version: 66.12
glider: 196
mission: 7
dive: 386
start: 9 20 114 7 0 3
data:
$ID,196
$MISSION,7
$DIVE,386
$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,55
$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
$GPS1,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,18.50
$_SM_ANGLEo,-18.9
$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,-145.9,2976,2758,1857,1746,0.0,0.0,0,30,0.00,0.00,-11.57,0.000,16386,0.000,0.000,2975,2760,2607,2661,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2975,2761,2663,2556,21.8,0.0,1,56,0.90,1.85,-16.65,0.000,20740,0.067,0.120,2651,3785,3857,3923,3792,0,0,0,0,0,0,14.23,14.12,14.51
$GC,131,-0.69,-145.9,2652,3786,3924,3796,53.8,-33.1,21,136,0.00,1.73,0.00,0.000,1030,0.000,0.049,2651,2758,3858,3922,3795,0,0,0,0,0,0,28.83,14.21,28.83
$GC,442,-0.69,-145.9,2652,2757,3924,3795,124.2,-20.1,53,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,742,-0.69,-145.9,2652,2758,3924,3797,180.7,-17.9,83,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1042,-0.69,-145.9,2652,2758,3924,3796,231.0,-15.9,113,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.69,-145.9,2652,2757,3924,3795,276.4,-14.3,132,1356,0.00,2.35,0.00,0.000,516,0.000,0.065,2651,1370,3859,3923,3795,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1412,-0.69,-145.9,2652,1369,3924,3795,284.2,-12.3,144,1417,0.12,2.47,0.00,0.000,3078,0.263,0.095,2666,2757,3859,3923,3795,0,0,0,0,0,0,14.13,14.32,28.83
$GC,1742,-0.69,-145.9,2667,2758,3924,3796,324.9,-12.1,160,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2042,-0.69,-145.9,2667,2757,3923,3796,359.1,-11.3,170,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2754,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2342,-0.69,-145.9,2667,2757,3924,3795,392.6,-11.1,180,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2642,-0.69,-145.9,2667,2758,3923,3796,426.1,-11.1,190,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2757,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,-0.69,-145.9,2667,2757,3923,3796,459.3,-10.9,200,2947,0.00,2.35,0.00,0.000,516,0.000,0.062,2666,1363,3858,3923,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2982,-0.69,-145.9,2667,1362,3924,3795,463.5,-9.6,208,2987,0.00,2.47,0.00,0.000,1030,0.000,0.094,2663,2750,3859,3923,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3304,-0.69,-145.9,2664,2751,3924,3794,498.7,-11.1,222,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2750,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3604,-0.69,-145.9,2663,2751,3924,3795,531.4,-10.9,232,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2750,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.69,-145.9,2664,2751,3923,3792,564.3,-10.9,242,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2750,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-0.69,-145.9,2664,2750,3924,3792,597.1,-10.9,252,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2750,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,-0.69,-145.9,2663,2751,3924,3795,629.4,-10.7,262,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4802,-0.69,-145.9,2663,2751,3924,3795,661.9,-10.7,272,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2750,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5102,-0.69,-145.9,2666,2751,3920,3796,693.2,-10.4,282,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2750,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5402,-0.69,-145.9,2664,2751,3924,3796,724.7,-10.3,292,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5670,begin apogee
$GC,5675,-0.13,0.0,2664,2751,3924,3795,752.6,-10.3,301,5806,0.68,0.00,128.50,2.002,10244,0.212,0.000,2843,2751,3254,3271,3237,0,0,0,0,0,0,14.07,28.83,12.93
$STATE,5807,end apogee,CONTROL_FINISHED_OK
$STATE,5807,begin climb
$GC,5810,0.69,145.9,2844,2750,3272,3234,756.1,0.0,305,5946,0.93,1.98,126.80,1.892,10500,0.132,0.100,3109,3793,2659,2663,2656,0,0,0,0,0,0,13.68,13.71,12.53
$GC,6170,0.69,145.9,3110,3794,2662,2648,715.9,15.4,380,6175,0.00,1.80,0.00,0.000,1030,0.000,0.048,3117,2740,2655,2662,2649,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6486,0.69,145.9,3118,2739,2663,2646,673.8,13.3,393,6490,0.00,2.38,0.00,0.000,516,0.000,0.063,3128,1345,2653,2662,2645,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6715,0.69,145.9,3129,1346,2663,2646,645.9,12.0,439,6720,0.00,2.47,0.00,0.000,1030,0.000,0.090,3128,2746,2653,2662,2645,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7026,0.69,145.9,3129,2747,2662,2645,604.7,13.4,451,7030,0.00,2.35,0.00,0.000,516,0.000,0.062,3138,1351,2653,2662,2644,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7110,0.69,145.9,3139,1351,2663,2646,594.1,12.3,468,7117,0.00,2.45,0.00,0.000,1030,0.000,0.089,3138,2743,2653,2662,2644,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7416,0.69,145.9,3140,2744,2663,2645,553.1,13.4,479,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2743,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7716,0.69,145.9,3140,2744,2663,2645,513.0,13.4,489,7720,0.00,1.83,0.00,0.000,260,0.000,0.096,3138,3785,2653,2662,2644,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7730,0.69,145.9,3140,3787,2663,2645,510.8,13.7,492,7736,0.00,1.73,0.00,0.000,1030,0.000,0.049,3146,2735,2653,2662,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8047,0.69,145.9,3147,2736,2662,2645,467.9,13.5,505,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2735,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8346,0.69,145.9,3146,2735,2663,2644,427.5,13.5,515,8350,0.00,1.85,0.00,0.000,260,0.000,0.096,3146,3789,2653,2662,2644,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8390,0.69,145.9,3147,3789,2663,2645,420.7,15.6,524,8395,0.12,1.70,0.00,0.000,5126,0.257,0.048,3123,2751,2652,2661,2644,0,0,0,0,0,0,14.06,14.47,28.83
$GC,8707,0.69,145.9,3124,2751,2663,2643,381.7,12.2,537,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2751,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9006,0.69,145.9,3124,2752,2663,2645,345.9,11.7,547,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2751,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9306,0.69,149.3,3124,2752,2663,2645,311.5,11.4,557,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2751,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9606,0.70,166.9,3124,2751,2663,2644,278.9,10.7,567,9625,0.00,0.00,17.90,1.359,8198,0.000,0.000,3123,2751,2578,2584,2572,0,0,0,0,0,0,28.83,28.83,13.78
$GC,9907,0.72,188.3,3124,2751,2580,2562,246.4,10.5,579,9931,0.00,2.35,18.45,1.328,8708,0.000,0.063,3132,1355,2485,2490,2480,0,0,0,0,0,0,28.83,14.42,13.76
$GC,9978,0.74,221.2,3133,1354,2491,2480,239.2,9.9,593,10012,0.00,2.45,28.12,1.303,9222,0.000,0.087,3132,2746,2352,2352,2352,0,0,0,0,0,0,28.83,14.31,13.61
$GC,10317,0.76,252.7,3133,2746,2351,2345,203.2,9.9,631,10348,0.00,0.00,26.75,1.272,8710,0.000,0.000,3132,2746,2223,2225,2221,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10649,0.79,295.5,3133,2747,2225,2217,170.5,9.4,665,10692,0.00,2.42,36.47,1.248,8708,0.000,0.063,3141,1358,2047,2053,2042,0,0,0,0,0,0,28.83,14.23,13.61
$GC,10707,0.83,340.6,3142,1358,2053,2040,164.8,9.2,673,10753,0.00,2.47,38.90,1.290,9222,0.000,0.089,3141,2747,1865,1869,1862,0,0,0,0,0,0,28.83,14.21,13.45
$GC,11058,0.85,369.5,3149,2747,1873,1847,127.4,10.1,713,11089,0.00,2.40,24.77,1.217,8708,0.000,0.061,3151,1348,1744,1754,1735,0,0,0,0,0,0,28.83,14.23,13.61
$GC,11114,0.87,397.4,3152,1349,1752,1734,121.6,10.1,724,11145,0.00,2.50,23.40,1.213,9222,0.000,0.089,3151,2747,1631,1644,1619,0,0,0,0,0,0,28.83,14.21,13.54
$GC,11450,0.87,405.9,3151,2747,1644,1604,84.5,11.2,761,11461,0.00,2.47,2.42,0.396,8708,0.000,0.063,3159,1350,1605,1625,1585,0,0,0,0,0,0,28.83,14.21,13.81
$GC,11481,0.89,438.3,3160,1351,1631,1586,81.3,9.9,767,11502,0.00,2.47,16.00,0.435,9222,0.000,0.090,3159,2738,1470,1489,1451,0,0,0,0,0,0,28.83,14.12,13.86
$GC,11801,0.97,547.9,3160,2740,1495,1446,54.2,5.8,801,11854,0.15,0.00,51.15,0.348,10246,0.113,0.000,3219,2739,1023,1034,1012,0,0,0,0,0,0,14.26,28.83,13.92
$GC,12151,1.07,688.2,3221,2739,1033,1004,23.9,4.2,836,12216,0.00,2.40,59.62,0.271,8708,0.000,0.067,3221,1359,498,446,551,0,0,0,0,0,0,28.83,14.11,13.96
$GC,12326,1.15,807.0,3222,1359,443,552,14.2,5.3,871,12333,0.15,2.45,0.00,0.000,3078,0.123,0.087,3278,2724,496,442,551,0,0,0,0,0,0,14.16,14.11,28.83
$FREEZE,8.98,-1.437,-1.437,2,3,0
$STATE,12379,end climb,FINISH_DEPTH_REACHED
$STATE,12379,begin subsurface finish
$FINISH1,9.0,1.021101,357
$GC,12385,0.25,356.8,3278,2724,442,551,9.0,10.3,877,12423,1.10,0.00,-30.35,0.000,20486,0.189,0.000,2977,2725,1805,1854,1757,0,0,0,0,0,0,14.02,28.83,14.44
$FINISH2,9.2
$STATE,12423,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12423,begin surface
$RAFOS_CLK,435
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14109.78,190914,234656
$TT8_MAMPS,0.04494,0.04494
$HUMID,45.23
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,13
$SC_FREEKB,3765696
$24V_AH,12.53,120.929
$10V_AH,12.58,0.000
$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,4.150,60.725,599.275,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,0.000,9975.642,616.777,1769.816,180.884,0.000,1331.155,0.000,1316.253,1498.000,0.539,0.000
$DEVICE_MAMPS,263.160,120.105,2002.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12476.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.549,0.000,0.000,0.000
$MEM,139132
$DATA_FILE_SIZE,30024,881
$CAP_FILE_SIZE,131624,0
$CFSIZE,2097872896,2017689600
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5672.42,0x2378b6,2,5
$INTR,1,12382.18,0x2378b6,5,5
$SOUNDSPEED,1450.4
$GPS,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376