version: 66.12
glider: 196
mission: 7
dive: 366
start: 9 17 114 8 40 17
data:
$ID,196
$MISSION,7
$DIVE,366
$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,41
$R_STBD_OVSHOOT,19
$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,19.72
$_SM_ANGLEo,-18.7
$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,15,begin dive
$GC,17,-0.69,-145.9,2976,2761,1876,1764,0.0,0.0,0,30,0.00,0.00,-11.62,0.000,16386,0.000,0.000,2975,2761,2643,2698,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2762,2698,2591,22.5,0.0,1,56,0.90,1.90,-15.90,0.000,20740,0.068,0.125,2654,3795,3857,3925,3789,0,0,0,0,0,0,14.21,14.22,14.52
$GC,191,-0.69,-145.9,2655,3795,3926,3794,71.6,-26.3,33,196,0.00,1.77,0.00,0.000,1030,0.000,0.054,2654,2745,3858,3924,3793,0,0,0,0,0,0,28.83,14.19,28.83
$GC,501,-0.69,-145.9,2655,2745,3925,3794,136.5,-19.2,65,506,0.00,1.85,0.00,0.000,260,0.000,0.100,2646,3788,3859,3925,3794,0,0,0,0,0,0,28.83,14.21,28.83
$GC,531,-0.69,-145.9,2647,3787,3926,3793,142.6,-21.2,71,536,0.00,1.73,0.00,0.000,1030,0.000,0.056,2646,2756,3858,3924,3793,0,0,0,0,0,0,28.83,14.27,28.83
$GC,842,-0.69,-145.9,2647,2757,3925,3794,201.2,-17.5,103,846,0.00,2.35,0.00,0.000,516,0.000,0.069,2646,1367,3858,3924,3793,0,0,0,0,0,0,28.83,14.35,28.83
$GC,891,-0.69,-145.9,2646,1368,3926,3793,209.4,-15.4,113,897,0.15,2.50,0.00,0.000,3078,0.266,0.097,2667,2761,3859,3925,3793,0,0,0,0,0,0,14.11,14.31,28.83
$GC,1212,-0.69,-145.9,2667,2762,3925,3794,254.8,-13.5,144,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-0.69,-145.9,2667,2761,3926,3793,293.5,-12.6,154,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2760,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.69,-145.9,2667,2761,3926,3793,330.2,-12.0,164,1816,0.00,2.38,0.00,0.000,516,0.000,0.067,2667,1362,3859,3925,3793,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1847,-0.69,-145.9,2667,1359,3926,3792,334.1,-10.7,171,1852,0.00,2.50,0.00,0.000,1030,0.000,0.097,2662,2760,3858,3924,3793,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2173,-0.69,-145.9,2663,2761,3926,3792,372.5,-11.7,186,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,-0.69,-145.9,2662,2761,3926,3793,407.0,-11.5,196,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,-0.69,-145.9,2663,2762,3925,3794,441.0,-11.5,206,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.69,-145.9,2663,2761,3925,3794,475.8,-11.6,216,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3372,-0.69,-145.9,2663,2761,3926,3792,510.4,-11.5,226,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2760,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3672,-0.69,-145.9,2663,2761,3925,3791,544.5,-11.4,236,3676,0.00,2.35,0.00,0.000,516,0.000,0.065,2662,1363,3859,3925,3793,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3717,-0.69,-145.9,2663,1363,3925,3794,549.5,-11.2,245,3721,0.00,2.47,0.00,0.000,1030,0.000,0.096,2651,2755,3859,3925,3793,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4032,-0.69,-145.9,2652,2756,3924,3794,586.4,-11.7,258,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.69,-145.9,2652,2756,3925,3794,621.7,-11.7,268,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2754,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.69,-145.9,2648,2756,3926,3794,656.6,-11.6,278,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.69,-145.9,2652,2756,3926,3794,691.3,-11.5,288,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.69,-145.9,2652,2756,3926,3793,725.8,-11.5,298,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5469,begin apogee
$GC,5475,-0.13,0.0,2652,2755,3926,3793,752.6,-11.1,306,5604,0.75,0.00,127.47,2.008,10244,0.223,0.000,2848,2756,3257,3276,3238,0,0,0,0,0,0,14.14,28.83,13.00
$STATE,5605,end apogee,CONTROL_FINISHED_OK
$STATE,5605,begin climb
$GC,5608,0.69,145.9,2848,2756,3273,3234,756.0,0.0,310,5745,0.90,1.92,125.28,1.834,10500,0.134,0.103,3108,3786,2657,2662,2653,0,0,0,0,0,0,13.71,13.75,12.58
$GC,5970,0.69,145.9,3108,3786,2663,2648,716.2,14.8,385,5975,0.00,1.80,0.00,0.000,1030,0.000,0.053,3116,2744,2655,2663,2648,0,0,0,0,0,0,28.83,13.84,28.83
$GC,6287,0.69,145.9,3116,2744,2664,2648,675.1,13.0,398,6291,0.00,2.40,0.00,0.000,516,0.000,0.068,3127,1341,2654,2662,2647,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6516,0.69,145.9,3127,1342,2664,2648,647.3,12.1,444,6521,0.00,2.47,0.00,0.000,1030,0.000,0.092,3127,2740,2655,2663,2647,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6826,0.69,145.9,3127,2740,2664,2646,605.9,13.5,456,6831,0.00,2.38,0.00,0.000,516,0.000,0.067,3137,1341,2654,2663,2646,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6951,0.69,145.9,3138,1341,2664,2646,590.3,12.4,481,6956,0.00,2.47,0.00,0.000,1030,0.000,0.091,3137,2748,2654,2663,2646,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7278,0.69,145.9,3138,2743,2663,2647,545.5,13.8,496,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2742,2655,2663,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7576,0.69,145.9,3138,2742,2665,2644,504.1,13.8,506,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2742,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7876,0.69,145.9,3135,2743,2671,2646,463.4,13.5,516,7881,0.00,1.83,0.00,0.000,260,0.000,0.099,3138,3782,2654,2663,2645,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7931,0.69,145.9,3138,3783,2664,2647,454.9,16.1,527,7937,0.00,1.75,0.00,0.000,1030,0.000,0.054,3145,2729,2654,2663,2645,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8236,0.69,145.9,3146,2729,2664,2645,413.0,13.6,538,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2729,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8536,0.69,145.9,3146,2730,2664,2646,373.3,13.2,548,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2729,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8836,0.69,145.9,3146,2729,2664,2646,335.4,12.5,558,8841,0.00,1.85,0.00,0.000,260,0.000,0.097,3145,3780,2654,2663,2645,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8856,0.69,145.9,3146,3781,2664,2646,332.5,14.3,562,8862,0.12,1.73,0.00,0.000,5126,0.259,0.052,3123,2741,2654,2663,2645,0,0,0,0,0,0,14.07,14.47,28.83
$GC,9168,0.70,162.2,3123,2739,2664,2645,298.4,10.8,574,9184,0.00,0.00,14.70,1.372,8198,0.000,0.000,3122,2740,2595,2602,2588,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9467,0.70,162.2,3123,2741,2598,2580,263.7,11.7,584,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2740,2588,2597,2579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9767,0.75,229.2,3124,2741,2598,2581,235.3,8.1,604,9828,0.00,2.38,55.53,1.283,8708,0.000,0.065,3131,1351,2318,2322,2315,0,0,0,0,0,0,28.83,14.25,13.61
$GC,9854,0.79,284.5,3132,1351,2316,2315,228.0,8.7,619,9909,0.00,2.47,46.45,1.293,9222,0.000,0.090,3131,2740,2090,2094,2087,0,0,0,0,0,0,28.83,14.19,13.45
$GC,10208,0.80,303.0,3132,2740,2095,2076,186.6,10.6,660,10229,0.00,2.40,15.50,1.257,8708,0.000,0.066,3139,1342,2016,2025,2007,0,0,0,0,0,0,28.83,14.28,13.64
$GC,10276,0.81,318.9,3140,1342,2025,2005,179.6,10.8,673,10296,0.00,2.47,14.15,1.238,9222,0.000,0.091,3139,2734,1953,1959,1948,0,0,0,0,0,0,28.83,14.21,13.59
$GC,10601,0.82,330.9,3140,2734,1959,1940,142.0,11.0,708,10617,0.00,2.38,10.85,1.230,8708,0.000,0.066,3147,1344,1905,1911,1899,0,0,0,0,0,0,28.83,14.35,13.67
$GC,10642,0.83,349.4,3148,1344,1909,1897,137.7,10.6,716,10663,0.00,2.50,17.15,1.181,9222,0.000,0.092,3148,2741,1831,1836,1826,0,0,0,0,0,0,28.83,14.28,13.64
$GC,10963,0.84,362.7,3149,2742,1832,1814,102.3,10.9,750,10977,0.00,1.85,8.75,1.175,8452,0.000,0.100,3148,3783,1773,1782,1765,0,0,0,0,0,0,28.83,14.29,13.69
$GC,11007,0.84,362.7,3149,3784,1782,1765,96.8,12.7,758,11013,0.00,1.75,0.00,0.000,1030,0.000,0.053,3153,2742,1772,1781,1763,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11313,0.89,426.4,3154,2742,1782,1759,67.9,8.2,789,11348,0.00,2.45,28.15,0.391,8708,0.000,0.069,3163,1350,1519,1533,1505,0,0,0,0,0,0,28.83,14.21,13.93
$GC,11443,0.93,494.9,3164,1350,1535,1504,57.3,8.0,815,11479,0.00,2.50,31.77,0.358,9222,0.000,0.094,3163,2743,1239,1257,1221,0,0,0,0,0,0,28.83,14.16,13.91
$GC,11784,1.02,611.1,3164,2740,1259,1210,37.8,5.4,853,11845,0.17,2.47,53.20,0.297,10756,0.106,0.070,3244,1345,764,758,771,0,0,0,0,0,0,14.25,14.16,13.95
$GC,11870,1.04,640.2,3245,1346,760,772,29.4,10.1,870,11891,0.00,2.50,13.95,0.292,9222,0.000,0.090,3244,2735,646,622,671,0,0,0,0,0,0,28.83,14.12,13.89
$FREEZE,8.89,-1.420,-1.441,2,18,0
$STATE,12140,end climb,FINISH_DEPTH_REACHED
$STATE,12140,begin subsurface finish
$FINISH1,8.9,1.021163,354
$GC,12145,0.25,353.5,3245,2736,619,671,8.9,7.7,899,12178,0.93,2.50,-26.85,0.000,20996,0.168,0.090,2981,1340,1819,1869,1769,0,0,0,0,0,0,14.00,14.13,14.35
$FINISH2,9.2
$STATE,12178,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12178,begin surface
$RAFOS_CLK,17
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.081641,0.081641
$HUMID,45.11
$INTERNAL_PRESSURE,8.67023
$TCM_TEMP,13.30
$XPDR_PINGS,6
$SC_FREEKB,3774656
$24V_AH,12.58,114.460
$10V_AH,12.65,0.000
$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,3.925,75.625,562.900,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,0.000,9723.995,584.097,1810.945,176.448,0.000,1320.065,0.000,1355.410,1490.000,0.539,0.000
$DEVICE_MAMPS,266.220,125.460,2008.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12228.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.045,0.000,0.000,0.000
$MEM,149868
$DATA_FILE_SIZE,30013,905
$CAP_FILE_SIZE,134891,0
$CFSIZE,2097872896,2021556224
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5471.79,0x2378b6,2,5
$INTR,1,12142.61,0x2378b6,5,5
$SOUNDSPEED,1450.3
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5