version: 66.12
glider: 196
mission: 7
dive: 362
start: 9 16 114 18 33 13
data:
$ID,196
$MISSION,7
$DIVE,362
$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,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,-8708.3135
$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,47
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.90
$_SM_ANGLEo,-19.4
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,167.0,221862,-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,-145.9,2976,2767,1868,1758,0.0,0.0,0,30,0.00,0.00,-12.15,0.000,16386,0.000,0.000,2975,2766,2646,2701,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2767,2702,2594,21.3,0.0,1,56,0.90,1.85,-16.35,0.000,20740,0.068,0.123,2650,3786,3858,3924,3792,0,0,0,0,0,0,14.28,14.14,14.52
$GC,61,-0.69,-145.9,2651,3786,3925,3794,28.8,-31.1,7,66,0.00,1.75,0.00,0.000,1030,0.000,0.054,2650,2749,3859,3924,3794,0,0,0,0,0,0,28.83,14.23,28.83
$GC,371,-0.69,-145.9,2651,2749,3925,3796,113.8,-21.4,39,376,0.00,1.85,0.00,0.000,260,0.000,0.099,2642,3786,3859,3924,3795,0,0,0,0,0,0,28.83,14.21,28.83
$GC,411,-0.69,-145.9,2643,3787,3925,3796,122.6,-21.8,47,416,0.00,1.73,0.00,0.000,1030,0.000,0.055,2642,2757,3859,3924,3795,0,0,0,0,0,0,28.83,14.29,28.83
$GC,721,-0.69,-145.9,2643,2756,3924,3794,184.7,-19.9,79,722,0.12,0.00,0.00,0.000,2054,0.277,0.000,2666,2756,3859,3924,3795,0,0,0,0,0,0,14.14,28.83,28.83
$GC,1021,-0.69,-145.9,2667,2756,3925,3795,231.8,-14.1,109,1026,0.00,2.35,0.00,0.000,516,0.000,0.067,2665,1369,3859,3924,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1041,-0.69,-145.9,2667,1369,3925,3795,234.5,-14.1,113,1046,0.00,2.50,0.00,0.000,1030,0.000,0.098,2663,2766,3859,3924,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1361,-0.69,-145.9,2664,2767,3925,3796,277.6,-12.1,132,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2766,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1661,-0.69,-145.9,2664,2767,3925,3796,315.0,-12.6,142,1666,0.00,2.38,0.00,0.000,516,0.000,0.067,2663,1366,3859,3924,3795,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1696,-0.69,-145.9,2663,1366,3925,3794,319.3,-12.0,149,1701,0.00,2.50,0.00,0.000,1030,0.000,0.099,2662,2765,3860,3924,3796,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2023,-0.69,-145.9,2662,2765,3925,3795,358.7,-11.8,164,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,-0.69,-145.9,2663,2765,3925,3795,395.4,-12.3,174,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2622,-0.69,-145.9,2663,2765,3925,3795,431.9,-12.0,184,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.69,-145.9,2663,2765,3925,3795,466.5,-11.4,194,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-0.69,-145.9,2663,2765,3925,3795,500.2,-11.2,204,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.69,-145.9,2663,2765,3925,3795,533.8,-11.2,214,3526,0.00,2.38,0.00,0.000,516,0.000,0.065,2662,1363,3857,3924,3791,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3566,-0.69,-145.9,2662,1363,3925,3795,538.7,-10.3,223,3571,0.00,2.47,0.00,0.000,1030,0.000,0.096,2652,2756,3859,3924,3795,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3881,-0.69,-145.9,2653,2757,3925,3796,575.9,-11.8,236,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2756,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4181,-0.69,-145.9,2653,2756,3925,3795,611.2,-11.6,246,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2756,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4481,-0.69,-145.9,2653,2757,3924,3796,645.9,-11.5,256,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4781,-0.69,-145.9,2653,2754,3925,3796,680.1,-11.3,266,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2756,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5081,-0.69,-145.9,2651,2756,3933,3795,713.9,-11.2,276,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2756,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5383,-0.69,-145.9,2654,2757,3925,3796,747.4,-11.1,286,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5409,begin apogee
$GC,5414,-0.13,0.0,2654,2758,3925,3796,750.9,-11.2,287,5545,0.73,0.00,127.55,2.033,10244,0.220,0.000,2843,2757,3255,3274,3236,0,0,0,0,0,0,14.07,28.83,12.97
$STATE,5546,end apogee,CONTROL_FINISHED_OK
$STATE,5546,begin climb
$GC,5548,0.69,145.9,2843,2757,3270,3235,754.4,0.0,291,5684,0.88,0.00,125.70,1.831,11270,0.119,0.000,3108,2757,2658,2666,2651,0,0,0,0,0,0,13.66,28.83,12.55
$GC,5981,0.69,145.9,3110,2759,2667,2649,712.7,12.5,331,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6281,0.69,145.9,3110,2758,2667,2646,675.9,12.3,341,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2757,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6581,0.69,145.9,3109,2757,2666,2649,639.1,12.2,351,6586,0.00,2.42,0.00,0.000,516,0.000,0.067,3119,1348,2656,2667,2645,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6596,0.69,145.9,3121,1347,2668,2645,637.2,12.3,354,6601,0.00,2.50,0.00,0.000,1030,0.000,0.091,3119,2748,2655,2667,2644,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6913,0.69,145.9,3120,2748,2668,2646,597.4,12.6,367,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2748,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7211,0.69,145.9,3120,2748,2668,2644,559.9,12.5,377,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2748,2656,2667,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7511,0.69,145.9,3121,2749,2668,2645,522.2,12.6,387,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2748,2656,2667,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7811,0.69,145.9,3120,2748,2668,2645,484.5,12.5,397,7816,0.00,2.38,0.00,0.000,516,0.000,0.067,3128,1342,2655,2667,2644,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7836,0.69,149.5,3129,1343,2668,2644,481.4,11.4,402,7842,0.00,2.47,0.00,0.000,1030,0.000,0.092,3130,2745,2655,2667,2644,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8141,0.69,149.5,3129,2746,2668,2644,442.7,12.7,413,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2746,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8441,0.69,149.5,3130,2747,2668,2645,404.7,12.7,423,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2746,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8741,0.69,149.5,3129,2746,2668,2644,367.2,12.5,433,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2746,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9041,0.70,153.8,3129,2750,2668,2644,332.1,11.4,443,9051,0.00,0.00,7.80,1.428,8454,0.000,0.000,3129,2746,2628,2638,2619,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9373,0.70,162.6,3130,2747,2636,2616,294.3,11.2,459,9383,0.00,0.00,8.88,1.386,8198,0.000,0.000,3128,2746,2593,2601,2585,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9671,0.70,162.6,3130,2744,2597,2581,259.1,11.8,469,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2746,2588,2597,2580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9971,0.72,190.3,3129,2746,2593,2580,229.0,10.2,493,10002,0.00,0.00,23.95,1.287,8710,0.000,0.000,3129,2746,2475,2480,2470,0,0,0,0,0,0,28.83,28.83,13.79
$GC,10303,0.77,262.8,3129,2746,2481,2468,200.4,7.8,528,10372,0.00,2.47,60.22,1.309,8708,0.000,0.067,3138,1347,2180,2180,2181,0,0,0,0,0,0,28.83,14.15,13.52
$GC,10422,0.79,294.8,3139,1348,2180,2179,189.4,9.9,552,10458,0.00,2.47,27.77,1.343,9222,0.000,0.093,3138,2732,2050,2053,2047,0,0,0,0,0,0,28.83,14.12,13.47
$GC,10763,0.82,331.8,3138,2732,2055,2037,153.6,9.7,590,10799,0.00,2.40,31.12,1.186,8708,0.000,0.066,3146,1342,1900,1902,1899,0,0,0,0,0,0,28.83,14.21,13.61
$GC,10830,0.85,380.1,3147,1342,1898,1898,147.4,9.1,603,10879,0.00,2.50,41.90,1.165,9222,0.000,0.093,3146,2734,1702,1709,1696,0,0,0,0,0,0,28.83,14.11,13.51
$GC,11184,0.87,401.9,3147,2735,1709,1680,106.2,10.5,644,11205,0.00,0.00,15.70,1.150,8710,0.000,0.000,3147,2734,1612,1627,1598,0,0,0,0,0,0,28.83,28.83,13.65
$GC,11506,0.90,444.2,3147,2735,1625,1589,73.4,9.4,678,11530,0.12,2.40,18.35,0.405,10756,0.123,0.070,3213,1351,1447,1465,1430,0,0,0,0,0,0,14.26,14.19,13.90
$GC,11590,0.91,465.0,3214,1350,1468,1431,64.5,10.5,695,11606,0.00,2.47,10.20,0.376,9222,0.000,0.093,3213,2727,1362,1380,1344,0,0,0,0,0,0,28.83,14.11,13.86
$GC,11906,0.97,546.9,3214,2728,1385,1341,36.6,7.3,728,11951,0.00,2.38,38.05,0.296,8708,0.000,0.069,3221,1352,1026,1036,1017,0,0,0,0,0,0,28.83,14.19,13.97
$GC,12021,1.03,633.3,3221,1351,1038,1017,27.3,7.0,751,12067,0.00,2.47,40.17,0.282,9222,0.000,0.093,3221,2724,675,656,695,0,0,0,0,0,0,28.83,14.14,13.96
$FREEZE,8.38,-1.418,-1.438,2,14,0
$STATE,12326,end climb,FINISH_DEPTH_REACHED
$STATE,12326,begin subsurface finish
$FINISH1,8.4,1.021122,356
$GC,12331,0.25,355.7,3222,2724,651,696,8.4,6.6,786,12361,0.82,0.00,-27.58,0.000,20486,0.148,0.000,2977,2725,1810,1868,1752,0,0,0,0,0,0,14.09,28.83,14.46
$FINISH2,7.9
$STATE,12361,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12361,begin surface
$RAFOS_CLK,354
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.27
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,11
$SC_FREEKB,3776448
$24V_AH,12.55,113.189
$10V_AH,12.61,0.000
$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,3.575,53.700,577.375,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,0.000,10123.737,575.085,1612.833,168.880,0.000,1239.240,0.000,1183.747,1478.000,0.539,0.000
$DEVICE_MAMPS,276.930,123.165,2033.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.757,0.000,0.000,0.000
$MEM,151908
$DATA_FILE_SIZE,26747,789
$CAP_FILE_SIZE,125524,0
$CFSIZE,2097872896,2022342656
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5412.07,0x2378b6,2,5
$INTR,1,5683.77,0x21368c,1,24
$INTR,2,12328.71,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5