version: 66.12
glider: 196
mission: 7
dive: 367
start: 9 17 114 12 5 54
data:
$ID,196
$MISSION,7
$DIVE,367
$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,49
$R_STBD_OVSHOOT,18
$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,18.94
$_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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.69,-145.9,2976,2764,1872,1771,0.0,0.0,0,31,0.00,0.00,-12.05,0.000,16386,0.000,0.000,2975,2765,2656,2707,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2765,2707,2606,21.6,0.0,1,57,0.90,1.88,-16.15,0.000,20740,0.068,0.129,2655,3781,3857,3921,3794,0,0,0,0,0,0,14.19,14.12,14.42
$GC,272,-0.69,-145.9,2656,3781,3921,3797,89.2,-23.1,49,277,0.00,1.73,0.00,0.000,1030,0.000,0.056,2654,2763,3858,3921,3796,0,0,0,0,0,0,28.83,14.12,28.83
$GC,582,-0.69,-145.9,2655,2763,3922,3796,153.0,-19.2,81,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,882,-0.69,-145.9,2655,2763,3922,3797,206.2,-16.6,111,887,0.00,2.40,0.00,0.000,516,0.000,0.068,2655,1366,3856,3921,3792,0,0,0,0,0,0,28.83,14.23,28.83
$GC,932,-0.69,-145.9,2656,1367,3922,3797,214.1,-15.3,121,937,0.00,2.53,0.00,0.000,1030,0.000,0.098,2644,2761,3858,3921,3796,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1252,-0.69,-145.9,2645,2761,3924,3796,263.4,-14.6,148,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3856,3916,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-0.69,-145.9,2648,2761,3929,3796,306.3,-13.8,158,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.69,-145.9,2646,2762,3922,3797,346.8,-13.5,168,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2152,-0.69,-145.9,2645,2761,3922,3796,386.6,-13.1,178,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2452,-0.69,-145.9,2646,2761,3921,3797,425.1,-12.8,188,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2752,-0.69,-145.9,2645,2761,3922,3796,463.0,-12.7,198,2757,0.00,2.38,0.00,0.000,516,0.000,0.067,2645,1359,3859,3921,3797,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2807,-0.69,-145.9,2645,1359,3922,3796,469.5,-11.8,209,2813,0.15,2.50,0.00,0.000,3078,0.256,0.098,2667,2762,3858,3921,3796,0,0,0,0,0,0,14.17,14.35,28.83
$GC,3114,-0.69,-145.9,2667,2762,3917,3796,502.5,-10.6,220,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2762,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3412,-0.69,-145.9,2668,2762,3922,3796,534.7,-10.7,230,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2762,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3712,-0.69,-145.9,2668,2762,3921,3798,566.8,-10.7,240,3717,0.00,2.38,0.00,0.000,516,0.000,0.066,2667,1363,3858,3921,3796,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3752,-0.69,-145.9,2669,1363,3922,3797,570.8,-9.9,248,3757,0.00,2.50,0.00,0.000,1030,0.000,0.097,2663,2765,3858,3921,3796,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4073,-0.69,-145.9,2664,2767,3922,3797,605.6,-10.8,262,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4372,-0.69,-145.9,2664,2766,3922,3797,637.9,-10.8,272,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4672,-0.69,-145.9,2663,2765,3922,3797,670.1,-10.7,282,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2766,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4972,-0.69,-145.9,2664,2766,3921,3797,702.2,-10.8,292,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5272,-0.69,-145.9,2663,2765,3922,3797,733.9,-10.5,302,5277,0.00,2.38,0.00,0.000,516,0.000,0.065,2663,1363,3858,3921,3796,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5307,-0.69,-145.9,2663,1364,3922,3797,737.6,-10.0,309,5312,0.00,2.47,0.00,0.000,1030,0.000,0.096,2655,2758,3858,3921,3796,0,0,0,0,0,0,28.83,14.36,28.83
$STATE,5420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5425,-0.13,0.0,2656,2758,3922,3797,750.1,-10.9,317,5554,0.73,0.00,126.57,1.953,10246,0.219,0.000,2846,2758,3257,3276,3239,0,0,0,0,0,0,14.14,28.83,13.00
$STATE,5555,end apogee,CONTROL_FINISHED_OK
$STATE,5555,begin climb
$GC,5557,0.69,145.9,2846,2758,3273,3234,753.6,0.0,321,5695,0.90,2.62,127.62,1.916,10756,0.118,0.065,3124,1345,2656,2661,2652,0,0,0,0,0,0,13.76,13.28,12.57
$GC,5720,0.69,151.0,3125,1346,2661,2651,745.1,11.4,346,5727,0.00,2.67,1.83,0.373,9222,0.000,0.088,3124,2751,2644,2650,2639,0,0,0,0,0,0,28.83,13.43,13.09
$GC,6027,0.69,151.0,3125,2751,2668,2639,704.2,13.6,357,6029,0.00,0.00,1.10,0.291,8198,0.000,0.000,3124,2751,2643,2655,2632,0,0,0,0,0,0,28.83,28.83,13.67
$GC,6325,0.69,151.0,3125,2751,2671,2635,664.0,13.4,367,6328,0.00,0.00,1.25,0.316,8198,0.000,0.000,3124,2750,2642,2656,2629,0,0,0,0,0,0,28.83,28.83,13.69
$GC,6625,0.69,151.0,3125,2751,2671,2635,624.2,13.3,377,6628,0.00,0.00,1.17,0.306,8198,0.000,0.000,3130,2751,2642,2657,2628,0,0,0,0,0,0,28.83,28.83,13.83
$GC,6925,0.69,151.0,3125,2751,2673,2634,584.6,13.2,387,6931,0.00,1.83,1.25,0.330,8452,0.000,0.093,3124,3792,2645,2663,2628,0,0,0,0,0,0,28.83,14.35,13.70
$GC,6940,0.69,151.0,3125,3789,2666,2633,582.4,13.5,390,6945,0.00,1.75,0.00,0.000,1030,0.000,0.048,3132,2725,2649,2666,2632,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7257,0.69,151.0,3132,2724,2673,2633,539.8,13.5,403,7259,0.00,0.00,1.02,0.298,8198,0.000,0.000,3132,2725,2642,2658,2627,0,0,0,0,0,0,28.83,28.83,13.96
$GC,7555,0.69,151.0,3133,2726,2673,2633,499.4,13.4,413,7561,0.00,1.88,1.27,0.344,8452,0.000,0.093,3132,3798,2643,2663,2624,0,0,0,0,0,0,28.83,14.39,13.69
$GC,7586,0.69,151.0,3132,3798,2670,2634,494.7,16.1,419,7591,0.00,1.75,0.95,0.285,9222,0.000,0.050,3140,2734,2644,2661,2628,0,0,0,0,0,0,28.83,14.49,13.93
$GC,7916,0.69,151.0,3141,2733,2673,2633,449.3,13.6,435,7918,0.00,0.00,1.17,0.316,8198,0.000,0.000,3140,2732,2642,2658,2627,0,0,0,0,0,0,28.83,28.83,13.82
$GC,8216,0.69,151.0,3141,2733,2668,2632,409.1,13.3,445,8218,0.00,0.00,1.17,0.317,8198,0.000,0.000,3140,2732,2642,2658,2627,0,0,0,0,0,0,28.83,28.83,13.77
$GC,8516,0.69,151.0,3141,2732,2674,2631,370.0,13.0,455,8518,0.00,0.00,1.20,0.323,8198,0.000,0.000,3140,2732,2642,2658,2626,0,0,0,0,0,0,28.83,28.83,13.71
$GC,8816,0.69,151.0,3141,2732,2674,2631,331.1,12.9,465,8818,0.00,0.00,1.10,0.307,8198,0.000,0.000,3140,2732,2643,2660,2626,0,0,0,0,0,0,28.83,28.83,13.84
$GC,9116,0.69,151.0,3140,2733,2674,2632,293.8,12.0,475,9121,0.00,2.30,0.00,0.000,516,0.000,0.063,3150,1353,2652,2673,2631,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9141,0.70,166.9,3151,1353,2675,2631,291.1,10.8,480,9166,0.00,2.45,18.02,1.370,9222,0.000,0.089,3151,2743,2570,2579,2562,0,0,0,0,0,0,28.83,14.24,13.79
$GC,9476,0.70,166.9,3151,2743,2580,2560,251.1,12.1,497,9481,0.00,1.83,0.00,0.000,260,0.000,0.096,3151,3784,2566,2573,2560,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9531,0.70,166.9,3152,3785,2579,2560,243.5,13.6,508,9537,0.12,1.73,0.00,0.000,5126,0.263,0.049,3128,2739,2569,2578,2560,0,0,0,0,0,0,13.95,14.31,28.83
$GC,9838,0.76,241.2,3128,2739,2580,2560,216.6,7.7,539,9907,0.00,2.40,61.53,1.306,8708,0.000,0.064,3137,1363,2266,2266,2267,0,0,0,0,0,0,28.83,14.14,13.55
$GC,9957,0.79,294.5,3137,1363,2267,2265,206.6,8.8,563,10008,0.00,2.47,44.58,1.379,9222,0.000,0.089,3133,2744,2053,2057,2049,0,0,0,0,0,0,28.83,14.17,13.42
$GC,10307,0.80,304.1,3138,2745,2057,2039,168.0,11.1,603,10318,0.00,0.00,8.25,1.275,8198,0.000,0.000,3137,2744,2014,2024,2005,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10619,0.82,326.4,3137,2744,2023,1999,134.9,10.4,634,10643,0.00,2.45,20.17,1.186,8708,0.000,0.066,3145,1347,1921,1926,1917,0,0,0,0,0,0,28.83,14.33,13.71
$GC,10689,0.84,362.2,3145,1347,1922,1914,127.6,9.7,648,10729,0.00,2.47,30.75,1.154,9222,0.000,0.090,3145,2742,1774,1780,1769,0,0,0,0,0,0,28.83,14.26,13.58
$GC,11028,0.88,419.7,3146,2743,1780,1758,93.2,8.6,686,11059,0.10,0.00,25.75,0.477,10502,0.147,0.000,3190,2742,1548,1558,1538,0,0,0,0,0,0,14.26,28.83,13.84
$GC,11358,0.91,465.3,3191,2743,1563,1529,54.5,9.2,720,11380,0.00,0.00,20.90,0.351,8198,0.000,0.000,3190,2742,1361,1378,1344,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11680,0.99,569.4,3191,2742,1382,1339,33.4,6.1,752,11729,0.00,0.00,48.15,0.285,8198,0.000,0.000,3190,2742,934,938,931,0,0,0,0,0,0,28.83,28.83,13.97
$GC,12029,1.10,725.1,3191,2742,938,924,19.6,3.3,787,12084,0.15,2.38,49.75,0.256,10756,0.121,0.063,3259,1356,498,442,554,0,0,0,0,0,0,14.22,14.12,13.96
$FREEZE,8.58,-1.424,-1.441,2,19,0
$STATE,12182,end climb,FINISH_DEPTH_REACHED
$STATE,12182,begin subsurface finish
$FINISH1,8.6,1.021174,353
$GC,12190,0.25,353.0,3260,2745,442,555,8.6,8.4,818,12226,0.95,0.00,-31.90,0.000,20998,0.164,0.000,2986,2744,1821,1874,1769,0,0,0,0,0,0,14.04,28.83,14.43
$FINISH2,8.0
$STATE,12226,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12226,begin surface
$RAFOS_CLK,605
$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,45.03
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,15
$SC_FREEKB,3774208
$24V_AH,12.57,114.765
$10V_AH,12.82,0.000
$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,4.000,61.275,596.550,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,0.000,9883.772,619.545,1664.722,174.079,0.000,1291.359,0.000,1242.923,0.000,0.540,0.000
$DEVICE_MAMPS,263.160,129.285,1953.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.375,0.000,0.000,0.000
$MEM,149340
$DATA_FILE_SIZE,30067,825
$CAP_FILE_SIZE,131299,0
$CFSIZE,2097872896,2021359616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5421.72,0x2378b6,2,5
$SOUNDSPEED,1448.6
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5