version: 66.12
glider: 196
mission: 7
dive: 374
start: 9 18 114 12 46 42
data:
$ID,196
$MISSION,7
$DIVE,374
$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,-9440.8359
$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,59
$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,1.77
$_SM_ANGLEo,-39.3
$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,-145.9,205,2753,437,547,0.0,0.0,0,130,0.00,0.00,-110.60,0.000,16386,0.000,0.000,204,2751,3033,3076,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-0.69,-145.9,207,2752,3077,2992,4.0,-4.5,11,163,12.25,2.40,-12.70,0.000,18948,0.398,0.084,2667,1375,3858,3918,3798,0,0,0,0,0,0,13.92,14.30,14.54
$GC,388,-0.69,-145.9,2670,1374,3920,3802,83.3,-20.4,62,394,0.00,2.50,0.00,0.000,1030,0.000,0.093,2660,2759,3860,3918,3802,0,0,0,0,0,0,28.83,14.21,28.83
$GC,693,-0.69,-145.9,2661,2761,3919,3803,145.1,-20.0,93,698,0.00,2.35,0.00,0.000,516,0.000,0.062,2660,1369,3860,3918,3803,0,0,0,0,0,0,28.83,14.33,28.83
$GC,798,-0.69,-145.9,2661,1369,3918,3803,163.5,-16.8,114,804,0.00,2.50,0.00,0.000,1030,0.000,0.094,2649,2765,3860,3918,3802,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1103,-0.69,-145.9,2650,2767,3919,3804,217.5,-16.5,145,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2766,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1403,-0.69,-145.9,2650,2767,3919,3803,264.9,-15.1,169,1408,0.00,2.35,0.00,0.000,516,0.000,0.061,2649,1376,3860,3918,3802,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1458,-0.69,-145.9,2650,1376,3919,3803,272.3,-13.0,180,1464,0.15,2.47,0.00,0.000,3078,0.254,0.095,2670,2763,3860,3918,3803,0,0,0,0,0,0,14.07,14.27,28.83
$GC,1765,-0.69,-145.9,2670,2764,3919,3803,309.8,-12.2,191,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2763,3860,3917,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-0.69,-145.9,2671,2764,3919,3803,345.2,-11.8,201,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2763,3860,3918,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,-0.69,-145.9,2670,2764,3919,3803,380.8,-11.7,211,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2763,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2663,-0.69,-145.9,2671,2765,3918,3803,414.4,-11.0,221,2668,0.00,2.35,0.00,0.000,516,0.000,0.062,2670,1371,3860,3918,3802,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2713,-0.69,-145.9,2670,1371,3919,3802,419.7,-9.6,231,2718,0.00,2.47,0.00,0.000,1030,0.000,0.094,2662,2763,3857,3913,3802,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3025,-0.69,-145.9,2663,2762,3920,3802,455.2,-11.5,243,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3323,-0.69,-145.9,2664,2765,3919,3804,490.1,-11.7,253,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3623,-0.69,-145.9,2663,2763,3919,3803,525.3,-11.6,263,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3923,-0.69,-145.9,2663,2763,3919,3803,559.8,-11.5,273,3928,0.00,2.33,0.00,0.000,516,0.000,0.061,2662,1372,3861,3919,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3983,-0.69,-145.9,2663,1372,3919,3803,566.5,-10.5,285,3988,0.00,2.45,0.00,0.000,1030,0.000,0.093,2649,2757,3860,3918,3803,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4315,-0.69,-145.9,2653,2757,3920,3804,605.3,-11.6,301,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3860,3918,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4613,-0.69,-145.9,2653,2758,3919,3804,639.9,-11.5,311,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3860,3918,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4913,-0.69,-145.9,2653,2757,3919,3804,674.4,-11.5,321,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3861,3918,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5214,-0.69,-145.9,2653,2758,3919,3805,708.5,-11.3,331,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3861,3918,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,-0.69,-145.9,2653,2757,3919,3804,742.1,-11.2,341,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3861,3918,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5601,begin apogee
$GC,5606,-0.13,0.0,2653,2757,3919,3804,752.2,-11.2,344,5737,0.73,0.00,128.05,2.000,10244,0.214,0.000,2844,2758,3257,3276,3238,0,0,0,0,0,0,14.14,28.83,12.97
$STATE,5737,end apogee,CONTROL_FINISHED_OK
$STATE,5738,begin climb
$GC,5740,0.69,145.9,2845,2758,3272,3234,755.9,0.0,348,5877,0.90,1.95,125.93,1.863,10500,0.130,0.101,3108,3792,2657,2662,2652,0,0,0,0,0,0,13.72,13.74,12.55
$GC,6102,0.69,145.9,3109,3793,2663,2646,716.5,15.3,423,6106,0.00,1.80,0.00,0.000,1030,0.000,0.048,3116,2741,2651,2662,2641,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6418,0.69,145.9,3116,2741,2664,2644,675.6,13.0,436,6423,0.00,2.38,0.00,0.000,516,0.000,0.063,3127,1346,2653,2663,2643,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6648,0.70,153.8,3128,1346,2664,2643,648.2,11.2,482,6659,0.00,2.47,4.78,1.584,9222,0.000,0.090,3127,2742,2634,2645,2624,0,0,0,0,0,0,28.83,14.27,13.52
$GC,6960,0.70,153.8,3128,2742,2654,2624,607.1,13.4,494,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2639,2653,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7258,0.70,153.8,3127,2742,2654,2624,567.3,13.2,504,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2638,2653,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7558,0.70,153.8,3128,2742,2654,2624,527.6,13.3,514,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2638,2652,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,0.70,153.8,3128,2742,2654,2624,488.2,13.2,524,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2641,2653,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8158,0.70,153.8,3128,2743,2653,2627,449.4,12.8,534,8163,0.00,1.83,0.00,0.000,260,0.000,0.095,3127,3792,2639,2653,2625,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8203,0.70,153.8,3128,3792,2654,2624,442.8,15.1,543,8208,0.00,1.73,0.00,0.000,1030,0.000,0.050,3134,2742,2638,2653,2624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8520,0.70,153.8,3135,2743,2654,2624,401.3,12.9,556,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2638,2652,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8818,0.70,153.8,3135,2743,2654,2624,363.6,12.6,566,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2742,2638,2653,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9118,0.70,153.8,3136,2743,2654,2625,326.2,12.3,576,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2638,2653,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9418,0.70,159.2,3135,2743,2655,2625,291.7,11.3,586,9428,0.00,0.00,8.45,1.392,8198,0.000,0.000,3135,2742,2609,2622,2597,0,0,0,0,0,0,28.83,28.83,13.80
$GC,9718,0.70,163.7,3136,2743,2617,2592,257.2,11.4,596,9721,0.00,0.00,1.85,0.440,8198,0.000,0.000,3135,2743,2594,2606,2582,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10018,0.74,220.5,3135,2742,2623,2586,226.6,8.6,620,10074,0.00,2.35,51.12,1.271,8708,0.000,0.062,3145,1355,2354,2358,2350,0,0,0,0,0,0,28.83,14.28,13.66
$GC,10104,0.78,277.8,3146,1354,2356,2349,219.2,8.6,637,10160,0.00,2.47,48.60,1.300,9222,0.000,0.089,3145,2746,2118,2119,2118,0,0,0,0,0,0,28.83,14.23,13.46
$GC,10459,0.78,277.8,3146,2747,2120,2106,177.9,12.0,678,10464,0.00,1.85,0.00,0.000,260,0.000,0.097,3145,3789,2112,2119,2105,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10514,0.78,277.8,3147,3790,2120,2106,170.4,13.7,689,10520,0.00,1.75,0.00,0.000,1030,0.000,0.050,3153,2736,2110,2119,2101,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10821,0.80,296.8,3153,2736,2120,2103,134.5,10.6,720,10841,0.00,2.40,15.62,1.224,8708,0.000,0.064,3163,1357,2043,2050,2037,0,0,0,0,0,0,28.83,14.33,13.74
$GC,10893,0.83,346.8,3165,1357,2047,2034,127.5,9.0,734,10942,0.00,2.45,42.53,1.175,9222,0.000,0.091,3163,2735,1837,1840,1835,0,0,0,0,0,0,28.83,14.28,13.58
$GC,11241,0.85,378.2,3164,2737,1840,1824,89.9,10.0,774,11255,0.00,0.00,13.18,0.458,8198,0.000,0.000,3162,2732,1716,1723,1710,0,0,0,0,0,0,28.83,28.83,13.82
$GC,11565,0.90,452.2,3163,2736,1732,1710,61.3,7.7,805,11602,0.00,0.00,34.55,0.365,8198,0.000,0.000,3163,2735,1412,1428,1397,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11903,1.00,586.7,3164,2735,1434,1386,40.1,4.5,840,11972,0.17,0.00,61.97,0.304,10246,0.097,0.000,3240,2732,865,864,866,0,0,0,0,0,0,14.19,28.83,13.89
$FREEZE,8.38,-1.436,-1.453,2,26,0
$GC,12271,1.09,712.9,3241,2736,862,858,11.5,4.9,877,12318,0.00,2.47,41.62,0.227,8710,0.000,0.067,3245,1354,497,444,551,0,0,0,0,0,0,28.83,14.10,13.95
$STATE,12319,end climb,FINISH_DEPTH_REACHED
$STATE,12319,begin subsurface finish
$FINISH1,8.4,1.021349,344
$GC,12327,0.24,343.9,3247,2744,447,546,8.4,8.0,886,12369,0.93,2.47,-34.17,0.000,20996,0.164,0.085,2980,1348,1858,1905,1812,0,0,0,0,0,0,13.97,14.04,14.33
$FINISH2,7.3
$STATE,12370,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12370,begin surface
$RAFOS_CLK,43
$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,42.75
$INTERNAL_PRESSURE,8.69952
$TCM_TEMP,13.20
$XPDR_PINGS,7
$SC_FREEKB,3771072
$24V_AH,12.55,117.020
$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,15.125,57.100,578.250,0.000,0.000,0.000,0.000,122.675,1.750,0.000,181.861,0.000,9964.950,680.210,2089.829,389.437,0.000,1535.985,0.000,1334.905,1490.000,0.539,0.000
$DEVICE_MAMPS,397.800,100.980,2000.475,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12421.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.511,0.000,0.000,0.000
$MEM,145680
$DATA_FILE_SIZE,30033,895
$CAP_FILE_SIZE,137708,0
$CFSIZE,2097872896,2019983360
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13605.51,0x2378b6,7,5
$INTR,1,5603.21,0x2378b6,2,5
$SOUNDSPEED,1450.0
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5