version: 66.12
glider: 196
mission: 7
dive: 388
start: 9 20 114 13 57 37
data:
$ID,196
$MISSION,7
$DIVE,388
$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,62
$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,17.53
$_SM_ANGLEo,-20.3
$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,18,-0.69,-145.9,2976,2759,1854,1762,0.0,0.0,0,31,0.00,0.00,-12.30,0.000,16386,0.000,0.000,2975,2759,2639,2685,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2975,2759,2686,2595,20.6,0.0,1,58,0.90,1.88,-16.70,0.000,20740,0.067,0.122,2651,3786,3857,3920,3794,0,0,0,0,0,0,14.28,14.12,14.53
$GC,282,-0.69,-145.9,2651,3787,3922,3796,91.7,-22.4,51,287,0.00,1.70,0.00,0.000,1030,0.000,0.050,2651,2763,3861,3926,3796,0,0,0,0,0,0,28.83,14.32,28.83
$GC,593,-0.69,-145.9,2651,2763,3922,3796,154.7,-19.2,83,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2763,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,893,-0.69,-145.9,2648,2764,3921,3797,208.2,-16.4,113,897,0.00,2.35,0.00,0.000,516,0.000,0.064,2651,1374,3858,3921,3796,0,0,0,0,0,0,28.83,14.36,28.83
$GC,953,-0.69,-145.9,2651,1373,3922,3795,217.6,-15.1,125,958,0.12,2.47,0.00,0.000,3078,0.269,0.094,2665,2757,3858,3921,3796,0,0,0,0,0,0,14.14,14.32,28.83
$GC,1273,-0.69,-145.9,2665,2760,3921,3797,261.8,-13.1,152,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2759,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.69,-145.9,2665,2759,3922,3796,299.4,-12.5,162,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.69,-145.9,2666,2760,3921,3797,336.6,-12.3,172,1878,0.00,2.33,0.00,0.000,516,0.000,0.062,2665,1376,3858,3921,3796,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1923,-0.69,-145.9,2666,1375,3926,3796,342.5,-11.6,182,1928,0.00,2.47,0.00,0.000,1030,0.000,0.095,2663,2765,3858,3921,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2233,-0.69,-145.9,2664,2766,3921,3797,378.7,-11.7,194,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2766,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2533,-0.69,-145.9,2663,2766,3922,3796,412.8,-11.4,204,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3855,3915,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.69,-145.9,2664,2767,3921,3796,446.8,-11.3,214,2838,0.00,2.33,0.00,0.000,516,0.000,0.061,2663,1376,3858,3921,3795,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2858,-0.69,-145.9,2663,1376,3922,3796,449.7,-12.3,219,2864,0.00,2.45,0.00,0.000,1030,0.000,0.093,2653,2762,3858,3921,3796,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3163,-0.69,-145.9,2654,2763,3921,3797,485.8,-11.8,230,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2762,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3463,-0.69,-145.9,2654,2763,3921,3797,521.3,-11.9,240,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3763,-0.69,-145.9,2654,2763,3921,3796,556.3,-11.5,250,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2762,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4063,-0.69,-145.9,2656,2763,3916,3797,590.4,-11.4,260,4068,0.00,2.33,0.00,0.000,516,0.000,0.060,2653,1372,3857,3920,3794,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4103,-0.69,-145.9,2654,1372,3922,3796,594.9,-11.0,268,4108,0.00,2.45,0.00,0.000,1030,0.000,0.093,2645,2765,3858,3921,3796,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4424,-0.69,-145.9,2645,2761,3921,3797,633.3,-12.1,282,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4723,-0.69,-145.9,2645,2761,3922,3796,669.6,-12.1,292,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5023,-0.69,-145.9,2645,2761,3922,3796,705.0,-11.6,302,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5323,-0.69,-145.9,2645,2761,3922,3796,740.1,-11.8,312,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5411,begin apogee
$GC,5416,-0.13,0.0,2645,2760,3922,3796,750.7,-11.8,315,5545,0.77,0.00,127.28,2.020,10246,0.219,0.000,2848,2761,3257,3274,3240,0,0,0,0,0,0,14.12,28.83,12.97
$STATE,5546,end apogee,CONTROL_FINISHED_OK
$STATE,5547,begin climb
$GC,5549,0.69,145.9,2849,2761,3270,3236,754.7,0.0,319,5686,0.90,2.60,126.20,1.872,10756,0.115,0.060,3127,1358,2656,2660,2653,0,0,0,0,0,0,13.74,13.29,12.56
$GC,5731,0.70,158.1,3128,1359,2659,2653,744.6,11.0,353,5748,0.00,2.60,11.50,1.774,9222,0.000,0.086,3127,2738,2611,2616,2607,0,0,0,0,0,0,28.83,13.50,12.74
$GC,6048,0.70,158.1,3128,2738,2615,2602,701.2,14.0,366,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2739,2608,2614,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6346,0.70,158.1,3128,2739,2615,2603,658.9,14.2,376,6351,0.00,1.85,0.00,0.000,260,0.000,0.094,3127,3790,2608,2614,2602,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6381,0.70,158.1,3128,3791,2615,2603,653.3,16.1,383,6386,0.00,1.73,0.00,0.000,1030,0.000,0.047,3134,2742,2608,2614,2602,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6708,0.70,158.1,3135,2742,2615,2602,605.6,14.5,398,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2608,2614,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7006,0.70,158.1,3135,2742,2615,2602,562.8,14.1,408,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2607,2612,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,0.70,158.1,3135,2742,2615,2601,520.6,14.1,418,7323,0.00,1.83,0.00,0.000,260,0.000,0.094,3135,3786,2608,2614,2602,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7353,0.70,158.1,3134,3787,2615,2602,513.5,16.4,425,7357,0.00,1.73,0.00,0.000,1030,0.000,0.048,3142,2741,2605,2614,2597,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7679,0.70,158.1,3144,2742,2615,2602,467.1,14.1,440,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2741,2606,2613,2600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7978,0.70,158.1,3144,2741,2615,2599,424.8,14.0,450,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2741,2607,2614,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8278,0.70,158.1,3144,2741,2615,2602,382.6,14.1,460,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2741,2607,2614,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,0.70,158.1,3144,2738,2615,2602,341.5,13.4,470,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2741,2607,2614,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8878,0.70,158.1,3144,2742,2615,2602,302.4,12.8,480,8883,0.00,1.85,0.00,0.000,260,0.000,0.096,3143,3786,2607,2614,2601,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8933,0.70,158.1,3143,3786,2617,2600,294.6,14.4,491,8939,0.00,1.73,0.00,0.000,1030,0.000,0.048,3150,2744,2607,2614,2601,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9240,0.70,165.6,3151,2743,2616,2601,258.3,11.2,502,9249,0.00,0.00,7.45,1.369,8198,0.000,0.000,3150,2744,2583,2590,2576,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9538,0.73,199.0,3151,2745,2586,2573,225.8,9.8,526,9573,0.00,2.40,28.77,1.278,8708,0.000,0.063,3161,1353,2440,2441,2440,0,0,0,0,0,0,28.83,14.36,13.72
$GC,9615,0.74,224.5,3162,1353,2439,2441,218.0,10.3,541,9644,0.00,2.47,21.88,1.280,9222,0.000,0.089,3161,2748,2336,2333,2340,0,0,0,0,0,0,28.83,14.28,13.63
$GC,9949,0.77,264.6,3162,2749,2334,2334,180.2,9.5,578,9990,0.00,2.40,33.72,1.234,8708,0.000,0.063,3171,1350,2173,2171,2175,0,0,0,0,0,0,28.83,14.26,13.61
$GC,10017,0.80,301.1,3172,1350,2172,2174,173.8,9.7,591,10056,0.00,2.47,31.12,1.237,9222,0.000,0.089,3171,2740,2025,2026,2024,0,0,0,0,0,0,28.83,14.20,13.53
$GC,10361,0.80,301.1,3172,2741,2026,2014,132.2,11.8,630,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2740,2019,2025,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10661,0.81,317.7,3172,2740,2027,2010,96.7,10.7,660,10672,0.00,1.85,6.30,0.467,8452,0.000,0.094,3170,3784,1964,1968,1960,0,0,0,0,0,0,28.83,14.25,13.83
$GC,10722,0.81,317.7,3171,3785,1976,1964,89.3,12.1,672,10727,0.00,1.70,0.00,0.000,1030,0.000,0.050,3177,2738,1969,1975,1964,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11033,0.88,415.4,3179,2739,1976,1964,61.4,6.4,704,11084,0.00,2.38,44.75,0.368,8708,0.000,0.063,3178,1349,1563,1575,1552,0,0,0,0,0,0,28.83,14.23,13.93
$GC,11254,0.96,538.2,3179,1349,1575,1546,48.5,5.1,748,11315,0.00,2.47,55.67,0.330,9222,0.000,0.090,3177,2727,1063,1078,1048,0,0,0,0,0,0,28.83,14.16,13.93
$GC,11614,1.07,684.8,3179,2728,1076,1037,25.5,3.8,790,11685,0.20,2.38,63.70,0.274,10756,0.109,0.066,3258,1352,499,446,553,0,0,0,0,0,0,14.13,14.17,13.94
$GC,11732,1.11,750.2,3259,1353,446,554,17.2,8.1,813,11738,0.00,2.47,0.00,0.000,1030,0.000,0.086,3258,2734,499,446,553,0,0,0,0,0,0,28.83,14.12,28.83
$FREEZE,8.84,-1.442,-1.436,2,5,0
$STATE,11825,end climb,FINISH_DEPTH_REACHED
$STATE,11825,begin subsurface finish
$FINISH1,8.8,1.021092,357
$GC,11832,0.25,357.2,3259,2734,444,552,8.8,8.8,823,11869,0.98,2.40,-30.05,0.000,20996,0.172,0.086,2981,1348,1803,1858,1748,0,0,0,0,0,0,14.02,14.18,14.42
$FINISH2,9.2
$STATE,11870,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11870,begin surface
$RAFOS_CLK,221
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14109.78,190914,234656
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.31
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,12
$SC_FREEKB,3764800
$24V_AH,12.56,121.569
$10V_AH,12.76,0.000
$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,3.875,66.600,558.350,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,0.000,9554.365,576.443,1678.019,179.219,0.000,1262.264,0.000,1248.572,1480.000,0.539,0.000
$DEVICE_MAMPS,268.515,121.635,2019.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.411,0.000,0.000,0.000
$MEM,138124
$DATA_FILE_SIZE,30082,830
$CAP_FILE_SIZE,128259,0
$CFSIZE,2097872896,2017329152
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5412.58,0x2378b6,2,5
$INTR,1,11829.09,0x2378b6,5,5
$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