version: 66.12
glider: 196
mission: 7
dive: 365
start: 9 17 114 5 13 22
data:
$ID,196
$MISSION,7
$DIVE,365
$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,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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.62
$_SM_ANGLEo,-17.9
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,2982,2741,1871,1757,0.0,0.0,0,33,0.00,0.00,-14.05,0.000,16386,0.000,0.000,2981,2741,2808,2868,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.69,-145.9,2982,2742,2869,2753,22.0,0.0,1,55,0.93,2.38,-13.93,0.000,20996,0.067,0.088,2656,1362,3855,3922,3789,0,0,0,0,0,0,14.28,14.18,14.51
$GC,130,-0.69,-145.9,2657,1362,3923,3794,50.6,-30.2,20,136,0.00,2.53,0.00,0.000,1030,0.000,0.096,2645,2766,3857,3921,3793,0,0,0,0,0,0,28.83,14.15,28.83
$GC,435,-0.69,-145.9,2646,2767,3924,3794,122.9,-21.1,51,440,0.00,1.80,0.00,0.000,260,0.000,0.101,2637,3782,3858,3922,3794,0,0,0,0,0,0,28.83,14.28,28.83
$GC,490,-0.69,-145.9,2639,3783,3923,3795,135.1,-22.3,62,497,0.10,1.70,0.00,0.000,3078,0.247,0.056,2662,2769,3858,3922,3795,0,0,0,0,0,0,14.04,14.37,28.83
$GC,795,-0.69,-145.9,2663,2769,3923,3794,190.7,-17.2,93,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2769,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1095,-0.69,-145.9,2663,2769,3923,3795,237.0,-14.1,123,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2769,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-0.69,-145.9,2664,2770,3923,3794,279.6,-13.4,140,1410,0.00,2.38,0.00,0.000,516,0.000,0.070,2662,1365,3857,3921,3794,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1490,-0.69,-145.9,2663,1365,3923,3795,289.8,-11.6,157,1497,0.00,2.50,0.00,0.000,1030,0.000,0.099,2657,2762,3857,3922,3793,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1795,-0.69,-145.9,2657,2762,3925,3794,328.2,-12.6,168,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2762,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,-0.69,-145.9,2657,2762,3923,3794,364.1,-11.9,178,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2762,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,-0.69,-145.9,2657,2762,3923,3793,400.6,-12.2,188,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2762,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2695,-0.69,-145.9,2658,2763,3923,3794,437.0,-12.2,198,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2762,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2996,-0.69,-145.9,2657,2762,3923,3794,472.8,-11.9,208,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.69,-145.9,2657,2762,3923,3793,508.1,-11.7,218,3300,0.00,2.35,0.00,0.000,516,0.000,0.067,2657,1366,3857,3922,3793,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3340,-0.69,-145.9,2657,1367,3922,3795,513.2,-10.9,227,3345,0.00,2.50,0.00,0.000,1030,0.000,0.097,2650,2772,3857,3920,3794,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3656,-0.69,-145.9,2651,2772,3923,3794,550.5,-11.9,240,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2772,3861,3922,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-0.69,-145.9,2651,2773,3923,3795,585.8,-11.9,250,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2772,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4255,-0.69,-145.9,2651,2773,3922,3795,621.1,-11.8,260,4260,0.00,2.38,0.00,0.000,516,0.000,0.066,2650,1366,3858,3922,3794,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4295,-0.69,-145.9,2651,1366,3923,3795,625.7,-11.4,268,4301,0.12,2.47,0.00,0.000,3078,0.265,0.096,2660,2761,3857,3922,3793,0,0,0,0,0,0,14.18,14.38,28.83
$GC,4617,-0.69,-145.9,2665,2761,3923,3794,659.7,-10.6,282,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2761,3857,3922,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-0.69,-145.9,2665,2762,3922,3795,691.3,-10.4,292,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2761,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5216,-0.69,-145.9,2666,2762,3923,3795,722.1,-10.2,302,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5514,begin apogee
$GC,5519,-0.13,0.0,2666,2762,3922,3795,752.9,-10.2,312,5648,0.68,0.00,127.03,2.012,10244,0.216,0.000,2845,2762,3257,3277,3237,0,0,0,0,0,0,14.16,28.83,13.00
$STATE,5649,end apogee,CONTROL_FINISHED_OK
$STATE,5649,begin climb
$GC,5651,0.69,145.9,2847,2763,3273,3234,756.4,0.0,316,5782,0.88,0.00,125.47,1.834,11270,0.116,0.000,3113,2762,2662,2668,2657,0,0,0,0,0,0,13.73,28.83,12.58
$GC,6087,0.69,145.9,3114,2762,2664,2646,711.7,13.1,356,6092,0.00,1.85,0.00,0.000,260,0.000,0.098,3113,3786,2654,2663,2645,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6107,0.69,145.9,3114,3787,2664,2646,708.8,14.4,360,6112,0.00,1.77,0.00,0.000,1030,0.000,0.053,3121,2744,2654,2663,2645,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6418,0.69,145.9,3122,2744,2664,2644,667.0,13.4,372,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2744,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,0.69,145.9,3122,2745,2664,2645,626.9,13.3,382,6722,0.00,2.38,0.00,0.000,516,0.000,0.067,3132,1345,2653,2663,2644,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6727,0.69,145.9,3133,1346,2663,2644,625.5,13.3,384,6732,0.00,2.50,0.00,0.000,1030,0.000,0.090,3132,2733,2653,2663,2644,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7049,0.69,145.9,3133,2733,2665,2644,582.0,13.6,398,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2733,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7348,0.69,145.9,3133,2734,2664,2644,541.5,13.5,408,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2733,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7647,0.69,145.9,3133,2734,2664,2645,501.7,13.3,418,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2732,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,0.69,145.9,3133,2734,2664,2645,461.9,13.2,428,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2733,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8247,0.69,145.9,3133,2734,2664,2645,422.9,12.8,438,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2733,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8548,0.69,145.9,3133,2733,2665,2644,384.6,12.8,448,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2733,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8848,0.69,145.9,3133,2734,2664,2645,347.4,12.2,458,8852,0.00,1.85,0.00,0.000,260,0.000,0.099,3132,3787,2653,2663,2643,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8912,0.69,145.9,3132,3790,2664,2645,338.5,14.2,471,8917,0.00,1.73,0.00,0.000,1030,0.000,0.054,3140,2740,2653,2663,2644,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9239,0.69,147.2,3140,2740,2664,2645,300.1,11.6,486,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2739,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9538,0.71,170.0,3141,2740,2664,2644,267.8,10.4,496,9560,0.00,0.00,20.90,1.330,8198,0.000,0.000,3140,2740,2563,2567,2559,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9837,0.71,179.5,3140,2740,2564,2549,233.6,11.1,514,9853,0.00,2.40,8.25,1.336,8708,0.000,0.067,3150,1350,2522,2527,2517,0,0,0,0,0,0,28.83,14.47,13.74
$GC,9933,0.75,226.1,3151,1351,2526,2517,223.9,9.2,533,9977,0.00,2.47,39.90,1.255,9222,0.000,0.093,3149,2744,2336,2334,2339,0,0,0,0,0,0,28.83,14.19,13.63
$GC,10284,0.77,256.3,3152,2745,2331,2331,186.2,10.0,573,10316,0.00,2.40,25.77,1.237,8708,0.000,0.064,3161,1345,2206,2207,2206,0,0,0,0,0,0,28.83,14.23,13.62
$GC,10370,0.79,287.0,3157,1347,2206,2204,177.4,10.0,590,10401,0.00,2.50,25.92,1.223,9222,0.000,0.092,3161,2738,2087,2088,2086,0,0,0,0,0,0,28.83,14.15,13.53
$GC,10706,0.79,287.0,3162,2739,2085,2074,137.1,11.7,627,10711,0.00,1.88,0.00,0.000,260,0.000,0.101,3161,3786,2079,2085,2073,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10751,0.79,287.0,3161,3786,2087,2073,131.0,14.2,636,10757,0.00,1.77,0.00,0.000,1030,0.000,0.053,3167,2742,2079,2085,2073,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11058,0.81,317.2,3168,2736,2087,2073,97.2,10.0,667,11078,0.00,2.42,12.88,0.478,8708,0.000,0.068,3177,1335,1966,1969,1963,0,0,0,0,0,0,28.83,14.21,13.82
$GC,11139,0.83,339.0,3178,1335,1976,1964,88.9,10.5,683,11159,0.00,2.50,10.93,0.447,9222,0.000,0.093,3177,2724,1875,1878,1873,0,0,0,0,0,0,28.83,14.12,13.83
$GC,11458,0.88,416.4,3178,2727,1887,1872,57.4,7.5,717,11498,0.00,0.00,35.67,0.356,8198,0.000,0.000,3177,2727,1559,1570,1549,0,0,0,0,0,0,28.83,28.83,13.87
$GC,11798,0.98,555.9,3178,2727,1577,1535,40.5,4.2,751,11869,0.00,2.45,63.20,0.306,8708,0.000,0.070,3177,1346,990,1002,978,0,0,0,0,0,0,28.83,14.14,13.92
$GC,11904,1.05,653.9,3178,1346,1004,978,34.1,6.4,768,11955,0.17,2.47,44.85,0.287,11270,0.114,0.091,3243,2718,590,558,623,0,0,0,0,0,0,14.09,14.04,13.91
$FREEZE,8.73,-1.414,-1.440,2,17,0
$STATE,12218,end climb,FINISH_DEPTH_REACHED
$STATE,12218,begin subsurface finish
$FINISH1,8.7,1.021151,354
$GC,12223,0.25,354.2,3244,2718,554,623,8.7,7.8,805,12256,0.93,2.45,-27.98,0.000,20996,0.168,0.091,2979,1339,1817,1875,1759,0,0,0,0,0,0,14.03,14.18,14.42
$FINISH2,9.3
$STATE,12257,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12257,begin surface
$RAFOS_CLK,114
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.21
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,12
$SC_FREEKB,3775104
$24V_AH,12.58,114.141
$10V_AH,12.66,0.000
$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,3.800,60.775,540.775,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,0.000,9998.725,537.264,1662.839,172.813,0.000,1229.075,0.000,1221.782,1497.000,0.539,0.000
$DEVICE_MAMPS,265.455,100.980,2011.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12307.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.064,0.000,0.000,0.000
$MEM,150360
$DATA_FILE_SIZE,26739,811
$CAP_FILE_SIZE,128702,0
$CFSIZE,2097872896,2021785600
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12885.89,0x2378b6,7,5
$INTR,1,5515.95,0x2378b6,2,5
$INTR,2,12220.04,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5