version: 66.12
glider: 196
mission: 7
dive: 286
start: 9 5 114 10 44 23
data:
$ID,196
$MISSION,7
$DIVE,286
$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,-1
$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,9
$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,-5906.5635
$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,20
$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
$GPS1,050914,071858,7413.344,-14324.560,5,0.8,26,23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.90
$_SM_ANGLEo,-18.0
$GPS2,050914,071858,7413.344,-14324.560,5,0.8,26,23.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.2,48272,-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,-145.9,2978,2764,1885,1779,0.0,0.0,0,30,0.00,0.00,-12.20,0.000,16386,0.000,0.000,2977,2764,2643,2698,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2978,2764,2698,2591,20.0,0.0,1,56,0.90,1.85,-16.95,0.000,20740,0.067,0.125,2653,3788,3857,3924,3791,0,0,0,0,0,0,14.26,14.26,14.54
$GC,281,-0.69,-145.9,2654,3789,3925,3795,92.8,-23.0,51,286,0.00,1.70,0.00,0.000,1030,0.000,0.051,2653,2762,3858,3923,3794,0,0,0,0,0,0,28.83,14.37,28.83
$GC,591,-0.69,-145.9,2653,2761,3925,3795,156.2,-19.3,83,596,0.00,1.83,0.00,0.000,260,0.000,0.100,2645,3779,3859,3923,3795,0,0,0,0,0,0,28.83,14.30,28.83
$GC,801,-0.69,-145.9,2648,3779,3925,3796,199.2,-19.8,125,806,0.00,1.67,0.00,0.000,1030,0.000,0.054,2645,2766,3859,3923,3795,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1131,-0.69,-145.9,2645,2766,3924,3795,255.5,-16.0,157,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2766,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1431,-0.69,-145.9,2646,2767,3924,3796,300.8,-14.5,167,1436,0.00,2.35,0.00,0.000,516,0.000,0.067,2645,1366,3858,3923,3794,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1466,-0.69,-145.9,2649,1365,3924,3795,305.6,-13.9,174,1471,0.15,2.47,0.00,0.000,3078,0.262,0.097,2666,2763,3859,3923,3795,0,0,0,0,0,0,14.26,14.40,28.83
$GC,1792,-0.69,-145.9,2667,2764,3924,3795,346.7,-12.5,189,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2763,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-0.69,-145.9,2667,2764,3925,3795,382.6,-11.8,199,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.69,-145.9,2667,2764,3925,3794,417.7,-11.7,209,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.69,-145.9,2667,2763,3925,3795,452.3,-11.5,219,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.69,-145.9,2667,2764,3925,3795,486.4,-11.3,229,2996,0.00,2.33,0.00,0.000,516,0.000,0.063,2666,1372,3858,3923,3794,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3031,-0.69,-145.9,2667,1373,3921,3796,490.8,-10.6,237,3036,0.00,2.45,0.00,0.000,1030,0.000,0.096,2662,2764,3859,3923,3795,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3352,-0.69,-145.9,2663,2764,3925,3795,527.4,-11.4,251,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2764,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3651,-0.69,-145.9,2664,2765,3924,3796,561.9,-11.5,261,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2764,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3951,-0.69,-145.9,2664,2765,3924,3796,595.9,-11.3,271,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2764,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.69,-145.9,2663,2764,3925,3795,629.7,-11.3,281,4256,0.00,2.33,0.00,0.000,516,0.000,0.062,2667,1369,3859,3923,3795,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4276,-0.69,-145.9,2663,1369,3925,3795,632.4,-11.1,286,4282,0.00,2.42,0.00,0.000,1030,0.000,0.094,2653,2761,3859,3923,3795,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4581,-0.69,-145.9,2654,2761,3925,3795,668.2,-11.8,297,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,-0.69,-145.9,2654,2760,3925,3795,702.8,-11.6,307,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5181,-0.69,-145.9,2661,2761,3925,3790,737.9,-11.6,317,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5299,begin apogee
$GC,5303,-0.13,0.0,2655,2761,3925,3796,751.9,-11.7,321,5434,0.73,0.00,126.93,2.016,10246,0.223,0.000,2845,2761,3255,3274,3237,0,0,0,0,0,0,14.21,28.83,13.01
$STATE,5435,end apogee,CONTROL_FINISHED_OK
$STATE,5435,begin climb
$GC,5437,0.69,145.9,2846,2762,3273,3236,755.4,0.0,325,5574,0.88,2.03,125.75,1.863,10500,0.122,0.094,3109,3786,2657,2664,2651,0,0,0,0,0,0,13.69,13.22,12.57
$GC,5604,0.69,145.9,3110,3787,2663,2650,745.9,13.6,361,5609,0.00,1.85,0.00,0.000,1030,0.000,0.047,3120,2742,2656,2663,2649,0,0,0,0,0,0,28.83,13.47,28.83
$GC,5935,0.69,145.9,3115,2740,2664,2647,701.9,13.3,377,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2655,2663,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,0.69,145.9,3116,2743,2664,2647,661.9,13.3,387,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6534,0.69,145.9,3116,2742,2664,2646,622.0,13.3,397,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6834,0.69,145.9,3116,2742,2664,2645,582.6,13.2,407,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2742,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7134,0.69,145.9,3116,2743,2664,2646,543.4,13.1,417,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7434,0.69,145.9,3116,2743,2664,2645,504.6,12.8,427,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7734,0.69,145.9,3116,2742,2664,2645,466.3,12.8,437,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2743,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8034,0.69,145.9,3116,2743,2664,2645,428.6,12.4,447,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2742,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8334,0.69,145.9,3116,2742,2665,2645,392.2,12.1,457,8339,0.00,2.33,0.00,0.000,516,0.000,0.064,3126,1350,2654,2663,2645,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8379,0.69,146.3,3125,1350,2665,2645,386.9,11.6,466,8384,0.00,2.42,0.00,0.000,1030,0.000,0.090,3125,2746,2654,2664,2644,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8695,0.69,146.3,3126,2746,2665,2645,348.1,12.3,479,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,0.69,146.3,3125,2746,2665,2645,312.4,11.6,489,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9294,0.70,161.4,3125,2747,2665,2645,279.0,10.8,499,9309,0.00,0.00,14.02,1.349,8198,0.000,0.000,3125,2746,2598,2605,2591,0,0,0,0,0,0,28.83,28.83,13.93
$GC,9595,0.71,176.2,3126,2747,2600,2585,246.0,10.8,511,9615,0.00,2.40,12.62,1.323,8708,0.000,0.063,3134,1344,2534,2540,2529,0,0,0,0,0,0,28.83,14.47,13.86
$GC,9661,0.72,195.1,3135,1345,2539,2530,238.7,10.6,524,9686,0.00,2.45,17.00,1.291,9222,0.000,0.090,3133,2739,2455,2459,2452,0,0,0,0,0,0,28.83,14.42,13.78
$GC,9986,0.76,246.1,3134,2740,2460,2450,206.9,8.9,559,10030,0.00,0.00,42.83,1.287,8198,0.000,0.000,3133,2739,2252,2252,2252,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10326,0.79,285.7,3134,2740,2249,2240,171.7,9.5,593,10367,0.00,2.40,33.60,1.311,8708,0.000,0.065,3143,1350,2086,2088,2084,0,0,0,0,0,0,28.83,14.21,13.59
$GC,10398,0.81,316.8,3144,1351,2087,2083,164.8,10.0,605,10429,0.00,2.47,26.77,1.326,9222,0.000,0.091,3143,2740,1966,1964,1969,0,0,0,0,0,0,28.83,14.21,13.53
$GC,10726,0.82,331.8,3144,2741,1960,1953,127.7,10.8,641,10740,0.00,0.00,12.57,1.219,8198,0.000,0.000,3143,2740,1905,1906,1905,0,0,0,0,0,0,28.83,28.83,13.71
$GC,11037,0.84,357.3,3144,2740,1903,1895,95.3,10.3,672,11052,0.00,2.38,11.15,0.482,8708,0.000,0.063,3151,1351,1801,1804,1799,0,0,0,0,0,0,28.83,14.28,13.92
$GC,11092,0.87,404.3,3152,1354,1809,1799,89.9,9.1,683,11119,0.00,2.47,22.17,0.467,9222,0.000,0.091,3151,2737,1609,1616,1602,0,0,0,0,0,0,28.83,14.24,13.91
$GC,11419,0.91,467.1,3152,2738,1623,1594,58.0,8.3,718,11449,0.12,0.00,28.55,0.360,10758,0.129,0.000,3206,2737,1351,1364,1339,0,0,0,0,0,0,14.30,28.83,13.98
$GC,11748,0.98,563.6,3207,2738,1369,1328,31.6,6.5,752,11799,0.00,2.40,44.00,0.295,8708,0.000,0.066,3208,1343,959,963,955,0,0,0,0,0,0,28.83,14.23,14.02
$GC,11843,1.05,655.2,3209,1343,964,955,23.9,6.8,771,11890,0.00,2.47,42.03,0.271,9222,0.000,0.091,3208,2726,585,554,616,0,0,0,0,0,0,28.83,14.16,14.00
$FREEZE,8.79,-1.399,-1.444,2,2,0
$STATE,12087,end climb,FINISH_DEPTH_REACHED
$STATE,12087,begin subsurface finish
$FINISH1,8.8,1.021212,351
$GC,12091,0.25,351.0,3209,2727,549,618,8.8,5.0,800,12128,0.77,2.42,-28.08,0.000,20996,0.158,0.088,2980,1345,1830,1885,1776,0,0,0,0,0,0,14.14,14.22,14.47
$FINISH2,9.6
$STATE,12128,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12128,begin surface
$RAFOS_CLK,378
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7327.28,-14323.58,050914,001152
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.72
$INTERNAL_PRESSURE,8.67023
$TCM_TEMP,13.20
$XPDR_PINGS,6
$SC_FREEKB,3810496
$24V_AH,12.57,87.905
$10V_AH,12.68,0.000
$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,3.550,54.475,560.000,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,0.000,9892.738,571.155,1633.989,142.424,0.000,1229.344,0.000,1211.283,1488.000,0.539,0.000
$DEVICE_MAMPS,261.630,124.695,2015.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12175.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.402,0.000,0.000,0.000
$MEM,199120
$DATA_FILE_SIZE,26674,807
$CAP_FILE_SIZE,124462,0
$CFSIZE,2097872896,2036695040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5300.92,0x2378b6,2,5
$INTR,1,12088.92,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,050914,071858,7413.344,-14324.560,5,0.8,26,23.6