version: 66.12
glider: 196
mission: 7
dive: 397
start: 9 21 114 21 34 11
data:
$ID,196
$MISSION,7
$DIVE,397
$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,62
$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,21.01
$_SM_ANGLEo,-18.7
$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,-145.9,2975,2763,1880,1767,0.0,0.0,0,30,0.00,0.00,-11.70,0.000,16386,0.000,0.000,2975,2762,2691,2749,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2762,2751,2635,24.5,0.0,1,53,0.90,1.88,-14.82,0.000,20740,0.063,0.121,2648,3786,3856,3924,3788,0,0,0,0,0,0,14.28,14.23,14.52
$GC,178,-0.69,-145.9,2649,3786,3925,3794,66.9,-26.9,30,184,0.00,1.70,0.00,0.000,1030,0.000,0.048,2649,2767,3860,3927,3794,0,0,0,0,0,0,28.83,14.29,28.83
$GC,483,-0.69,-145.9,2649,2769,3925,3795,131.9,-20.1,61,488,0.00,2.35,0.00,0.000,516,0.000,0.063,2648,1373,3860,3926,3794,0,0,0,0,0,0,28.83,14.31,28.83
$GC,538,-0.69,-145.9,2649,1373,3923,3794,142.1,-18.2,72,544,0.15,2.47,0.00,0.000,3078,0.265,0.093,2669,2757,3859,3924,3794,0,0,0,0,0,0,14.03,14.25,28.83
$GC,843,-0.69,-145.9,2674,2757,3925,3793,191.7,-15.8,103,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2757,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.69,-145.9,2670,2757,3925,3793,237.3,-14.0,133,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2757,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1453,-0.69,-145.9,2670,2758,3926,3794,276.5,-12.1,150,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2757,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1753,-0.69,-145.9,2669,2758,3925,3794,312.1,-12.0,160,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2759,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,-0.69,-145.9,2669,2757,3925,3794,345.9,-11.1,170,2058,0.00,2.33,0.00,0.000,516,0.000,0.063,2669,1372,3859,3924,3794,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2103,-0.69,-145.9,2670,1372,3925,3795,351.4,-10.4,180,2108,0.00,2.45,0.00,0.000,1030,0.000,0.095,2663,2751,3859,3924,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2415,-0.69,-145.9,2664,2752,3925,3794,387.4,-11.6,192,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2752,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,-0.69,-145.9,2663,2752,3925,3794,421.5,-11.2,202,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2751,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3013,-0.69,-145.9,2663,2748,3925,3794,455.0,-11.1,212,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2751,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3313,-0.69,-145.9,2660,2752,3932,3795,488.5,-11.1,222,3318,0.00,2.33,0.00,0.000,516,0.000,0.061,2663,1371,3859,3924,3794,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3348,-0.69,-145.9,2663,1370,3925,3794,492.4,-10.9,229,3353,0.00,2.45,0.00,0.000,1030,0.000,0.095,2662,2753,3859,3924,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3675,-0.69,-145.9,2663,2753,3925,3794,528.0,-11.1,244,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3973,-0.69,-145.9,2663,2754,3924,3795,560.8,-10.8,254,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4273,-0.69,-145.9,2663,2753,3925,3795,593.2,-10.8,264,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,-0.69,-145.9,2663,2754,3924,3793,625.5,-10.9,274,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4873,-0.69,-145.9,2663,2754,3926,3795,658.1,-10.8,284,4878,0.00,2.35,0.00,0.000,516,0.000,0.061,2662,1364,3859,3924,3794,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4903,-0.69,-145.9,2663,1363,3925,3794,661.3,-11.0,290,4908,0.00,2.47,0.00,0.000,1030,0.000,0.093,2654,2754,3859,3924,3794,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5235,-0.69,-145.9,2657,2756,3925,3795,697.6,-11.0,306,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2754,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,-0.69,-145.9,2655,2752,3924,3794,730.4,-11.0,316,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2754,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5741,begin apogee
$GC,5746,-0.13,0.0,2650,2755,3929,3794,753.2,-11.0,323,5875,0.73,0.00,127.05,2.002,10244,0.212,0.000,2845,2755,3258,3278,3238,0,0,0,0,0,0,14.09,28.83,12.98
$STATE,5876,end apogee,CONTROL_FINISHED_OK
$STATE,5876,begin climb
$GC,5879,0.69,145.9,2846,2755,3274,3234,756.7,0.0,327,6015,0.88,0.00,125.65,1.857,11270,0.112,0.000,3115,2755,2656,2664,2649,0,0,0,0,0,0,13.74,28.83,12.55
$GC,6313,0.69,145.9,3115,2756,2664,2645,713.5,12.7,367,6318,0.00,2.45,0.00,0.000,516,0.000,0.063,3125,1353,2654,2664,2644,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6363,0.69,145.9,3126,1353,2666,2644,707.5,11.7,377,6368,0.00,2.53,0.00,0.000,1030,0.000,0.088,3125,2746,2654,2664,2644,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6673,0.69,145.9,3126,2747,2665,2645,666.9,13.1,389,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6973,0.69,145.9,3126,2746,2665,2643,627.9,12.9,399,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7273,0.69,145.9,3126,2747,2665,2644,589.5,12.7,409,7278,0.00,1.83,0.00,0.000,260,0.000,0.096,3125,3786,2653,2664,2643,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7323,0.69,145.9,3126,3787,2665,2645,582.1,15.6,419,7328,0.00,1.75,0.00,0.000,1030,0.000,0.048,3133,2732,2654,2664,2644,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7633,0.69,145.9,3134,2733,2665,2644,540.7,13.3,431,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2732,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7933,0.69,145.9,3133,2732,2665,2644,500.7,13.4,441,7938,0.00,1.85,0.00,0.000,260,0.000,0.096,3132,3786,2655,2668,2643,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7973,0.69,145.9,3133,3787,2665,2644,494.7,15.7,449,7978,0.00,1.73,0.00,0.000,1030,0.000,0.048,3140,2739,2653,2664,2643,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8295,0.69,145.9,3141,2738,2665,2643,450.7,13.6,463,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2738,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8593,0.69,145.9,3141,2739,2665,2644,410.1,13.4,473,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2738,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8895,0.69,145.9,3141,2738,2662,2643,370.7,13.0,483,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2738,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9193,0.69,145.9,3139,2738,2666,2643,332.4,12.5,493,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2738,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9493,0.69,152.5,3141,2739,2665,2644,297.6,11.3,503,9498,0.00,0.00,3.12,1.086,8198,0.000,0.000,3140,2738,2637,2648,2627,0,0,0,0,0,0,28.83,28.83,13.38
$GC,9793,0.70,153.6,3142,2738,2666,2629,262.9,11.6,513,9797,0.00,0.00,3.30,1.159,8198,0.000,0.000,3141,2738,2631,2644,2618,0,0,0,0,0,0,28.83,28.83,13.40
$GC,10093,0.74,212.8,3141,2739,2660,2622,235.0,8.5,533,10152,0.00,2.42,52.00,1.281,8708,0.000,0.063,3151,1358,2382,2381,2383,0,0,0,0,0,0,28.83,14.16,13.59
$GC,10202,0.74,217.7,3151,1358,2385,2382,224.2,11.4,554,10208,0.00,2.53,2.12,0.576,9222,0.000,0.088,3151,2756,2375,2374,2376,0,0,0,0,0,0,28.83,14.05,13.14
$GC,10508,0.78,277.1,3152,2756,2390,2370,191.1,8.5,585,10567,0.00,0.00,53.83,1.249,8198,0.000,0.000,3151,2756,2120,2124,2117,0,0,0,0,0,0,28.83,28.83,13.52
$GC,10868,0.79,283.2,3152,2757,2125,2108,150.9,11.3,621,10871,0.00,0.00,1.35,0.345,8198,0.000,0.000,3151,2756,2102,2109,2096,0,0,0,0,0,0,28.83,28.83,13.64
$GC,11167,0.80,304.7,3152,2756,2133,2097,121.6,10.5,651,11192,0.00,2.40,21.15,1.190,8708,0.000,0.061,3161,1348,2010,2022,1999,0,0,0,0,0,0,28.83,14.34,13.72
$GC,11222,0.81,313.2,3162,1348,2019,1999,115.4,11.2,661,11233,0.00,2.50,3.42,1.088,9222,0.000,0.090,3161,2749,1981,1993,1969,0,0,0,0,0,0,28.83,14.24,13.45
$GC,11540,0.83,342.3,3162,2749,2003,1969,80.4,10.1,694,11559,0.00,0.00,14.10,0.424,8710,0.000,0.000,3161,2748,1862,1872,1852,0,0,0,0,0,0,28.83,28.83,13.84
$GC,11860,0.91,459.9,3162,2749,1879,1853,56.9,5.4,727,11919,0.00,0.00,53.80,0.358,8198,0.000,0.000,3161,2749,1381,1401,1361,0,0,0,0,0,0,28.83,28.83,13.87
$GC,12218,0.98,557.4,3162,2749,1403,1348,34.8,6.4,763,12269,0.15,2.42,44.28,0.288,10756,0.109,0.066,3234,1351,984,994,974,0,0,0,0,0,0,14.21,14.18,13.90
$GC,12291,1.03,625.4,3235,1352,995,976,29.0,8.0,777,12330,0.00,2.53,31.55,0.285,9222,0.000,0.089,3234,2756,707,692,723,0,0,0,0,0,0,28.83,14.09,13.91
$FREEZE,8.24,-1.436,-1.441,2,14,0
$STATE,12589,end climb,FINISH_DEPTH_REACHED
$STATE,12589,begin subsurface finish
$FINISH1,8.2,1.021175,353
$GC,12595,0.25,352.9,3235,2756,688,723,8.2,6.5,811,12628,0.88,2.42,-26.80,0.000,20996,0.160,0.080,2981,1357,1822,1881,1763,0,0,0,0,0,0,14.02,14.18,14.43
$FINISH2,8.3
$STATE,12629,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12629,begin surface
$RAFOS_CLK,188
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14059.14,190914,234921
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.78
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,10
$SC_FREEKB,3760768
$24V_AH,12.55,124.435
$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,3.675,54.675,536.725,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,0.000,10341.604,555.273,1667.896,185.146,0.000,1221.944,0.000,1232.269,1419.000,0.539,0.000
$DEVICE_MAMPS,265.455,120.870,2002.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12681.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.341,0.000,0.000,0.000
$MEM,133608
$DATA_FILE_SIZE,26785,817
$CAP_FILE_SIZE,131098,0
$CFSIZE,2097872896,2015625216
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5743.49,0x2378b6,2,5
$INTR,1,10128.68,0x234482,1,24
$INTR,2,10512.38,0x234482,1,24
$INTR,3,12592.35,0x2378b6,5,5
$SOUNDSPEED,1449.5
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376