,12403,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12404,begin surface
$RAFOS_CLK,530
$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,44.44
$INTERNAL_PRESSURE,8.67023
$TCM_TEMP,13.20
$XPDR_PINGS,15
$SC_FREEKB,3766144
$24V_AH,12.55,120.595
$10V_AH,12.62,0.000
$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,3.450,66.800,583.000,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,0.000,10036.693,591.148,1712.911,182.695,0.000,1293.429,0.000,1269.632,1483.000,0.539,0.000
$DEVICE_MAMPS,250.920,122.400,1962.990,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12454.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.989,0.000,0.000,0.000
$MEM,139632
$DATA_FILE_SIZE,30032,848
$CAP_FILE_SIZE,131734,0
$CFSIZE,2097872896,2017886208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5563.90,0x2378b6,2,5
$SOUNDSPEED,1449.2
$GPS,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376