version: 66.12
glider: 196
mission: 7
dive: 375
start: 9 18 114 16 15 35
data:
$ID,196
$MISSION,7
$DIVE,375
$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,60
$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,17.34
$_SM_ANGLEo,-18.3
$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,18,-0.69,-145.9,2976,2763,1906,1814,0.0,0.0,0,31,0.00,0.00,-12.12,0.000,16386,0.000,0.000,2975,2764,2666,2714,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2976,2764,2725,2622,20.1,0.0,1,57,0.90,1.88,-16.55,0.000,20740,0.060,0.121,2647,3786,3857,3918,3796,0,0,0,0,0,0,14.19,14.04,14.40
$GC,282,-0.69,-145.9,2648,3786,3920,3798,94.3,-23.4,51,287,0.00,1.73,0.00,0.000,1030,0.000,0.051,2647,2762,3858,3918,3798,0,0,0,0,0,0,28.83,14.13,28.83
$GC,592,-0.69,-145.9,2648,2762,3920,3799,158.5,-19.4,83,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.69,-145.9,2648,2762,3919,3799,211.8,-17.5,113,897,0.00,2.38,0.00,0.000,516,0.000,0.064,2647,1369,3858,3919,3798,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1124,-0.69,-145.9,2648,1369,3920,3799,246.4,-14.0,159,1129,0.15,2.47,0.00,0.000,3078,0.253,0.096,2669,2758,3858,3918,3798,0,0,0,0,0,0,14.11,14.29,28.83
$GC,1454,-0.69,-145.9,2668,2757,3920,3798,288.5,-12.0,173,1459,0.00,1.80,0.00,0.000,260,0.000,0.100,2663,3785,3858,3919,3798,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1684,-0.69,-145.9,2664,3786,3919,3799,318.6,-13.1,219,1689,0.00,1.70,0.00,0.000,1030,0.000,0.054,2663,2757,3858,3919,3798,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1994,-0.69,-145.9,2664,2758,3920,3799,355.8,-11.9,231,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,-0.69,-145.9,2664,2758,3919,3799,391.9,-12.0,241,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2757,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2594,-0.69,-145.9,2664,2757,3919,3799,426.3,-11.3,251,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.69,-145.9,2664,2757,3920,3799,459.9,-11.1,261,2899,0.00,2.33,0.00,0.000,516,0.000,0.063,2663,1369,3858,3919,3798,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2949,-0.69,-145.9,2663,1370,3919,3799,465.7,-10.1,272,2955,0.00,2.47,0.00,0.000,1030,0.000,0.095,2653,2764,3858,3918,3798,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3254,-0.69,-145.9,2654,2765,3919,3799,500.5,-11.4,283,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2764,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-0.69,-145.9,2654,2765,3919,3799,534.8,-11.4,293,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2764,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3854,-0.69,-145.9,2653,2764,3919,3798,569.4,-11.6,303,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4154,-0.69,-145.9,2653,2764,3920,3798,603.9,-11.5,313,4159,0.00,2.33,0.00,0.000,516,0.000,0.061,2653,1372,3858,3919,3798,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4214,-0.69,-145.9,2650,1371,3920,3798,610.6,-10.9,325,4219,0.00,2.45,0.00,0.000,1030,0.000,0.093,2643,2756,3858,3918,3798,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4546,-0.69,-145.9,2644,2756,3920,3798,650.3,-12.1,341,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2756,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.69,-145.9,2640,2756,3915,3798,686.0,-11.9,351,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5144,-0.69,-145.9,2644,2756,3919,3797,721.6,-11.9,361,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5382,begin apogee
$GC,5387,-0.13,0.0,2644,2757,3920,3798,750.0,-11.8,369,5516,0.75,0.00,127.28,1.984,10244,0.213,0.000,2843,2757,3257,3274,3240,0,0,0,0,0,0,14.14,28.83,12.98
$STATE,5517,end apogee,CONTROL_FINISHED_OK
$STATE,5518,begin climb
$GC,5520,0.69,145.9,2844,2758,3270,3236,754.0,0.0,373,5657,0.90,1.95,126.43,1.886,10500,0.130,0.101,3106,3792,2656,2661,2652,0,0,0,0,0,0,13.73,13.75,12.55
$GC,5882,0.69,145.9,3107,3792,2662,2648,715.5,14.6,448,5887,0.00,1.80,0.00,0.000,1030,0.000,0.048,3114,2743,2654,2661,2647,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6199,0.69,145.9,3115,2743,2662,2646,675.4,12.7,461,6204,0.00,2.38,0.00,0.000,516,0.000,0.064,3125,1350,2652,2660,2645,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6429,0.69,151.7,3126,1350,2662,2645,648.4,11.3,507,6434,0.00,2.47,1.40,0.297,9222,0.000,0.090,3125,2744,2641,2650,2633,0,0,0,0,0,0,28.83,14.28,13.69
$GC,6740,0.69,151.7,3126,2746,2670,2636,607.6,13.2,519,6749,0.00,2.40,2.30,0.731,8708,0.000,0.063,3135,1350,2644,2661,2627,0,0,0,0,0,0,28.83,14.43,13.26
$GC,6789,0.69,151.7,3136,1348,2668,2631,601.2,12.4,529,6795,0.00,2.45,1.17,0.320,9222,0.000,0.089,3135,2742,2640,2654,2626,0,0,0,0,0,0,28.83,14.35,13.83
$GC,7101,0.69,151.7,3136,2742,2669,2632,558.3,13.9,541,7104,0.00,0.00,1.10,0.291,8198,0.000,0.000,3135,2741,2639,2654,2625,0,0,0,0,0,0,28.83,28.83,13.93
$GC,7400,0.69,151.7,3136,2742,2669,2633,517.1,13.7,551,7402,0.00,0.00,1.27,0.311,8198,0.000,0.000,3135,2741,2639,2653,2625,0,0,0,0,0,0,28.83,28.83,13.74
$GC,7700,0.69,151.7,3136,2742,2670,2631,476.2,13.6,561,7705,0.00,1.77,1.05,0.291,8452,0.000,0.093,3135,3787,2641,2657,2626,0,0,0,0,0,0,28.83,14.38,13.98
$GC,7770,0.69,151.7,3136,3787,2664,2635,465.3,15.9,575,7775,0.00,1.73,1.15,0.287,9222,0.000,0.049,3143,2735,2640,2654,2626,0,0,0,0,0,0,28.83,14.47,13.82
$GC,8092,0.69,151.7,3144,2736,2668,2632,420.8,13.8,589,8094,0.00,0.00,0.98,0.287,8198,0.000,0.000,3143,2735,2640,2655,2626,0,0,0,0,0,0,28.83,28.83,14.03
$GC,8391,0.69,151.7,3144,2735,2668,2631,380.4,13.2,599,8393,0.00,0.00,1.23,0.307,8198,0.000,0.000,3143,2735,2639,2654,2625,0,0,0,0,0,0,28.83,28.83,13.78
$GC,8691,0.69,151.7,3144,2736,2668,2632,341.3,13.0,609,8696,0.00,1.85,1.15,0.304,8452,0.000,0.093,3143,3790,2641,2658,2625,0,0,0,0,0,0,28.83,14.31,13.81
$GC,8736,0.69,151.7,3144,3790,2664,2634,334.8,14.5,618,8741,0.10,1.73,0.73,0.259,13318,0.243,0.050,3126,2742,2641,2655,2627,0,0,0,0,0,0,14.10,14.47,14.12
$GC,9051,0.70,164.7,3126,2742,2669,2631,298.6,10.9,631,9068,0.00,0.00,15.70,1.379,8198,0.000,0.000,3126,2742,2585,2595,2575,0,0,0,0,0,0,28.83,28.83,13.79
$GC,9351,0.71,175.1,3129,2742,2591,2569,264.9,11.1,641,9362,0.00,0.00,9.30,1.359,8198,0.000,0.000,3126,2741,2544,2554,2535,0,0,0,0,0,0,28.83,28.83,13.77
$GC,9651,0.72,188.0,3126,2743,2550,2529,232.7,10.9,661,9667,0.00,1.90,12.23,1.314,8452,0.000,0.095,3125,3786,2486,2494,2479,0,0,0,0,0,0,28.83,14.40,13.75
$GC,9682,0.73,206.2,3126,3786,2493,2479,229.3,10.7,667,9704,0.00,1.67,16.20,1.281,9222,0.000,0.050,3131,2747,2413,2418,2408,0,0,0,0,0,0,28.83,14.34,13.74
$GC,10004,0.75,238.2,3132,2748,2417,2404,197.0,9.9,701,10038,0.00,2.42,26.83,1.238,8708,0.000,0.063,3142,1353,2282,2285,2279,0,0,0,0,0,0,28.83,14.26,13.69
$GC,10093,0.78,270.9,3143,1353,2285,2278,187.9,9.9,719,10129,0.00,2.50,28.05,1.228,9222,0.000,0.090,3142,2748,2149,2152,2147,0,0,0,0,0,0,28.83,14.23,13.54
$GC,10434,0.80,309.1,3143,2750,2152,2139,153.6,9.6,757,10468,0.00,0.00,32.70,1.206,8710,0.000,0.000,3142,2749,1996,2002,1990,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10764,0.82,328.3,3143,2750,1997,1976,118.8,10.6,793,10785,0.00,2.42,13.93,1.206,8708,0.000,0.065,3150,1361,1912,1918,1906,0,0,0,0,0,0,28.83,14.29,13.69
$GC,10820,0.83,345.5,3152,1361,1917,1905,112.6,10.7,804,10836,0.00,2.47,12.60,1.185,9222,0.000,0.090,3150,2748,1848,1853,1844,0,0,0,0,0,0,28.83,14.21,13.64
$GC,11137,0.86,390.2,3151,2748,1851,1830,79.1,9.2,837,11158,0.00,0.00,19.62,0.423,8710,0.000,0.000,3151,2748,1666,1675,1657,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11456,0.93,481.8,3152,2748,1681,1654,52.8,6.8,870,11506,0.12,2.45,41.83,0.345,10756,0.122,0.065,3219,1352,1292,1310,1275,0,0,0,0,0,0,14.26,14.18,13.91
$GC,11561,0.99,571.6,3220,1353,1310,1273,44.9,6.9,890,11608,0.00,2.50,41.45,0.323,9222,0.000,0.090,3219,2748,924,930,919,0,0,0,0,0,0,28.83,14.10,13.90
$GC,11907,1.06,680.0,3220,2749,929,911,20.6,5.9,929,11962,0.00,2.45,48.45,0.260,8708,0.000,0.067,3221,1341,498,448,548,0,0,0,0,0,0,28.83,14.12,13.97
$GC,12092,1.15,799.6,3222,1342,448,549,9.0,5.3,966,12098,0.15,2.47,0.03,2.691,11270,0.126,0.089,3273,2718,496,444,548,0,0,0,0,0,0,14.12,14.06,12.91
$FREEZE,7.72,-1.435,-1.453,2,27,0
$STATE,12105,end climb,FINISH_DEPTH_REACHED
$STATE,12105,begin subsurface finish
$FINISH1,7.7,1.021358,343
$GC,12110,0.24,343.4,3274,2718,447,548,7.7,7.3,968,12148,1.08,0.00,-34.67,0.000,20486,0.181,0.000,2976,2719,1860,1906,1815,0,0,0,0,0,0,14.04,28.83,14.43
$FINISH2,7.0
$STATE,12149,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12149,begin surface
$RAFOS_CLK,599
$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,45.62
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,10
$SC_FREEKB,3770624
$24V_AH,12.55,117.319
$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,4.150,67.925,586.125,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,0.000,9570.276,601.502,1910.416,184.042,0.000,1374.871,0.000,1453.690,0.000,0.539,0.000
$DEVICE_MAMPS,253.215,120.870,2690.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.134,0.000,0.000,0.000
$MEM,145272
$DATA_FILE_SIZE,33408,972
$CAP_FILE_SIZE,137660,0
$CFSIZE,2097872896,2019753984
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5383.58,0x2378b6,2,5
$INTR,1,12107.21,0x2378b6,5,5
$SOUNDSPEED,1450.1
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5