version: 66.12
glider: 196
mission: 7
dive: 394
start: 9 21 114 10 59 35
data:
$ID,196
$MISSION,7
$DIVE,394
$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,2.48
$_SM_ANGLEo,-47.4
$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,-145.9,196,2766,434,549,0.0,0.0,0,80,0.00,0.00,-61.10,0.000,16386,0.000,0.000,195,2766,2081,2099,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.69,-145.9,196,2767,2100,2065,3.3,-1.3,6,136,12.25,2.38,-34.72,0.000,18948,0.396,0.086,2665,1380,3856,3922,3790,0,0,0,0,0,0,13.93,14.19,14.54
$GC,331,-0.69,-145.9,2666,1378,3923,3795,70.2,-19.5,56,336,0.00,2.50,0.00,0.000,1030,0.000,0.097,2656,2758,3857,3921,3794,0,0,0,0,0,0,28.83,14.19,28.83
$GC,641,-0.69,-145.9,2657,2758,3923,3795,135.2,-19.5,88,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2758,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.69,-145.9,2658,2759,3922,3790,189.3,-17.5,118,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2758,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1241,-0.69,-145.9,2657,2759,3922,3795,236.5,-14.5,148,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2758,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1551,-0.69,-145.9,2657,2758,3923,3795,280.6,-13.8,165,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2758,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1851,-0.69,-145.9,2658,2757,3922,3800,319.4,-12.7,175,1856,0.00,2.35,0.00,0.000,516,0.000,0.064,2656,1372,3857,3921,3794,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1911,-0.69,-145.9,2658,1373,3922,3795,326.9,-12.6,187,1916,0.10,2.47,0.00,0.000,3078,0.270,0.095,2665,2757,3858,3922,3794,0,0,0,0,0,0,14.14,14.31,28.83
$GC,2241,-0.69,-145.9,2666,2759,3922,3796,366.7,-11.9,203,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-0.69,-145.9,2665,2758,3922,3794,400.6,-11.2,213,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2841,-0.69,-145.9,2666,2759,3922,3795,434.5,-11.3,223,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,-0.69,-145.9,2665,2758,3923,3795,467.9,-11.1,233,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,-0.69,-145.9,2665,2758,3923,3795,501.3,-11.1,243,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3743,-0.69,-145.9,2666,2758,3922,3796,534.8,-11.1,253,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,-0.69,-145.9,2665,2758,3923,3795,567.8,-11.0,263,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4341,-0.69,-145.9,2665,2758,3923,3799,600.3,-10.8,273,4346,0.00,2.35,0.00,0.000,516,0.000,0.061,2665,1379,3858,3921,3795,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4381,-0.69,-145.9,2666,1380,3922,3796,604.4,-9.9,281,4386,0.00,2.50,0.00,0.000,1030,0.000,0.093,2662,2756,3858,3922,3795,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4703,-0.69,-145.9,2663,2757,3924,3795,639.1,-10.8,295,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2757,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5002,-0.69,-145.9,2659,2758,3922,3796,670.9,-10.6,305,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2757,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,-0.69,-145.9,2663,2757,3923,3796,702.4,-10.4,315,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5601,-0.69,-145.9,2663,2757,3923,3796,733.7,-10.4,325,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2757,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5779,begin apogee
$GC,5784,-0.13,0.0,2663,2758,3922,3797,752.4,-10.4,331,5915,0.70,0.00,127.78,1.997,10244,0.207,0.000,2848,2757,3258,3279,3237,0,0,0,0,0,0,14.07,28.83,12.94
$STATE,5916,end apogee,CONTROL_FINISHED_OK
$STATE,5916,begin climb
$GC,5918,0.69,145.9,2849,2758,3274,3235,756.0,0.0,335,6054,0.85,0.00,125.95,1.854,11270,0.110,0.000,3110,2757,2657,2665,2650,0,0,0,0,0,0,13.69,28.83,12.52
$GC,6351,0.69,145.9,3110,2758,2666,2644,713.5,12.6,375,6356,0.00,2.42,0.00,0.000,516,0.000,0.063,3121,1360,2654,2665,2644,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6391,0.69,145.9,3118,1359,2674,2644,708.6,11.7,383,6396,0.00,2.53,0.00,0.000,1030,0.000,0.089,3121,2749,2654,2664,2644,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6713,0.69,145.9,3122,2750,2665,2644,666.5,13.2,397,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2749,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,0.69,145.9,3121,2749,2666,2643,627.7,12.9,407,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2749,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7311,0.69,145.9,3124,2749,2669,2643,589.3,12.7,417,7316,0.00,1.83,0.00,0.000,260,0.000,0.096,3121,3788,2654,2665,2643,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7361,0.69,145.9,3121,3788,2666,2643,582.0,14.8,427,7366,0.00,1.73,0.00,0.000,1030,0.000,0.048,3127,2745,2654,2665,2643,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7671,0.69,145.9,3128,2746,2665,2643,541.7,12.9,439,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7972,0.69,145.9,3125,2746,2665,2643,503.1,12.9,449,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2745,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,0.69,145.9,3128,2746,2666,2643,464.7,12.8,459,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2745,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8571,0.69,145.9,3128,2746,2666,2644,427.0,12.6,469,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2745,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,0.69,145.9,3128,2746,2666,2643,389.6,12.4,479,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2745,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9171,0.69,145.9,3124,2746,2673,2643,352.3,12.5,489,9176,0.00,1.83,0.00,0.000,260,0.000,0.094,3127,3787,2653,2665,2642,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9226,0.69,145.9,3127,3788,2666,2642,344.5,14.7,500,9232,0.00,1.73,0.00,0.000,1030,0.000,0.048,3135,2741,2653,2665,2642,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9533,0.69,152.0,3135,2741,2667,2643,308.4,11.3,511,9537,0.00,0.00,2.90,1.015,8198,0.000,0.000,3135,2741,2638,2650,2626,0,0,0,0,0,0,28.83,28.83,13.45
$GC,9831,0.70,158.4,3138,2742,2670,2629,274.3,11.3,521,9843,0.00,0.00,10.32,1.377,8198,0.000,0.000,3135,2741,2612,2624,2600,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10133,0.72,181.9,3135,2741,2619,2593,241.1,10.4,535,10154,0.00,0.00,20.10,1.333,8198,0.000,0.000,3135,2741,2516,2524,2508,0,0,0,0,0,0,28.83,28.83,13.75
$GC,10453,0.74,223.1,3136,2742,2520,2500,210.2,9.4,567,10493,0.00,2.42,35.00,1.362,8708,0.000,0.063,3145,1353,2343,2345,2341,0,0,0,0,0,0,28.83,14.30,13.59
$GC,10553,0.78,278.8,3142,1352,2347,2340,201.1,8.7,587,10605,0.00,2.47,46.58,1.337,9222,0.000,0.088,3145,2739,2121,2122,2120,0,0,0,0,0,0,28.83,14.21,13.46
$GC,10903,0.79,286.4,3146,2739,2120,2104,161.3,11.2,627,10914,0.00,2.38,4.53,1.279,8708,0.000,0.063,3155,1348,2094,2098,2090,0,0,0,0,0,0,28.83,14.34,13.62
$GC,10935,0.81,313.4,3155,1348,2106,2083,158.0,10.2,633,10966,0.00,2.45,26.15,1.183,9222,0.000,0.089,3155,2731,1977,1980,1974,0,0,0,0,0,0,28.83,14.23,13.60
$GC,11265,0.81,322.1,3155,2731,1977,1966,118.9,11.2,669,11269,0.00,0.00,3.25,1.069,8198,0.000,0.000,3155,2731,1943,1947,1940,0,0,0,0,0,0,28.83,28.83,13.40
$GC,11565,0.85,381.1,3156,2736,1962,1940,89.1,8.5,699,11596,0.00,0.00,28.27,0.462,8198,0.000,0.000,3155,2731,1703,1709,1697,0,0,0,0,0,0,28.83,28.83,13.87
$GC,11896,0.89,434.6,3156,2732,1716,1691,61.5,8.8,732,11925,0.00,0.00,24.58,0.374,8198,0.000,0.000,3155,2731,1485,1501,1470,0,0,0,0,0,0,28.83,28.83,13.88
$GC,12226,0.97,547.2,3156,2736,1507,1461,40.2,5.6,765,12286,0.12,2.40,51.60,0.307,10756,0.125,0.067,3221,1350,1025,1036,1015,0,0,0,0,0,0,14.23,14.17,13.93
$GC,12326,1.02,615.3,3222,1349,1039,1015,31.8,8.0,785,12361,0.00,2.50,31.35,0.283,9222,0.000,0.089,3221,2742,747,739,756,0,0,0,0,0,0,28.83,14.12,13.92
$FREEZE,8.66,-1.439,-1.444,2,11,0
$STATE,12617,end climb,FINISH_DEPTH_REACHED
$STATE,12617,begin subsurface finish
$FINISH1,8.7,1.021204,351
$GC,12622,0.25,351.4,3222,2743,737,753,8.7,8.3,818,12655,0.82,2.40,-26.20,0.000,20996,0.155,0.080,2981,1350,1828,1885,1772,0,0,0,0,0,0,14.01,14.12,14.42
$FINISH2,7.7
$STATE,12656,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12656,begin surface
$RAFOS_CLK,454
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14059.14,190914,234921
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.10
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,9
$SC_FREEKB,3762112
$24V_AH,12.52,123.488
$10V_AH,12.58,0.000
$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,14.850,43.625,538.350,0.000,0.000,0.000,0.000,122.325,2.250,0.000,181.889,0.000,10443.488,597.038,1977.344,403.355,0.000,1397.968,0.000,1235.623,1476.000,0.539,0.000
$DEVICE_MAMPS,395.505,97.155,1996.650,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12708.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.470,0.000,0.000,0.000
$MEM,134956
$DATA_FILE_SIZE,26723,824
$CAP_FILE_SIZE,135577,0
$CFSIZE,2097872896,2016182272
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13519.85,0x2378b6,7,5
$INTR,1,5781.61,0x2378b6,2,5
$INTR,2,12619.43,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376