version: 66.12
glider: 196
mission: 7
dive: 396
start: 9 21 114 18 5 26
data:
$ID,196
$MISSION,7
$DIVE,396
$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,190
$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,-10356.984
$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,57
$R_STBD_OVSHOOT,22
$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
$GPS1,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,20.25
$_SM_ANGLEo,-19.3
$GPS2,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,7317.610,-14114.188
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.9,20000,-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,14,begin dive
$GC,17,-0.69,-145.9,2982,2764,1876,1764,0.0,0.0,0,30,0.00,0.00,-11.55,0.000,16386,0.000,0.000,2981,2763,2628,2684,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2982,2763,2686,2574,22.1,0.0,1,51,0.93,0.00,-16.60,0.000,20998,0.061,0.000,2655,2763,3856,3924,3788,0,0,0,0,0,0,14.23,28.83,14.51
$GC,350,-0.69,-145.9,2656,2764,3925,3797,101.1,-19.9,34,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2764,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,648,-0.69,-145.9,2656,2764,3925,3797,160.4,-19.4,64,653,0.00,2.38,0.00,0.000,516,0.000,0.063,2655,1367,3860,3924,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,713,-0.69,-145.9,2656,1367,3926,3796,171.9,-16.9,77,719,0.00,2.50,0.00,0.000,1030,0.000,0.093,2645,2761,3859,3924,3794,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1018,-0.69,-145.9,2646,2762,3925,3797,226.5,-16.6,108,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1328,-0.69,-145.9,2645,2761,3926,3795,273.5,-14.8,129,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1628,-0.69,-145.9,2645,2761,3925,3795,315.7,-13.9,139,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1928,-0.69,-145.9,2646,2762,3925,3796,355.9,-13.3,149,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2228,-0.69,-145.9,2645,2760,3926,3795,394.5,-12.7,159,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2528,-0.69,-145.9,2645,2761,3926,3796,432.0,-12.4,169,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2828,-0.69,-145.9,2645,2761,3926,3795,468.9,-12.2,179,2833,0.00,2.35,0.00,0.000,516,0.000,0.062,2645,1370,3859,3924,3795,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2883,-0.69,-145.9,2645,1369,3925,3795,475.3,-11.2,190,2889,0.15,2.47,0.00,0.000,3078,0.249,0.093,2666,2763,3859,3924,3795,0,0,0,0,0,0,14.13,14.33,28.83
$GC,3190,-0.69,-145.9,2667,2764,3925,3796,507.7,-10.5,201,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2763,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3488,-0.69,-145.9,2667,2764,3924,3797,539.0,-10.4,211,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2763,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3788,-0.69,-145.9,2667,2764,3925,3797,570.0,-10.4,221,3793,0.00,2.35,0.00,0.000,516,0.000,0.060,2666,1366,3861,3924,3799,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3838,-0.69,-145.9,2667,1367,3925,3797,575.1,-10.1,231,3843,0.00,2.47,0.00,0.000,1030,0.000,0.093,2660,2762,3859,3924,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4150,-0.69,-145.9,2661,2763,3925,3796,608.9,-11.0,243,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4448,-0.69,-145.9,2661,2763,3925,3796,641.7,-10.9,253,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2762,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.69,-145.9,2661,2763,3925,3796,674.5,-10.9,263,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3860,3925,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5048,-0.69,-145.9,2661,2762,3926,3795,706.8,-10.8,273,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5348,-0.69,-145.9,2661,2763,3925,3796,738.3,-10.5,283,5353,0.00,2.35,0.00,0.000,516,0.000,0.060,2660,1364,3859,3924,3795,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5378,-0.69,-145.9,2661,1365,3925,3796,741.4,-10.1,289,5383,0.00,2.47,0.00,0.000,1030,0.000,0.092,2650,2762,3859,3924,3795,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,5466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5466,begin apogee
$GC,5471,-0.13,0.0,2651,2760,3925,3796,751.3,-11.0,297,5601,0.75,0.00,127.15,1.994,10244,0.210,0.000,2848,2762,3258,3278,3239,0,0,0,0,0,0,14.07,28.83,13.00
$STATE,5602,end apogee,CONTROL_FINISHED_OK
$STATE,5602,begin climb
$GC,5604,0.69,145.9,2850,2763,3273,3235,754.7,0.0,301,5740,0.85,0.00,125.45,1.847,11270,0.111,0.000,3110,2763,2656,2662,2650,0,0,0,0,0,0,13.74,28.83,12.56
$GC,6038,0.69,145.9,3111,2763,2663,2645,712.2,12.7,341,6043,0.00,2.45,0.00,0.000,516,0.000,0.060,3121,1354,2653,2662,2645,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6128,0.69,146.5,3122,1355,2663,2645,701.5,11.6,359,6133,0.00,2.50,0.00,0.000,1030,0.000,0.087,3121,2743,2653,2662,2645,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6460,0.69,146.5,3122,2743,2663,2644,658.5,13.1,375,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6758,0.69,146.5,3122,2743,2663,2644,619.8,12.9,385,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,0.69,146.5,3122,2744,2664,2644,581.5,12.7,395,7065,0.00,1.88,0.00,0.000,260,0.000,0.096,3121,3793,2653,2662,2644,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7099,0.69,146.5,3121,3794,2663,2644,575.5,15.5,403,7104,0.00,1.75,0.00,0.000,1030,0.000,0.047,3129,2733,2653,2662,2644,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7421,0.69,146.5,3130,2735,2663,2644,533.8,13.0,417,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2730,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,0.69,146.5,3129,2734,2663,2643,495.0,12.9,427,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2733,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8020,0.69,146.5,3129,2734,2663,2645,456.1,12.9,437,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2733,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8320,0.69,146.5,3135,2734,2662,2644,417.8,12.7,447,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2734,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,0.69,146.5,3129,2735,2662,2645,380.5,12.4,457,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2734,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8920,0.69,146.5,3128,2734,2663,2644,344.1,12.1,467,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2734,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9220,0.69,150.6,3129,2734,2663,2644,308.8,11.4,477,9222,0.00,0.00,0.98,0.286,8198,0.000,0.000,3129,2734,2643,2653,2634,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9520,0.70,160.5,3130,2734,2672,2634,275.2,11.1,487,9534,0.00,0.00,13.02,1.365,8198,0.000,0.000,3129,2734,2601,2610,2593,0,0,0,0,0,0,28.83,28.83,13.77
$GC,9821,0.72,187.0,3130,2734,2607,2590,244.2,10.2,499,9850,0.00,0.00,22.45,1.314,8198,0.000,0.000,3129,2734,2489,2494,2484,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10151,0.76,239.1,3129,2734,2495,2481,210.6,8.9,532,10200,0.00,0.00,44.12,1.287,8198,0.000,0.000,3129,2734,2276,2278,2274,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10501,0.78,277.7,3130,2734,2279,2267,178.4,9.6,567,10541,0.00,2.35,32.35,1.261,8708,0.000,0.064,3138,1359,2119,2123,2116,0,0,0,0,0,0,28.83,14.26,13.60
$GC,10573,0.80,307.9,3140,1359,2121,2114,171.3,10.0,581,10603,0.00,2.47,25.90,1.272,9222,0.000,0.089,3138,2747,2002,2007,1997,0,0,0,0,0,0,28.83,14.21,13.51
$GC,10901,0.82,327.1,3139,2748,2003,1980,134.6,10.6,617,10922,0.00,0.00,16.83,1.224,8198,0.000,0.000,3138,2747,1915,1918,1913,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11223,0.85,376.6,3139,2746,1923,1906,103.9,9.0,649,11267,0.00,2.45,39.88,1.204,8708,0.000,0.064,3138,1361,1717,1726,1709,0,0,0,0,0,0,28.83,14.19,13.57
$GC,11294,0.89,430.1,3139,1361,1722,1700,97.5,8.8,663,11324,0.12,2.45,24.25,0.490,11270,0.119,0.089,3196,2733,1505,1520,1490,0,0,0,0,0,0,14.21,14.15,13.79
$GC,11622,0.91,466.7,3197,2734,1525,1480,56.5,9.7,699,11643,0.00,2.42,16.67,0.355,8708,0.000,0.063,3204,1361,1356,1377,1335,0,0,0,0,0,0,28.83,14.20,13.85
$GC,11685,0.95,519.3,3206,1361,1379,1335,50.6,8.8,711,11715,0.00,2.45,25.17,0.339,9222,0.000,0.089,3204,2729,1139,1157,1121,0,0,0,0,0,0,28.83,14.15,13.90
$GC,12014,1.01,597.6,3205,2730,1159,1115,24.0,7.5,747,12054,0.00,0.00,36.40,0.275,8710,0.000,0.000,3205,2730,820,821,819,0,0,0,0,0,0,28.83,28.83,13.96
$FREEZE,8.79,-1.437,-1.441,2,13,0
$STATE,12323,end climb,FINISH_DEPTH_REACHED
$STATE,12323,begin subsurface finish
$FINISH1,8.8,1.021164,353
$GC,12329,0.25,353.5,3205,2730,821,816,8.8,6.5,780,12361,0.77,2.40,-23.83,0.000,20996,0.143,0.086,2976,1361,1821,1879,1764,0,0,0,0,0,0,14.03,14.17,14.45
$FINISH2,8.5
$STATE,12362,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12362,begin surface
$RAFOS_CLK,270
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14059.14,190914,234921
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.74
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.10
$XPDR_PINGS,14
$SC_FREEKB,3761216
$24V_AH,12.56,124.130
$10V_AH,12.62,0.000
$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,3.575,44.975,550.625,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,0.000,10137.094,552.873,1611.664,181.864,0.000,1195.895,0.000,1181.611,1498.000,0.539,0.000
$DEVICE_MAMPS,248.625,250.920,1993.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12417.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.504,0.000,0.000,0.000
$MEM,134116
$DATA_FILE_SIZE,26737,786
$CAP_FILE_SIZE,125273,0
$CFSIZE,2097872896,2015821824
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5469.03,0x2378b6,2,5
$INTR,1,12326.24,0x2378b6,5,5
$SOUNDSPEED,1449.8
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376