version: 66.12
glider: 196
mission: 7
dive: 389
start: 9 20 114 17 18 9
data:
$ID,196
$MISSION,7
$DIVE,389
$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,54
$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,19.29
$_SM_ANGLEo,-18.2
$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,-145.9,2976,2764,1859,1755,0.0,0.0,0,30,0.00,0.00,-12.07,0.000,16386,0.000,0.000,2975,2764,2647,2699,2596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2764,2700,2597,21.9,0.0,1,57,0.90,1.85,-16.27,0.000,20740,0.068,0.122,2653,3779,3858,3922,3794,0,0,0,0,0,0,14.26,14.13,14.52
$GC,166,-0.69,-145.9,2653,3779,3923,3797,64.2,-27.5,28,172,0.00,1.70,0.00,0.000,1030,0.000,0.050,2653,2763,3859,3922,3797,0,0,0,0,0,0,28.83,14.28,28.83
$GC,472,-0.69,-145.9,2653,2762,3923,3797,130.5,-19.9,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2762,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,772,-0.69,-145.9,2653,2762,3924,3797,186.9,-17.7,89,776,0.00,2.35,0.00,0.000,516,0.000,0.063,2653,1373,3859,3922,3797,0,0,0,0,0,0,28.83,14.34,28.83
$GC,846,-0.69,-145.9,2654,1374,3923,3797,198.8,-15.3,104,853,0.12,2.47,0.00,0.000,3078,0.268,0.095,2667,2757,3859,3922,3796,0,0,0,0,0,0,14.05,14.23,28.83
$GC,1153,-0.69,-145.9,2668,2758,3923,3797,241.7,-13.1,135,1158,0.00,2.33,0.00,0.000,516,0.000,0.061,2667,1373,3859,3922,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1203,-0.69,-145.9,2667,1372,3923,3797,248.3,-12.7,145,1208,0.00,2.47,0.00,0.000,1030,0.000,0.094,2662,2756,3859,3922,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1525,-0.69,-145.9,2664,2756,3923,3796,289.5,-12.4,158,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.69,-145.9,2664,2757,3922,3797,325.4,-12.0,168,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.69,-145.9,2663,2756,3924,3797,360.6,-11.5,178,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.69,-145.9,2664,2757,3923,3798,395.3,-11.5,188,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.69,-145.9,2664,2757,3923,3797,429.6,-11.2,198,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.69,-145.9,2664,2757,3923,3797,462.0,-10.8,208,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3323,-0.69,-145.9,2664,2757,3923,3797,494.7,-11.0,218,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3623,-0.69,-145.9,2663,2756,3923,3796,527.7,-11.1,228,3628,0.00,2.33,0.00,0.000,516,0.000,0.061,2663,1373,3859,3922,3797,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3673,-0.69,-145.9,2664,1373,3923,3797,533.1,-10.4,238,3678,0.00,2.45,0.00,0.000,1030,0.000,0.093,2655,2752,3859,3922,3796,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3983,-0.69,-145.9,2655,2753,3923,3797,569.2,-11.8,250,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2753,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4283,-0.69,-145.9,2656,2754,3923,3798,604.1,-11.6,260,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2753,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.69,-145.9,2656,2755,3923,3800,638.3,-11.3,270,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2753,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4884,-0.69,-145.9,2656,2754,3923,3797,671.6,-11.0,280,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2753,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5183,-0.69,-145.9,2656,2755,3923,3798,705.0,-11.2,290,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2753,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5483,-0.69,-145.9,2656,2753,3923,3798,738.2,-11.0,300,5488,0.00,2.33,0.00,0.000,516,0.000,0.060,2655,1369,3859,3922,3797,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5523,-0.69,-145.9,2656,1370,3923,3798,742.3,-9.7,308,5528,0.00,2.45,0.00,0.000,1030,0.000,0.093,2650,2751,3859,3922,3797,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,5601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5601,begin apogee
$GC,5606,-0.13,0.0,2651,2752,3923,3797,751.2,-11.2,314,5736,0.75,0.00,127.90,2.021,10244,0.216,0.000,2847,2752,3257,3275,3239,0,0,0,0,0,0,14.11,28.83,12.95
$STATE,5737,end apogee,CONTROL_FINISHED_OK
$STATE,5737,begin climb
$GC,5739,0.69,145.9,2848,2753,3272,3235,754.9,0.0,318,5876,0.85,0.00,126.03,1.863,11270,0.116,0.000,3107,2753,2656,2662,2651,0,0,0,0,0,0,13.72,28.83,12.55
$GC,6173,0.69,145.9,3108,2754,2663,2647,713.3,12.4,358,6178,0.00,2.45,0.00,0.000,516,0.000,0.061,3118,1347,2652,2663,2641,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6233,0.70,156.7,3119,1346,2664,2645,706.4,11.1,370,6248,0.00,2.50,9.80,1.744,9222,0.000,0.087,3118,2742,2618,2624,2612,0,0,0,0,0,0,28.83,14.07,13.30
$GC,6563,0.70,156.7,3119,2742,2624,2608,662.8,13.3,386,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2615,2623,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6863,0.70,156.7,3119,2742,2624,2608,623.2,12.9,396,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2615,2623,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7163,0.70,156.7,3118,2742,2623,2606,584.3,13.0,406,7168,0.00,1.83,0.00,0.000,260,0.000,0.095,3118,3785,2615,2623,2607,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7193,0.70,156.7,3119,3785,2624,2607,580.1,15.1,412,7198,0.00,1.73,0.00,0.000,1030,0.000,0.048,3125,2735,2614,2623,2606,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7525,0.70,156.7,3133,2734,2620,2606,535.6,13.5,428,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2614,2623,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7823,0.70,156.7,3126,2734,2625,2607,495.5,13.3,438,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2614,2623,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8123,0.70,156.7,3126,2734,2624,2607,456.1,13.1,448,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2614,2623,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8423,0.70,156.7,3126,2734,2625,2606,416.9,13.0,458,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2614,2623,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8723,0.70,156.7,3126,2735,2624,2607,377.6,13.1,468,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2733,2614,2623,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9023,0.70,156.7,3126,2734,2624,2606,338.9,12.8,478,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2614,2623,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9323,0.70,156.7,3126,2734,2625,2606,302.3,11.8,488,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2734,2614,2623,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9623,0.71,171.9,3126,2735,2624,2607,268.7,10.8,498,9638,0.00,0.00,14.02,1.362,8198,0.000,0.000,3126,2734,2557,2563,2551,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9923,0.72,195.3,3126,2734,2558,2541,237.5,10.4,516,9949,0.00,2.33,20.83,1.307,8708,0.000,0.060,3134,1352,2454,2458,2451,0,0,0,0,0,0,28.83,14.37,13.71
$GC,9995,0.75,231.7,3135,1353,2457,2451,230.7,9.7,530,10035,0.00,2.45,30.42,1.279,9222,0.000,0.089,3134,2733,2308,2308,2309,0,0,0,0,0,0,28.83,14.22,13.56
$GC,10334,0.77,267.0,3135,2732,2306,2304,195.0,9.8,568,10369,0.00,1.88,30.38,1.248,8452,0.000,0.093,3134,3786,2162,2162,2162,0,0,0,0,0,0,28.83,14.19,13.56
$GC,10410,0.77,267.0,3135,3786,2164,2161,186.6,12.3,583,10416,0.00,1.73,0.00,0.000,1030,0.000,0.048,3142,2729,2160,2160,2160,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10714,0.80,303.0,3143,2735,2161,2157,155.0,9.7,614,10750,0.00,2.35,30.48,1.210,8708,0.000,0.061,3151,1354,2015,2019,2012,0,0,0,0,0,0,28.83,14.21,13.59
$GC,10805,0.82,332.3,3152,1355,2017,2008,145.7,10.1,632,10836,0.00,2.47,25.35,1.207,9222,0.000,0.089,3151,2737,1898,1899,1898,0,0,0,0,0,0,28.83,14.14,13.51
$GC,11135,0.83,347.9,3152,2737,1899,1886,109.5,10.8,668,11150,0.00,2.38,10.77,1.203,8708,0.000,0.061,3159,1351,1833,1838,1829,0,0,0,0,0,0,28.83,14.21,13.60
$GC,11180,0.85,373.4,3160,1351,1836,1827,104.6,10.3,677,11208,0.00,2.47,20.17,1.151,9222,0.000,0.090,3159,2735,1729,1735,1723,0,0,0,0,0,0,28.83,14.14,13.57
$GC,11506,0.88,411.0,3160,2735,1736,1710,70.0,9.6,712,11526,0.00,0.00,16.08,0.396,8198,0.000,0.000,3159,2735,1582,1595,1570,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11827,0.96,526.1,3160,2735,1601,1566,47.5,5.5,744,11887,0.12,2.40,52.58,0.326,10756,0.125,0.065,3220,1347,1113,1128,1099,0,0,0,0,0,0,14.26,14.19,13.93
$GC,11957,0.99,580.2,3221,1348,1129,1098,36.0,8.7,770,11988,0.00,2.50,25.10,0.296,9222,0.000,0.089,3221,2736,890,894,887,0,0,0,0,0,0,28.83,14.14,13.93
$GC,12287,1.07,684.4,3222,2737,894,882,15.0,6.1,806,12338,0.00,2.40,44.78,0.245,8708,0.000,0.062,3221,1348,497,448,546,0,0,0,0,0,0,28.83,14.19,13.95
$FREEZE,8.97,-1.438,-1.437,2,6,0
$STATE,12406,end climb,FINISH_DEPTH_REACHED
$STATE,12407,begin subsurface finish
$FINISH1,9.0,1.021109,356
$GC,12414,0.25,356.3,3222,2750,450,545,9.0,6.7,830,12450,0.80,1.92,-30.35,0.000,20740,0.142,0.125,2975,3787,1807,1862,1753,0,0,0,0,0,0,14.07,14.14,14.42
$FINISH2,8.6
$STATE,12451,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12451,begin surface
$RAFOS_CLK,134
$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,44.48
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,8
$SC_FREEKB,3764352
$24V_AH,12.55,121.894
$10V_AH,12.57,0.000
$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,3.550,63.625,584.675,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,0.000,10108.597,588.630,1696.322,177.733,0.000,1285.113,0.000,1254.667,1470.000,0.539,0.000
$DEVICE_MAMPS,267.750,125.460,2021.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12503.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.263,0.000,0.000,0.000
$MEM,137616
$DATA_FILE_SIZE,30025,837
$CAP_FILE_SIZE,131782,0
$CFSIZE,2097872896,2017099776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5603.57,0x2378b6,2,5
$SOUNDSPEED,1448.8
$GPS,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376