version: 66.12
glider: 196
mission: 7
dive: 404
start: 9 22 114 22 35 59
data:
$ID,196
$MISSION,7
$DIVE,404
$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,-11089.511
$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,21
$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,2.34
$_SM_ANGLEo,-60.0
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.69,-145.9,198,2732,423,553,0.0,0.0,0,81,0.00,0.00,-61.72,0.000,16386,0.000,0.000,197,2733,2047,2066,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.69,-145.9,199,2734,2067,2030,3.2,-2.0,6,137,12.35,2.33,-35.38,0.000,18948,0.399,0.081,2662,1369,3854,3921,3788,0,0,0,0,0,0,13.91,14.28,14.54
$GC,299,-0.69,-145.9,2663,1367,3922,3793,62.6,-22.5,49,305,0.00,2.53,0.00,0.000,1030,0.000,0.093,2654,2767,3857,3921,3793,0,0,0,0,0,0,28.83,14.19,28.83
$GC,602,-0.69,-145.9,2654,2769,3922,3794,129.6,-20.0,80,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2768,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,902,-0.69,-145.9,2654,2769,3922,3794,184.1,-17.3,110,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2768,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1202,-0.69,-145.9,2654,2767,3922,3793,232.1,-15.6,140,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2768,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1502,-0.69,-145.9,2655,2768,3922,3794,274.6,-13.2,158,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2768,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1802,-0.69,-145.9,2654,2768,3923,3793,313.4,-12.8,168,1807,0.00,2.38,0.00,0.000,516,0.000,0.063,2654,1372,3857,3922,3793,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1862,-0.69,-145.9,2654,1371,3921,3793,320.8,-11.9,180,1867,0.00,2.50,0.00,0.000,1030,0.000,0.095,2643,2764,3856,3920,3793,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2194,-0.69,-145.9,2644,2767,3922,3794,363.1,-12.8,196,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2766,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2492,-0.69,-145.9,2643,2767,3922,3794,400.5,-12.5,206,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2766,3860,3927,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2792,-0.69,-145.9,2644,2767,3922,3794,438.3,-12.6,216,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2766,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3092,-0.69,-145.9,2644,2768,3922,3794,476.4,-12.7,226,3097,0.00,2.35,0.00,0.000,516,0.000,0.062,2643,1376,3857,3921,3793,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3132,-0.69,-145.9,2643,1376,3922,3793,481.3,-11.5,234,3137,0.15,2.47,0.00,0.000,3078,0.250,0.094,2665,2769,3855,3917,3793,0,0,0,0,0,0,14.10,14.32,28.83
$GC,3454,-0.69,-145.9,2665,2770,3922,3793,517.1,-11.1,248,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-0.69,-145.9,2666,2770,3922,3793,549.9,-10.9,258,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4052,-0.69,-145.9,2666,2770,3922,3794,582.2,-10.7,268,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4353,-0.69,-145.9,2666,2769,3922,3793,613.7,-10.5,278,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-0.69,-145.9,2665,2770,3921,3795,644.7,-10.3,288,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4952,-0.69,-145.9,2666,2770,3923,3795,675.5,-10.3,298,4957,0.00,2.35,0.00,0.000,516,0.000,0.061,2665,1368,3857,3921,3794,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4992,-0.69,-145.9,2665,1367,3922,3794,679.5,-10.3,306,4997,0.00,2.50,0.00,0.000,1030,0.000,0.094,2663,2771,3857,3921,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5312,-0.69,-145.9,2664,2772,3922,3796,713.1,-10.6,320,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2771,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5612,-0.69,-145.9,2664,2772,3922,3795,744.6,-10.6,330,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2771,3857,3922,3793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5670,begin apogee
$GC,5675,-0.13,0.0,2664,2771,3923,3793,750.8,-10.5,332,5805,0.70,0.00,127.03,2.010,10244,0.208,0.000,2846,2771,3259,3280,3238,0,0,0,0,0,0,13.97,28.83,12.90
$STATE,5806,end apogee,CONTROL_FINISHED_OK
$STATE,5806,begin climb
$GC,5808,0.69,145.9,2847,2771,3277,3235,754.5,0.0,336,5945,0.88,0.00,126.22,1.877,11270,0.114,0.000,3112,2771,2658,2665,2652,0,0,0,0,0,0,13.64,28.83,12.51
$GC,6242,0.69,145.9,3112,2771,2666,2646,711.8,12.8,376,6247,0.00,2.50,0.00,0.000,516,0.000,0.063,3123,1350,2655,2665,2646,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6292,0.69,145.9,3124,1349,2666,2645,705.8,12.0,386,6297,0.00,2.55,0.00,0.000,1030,0.000,0.088,3123,2746,2655,2665,2646,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6604,0.69,145.9,3124,2751,2666,2646,664.8,13.3,398,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2749,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6902,0.69,145.9,3124,2750,2665,2646,625.1,13.2,408,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2749,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7202,0.69,145.9,3124,2750,2666,2646,585.7,13.1,418,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2749,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7502,0.69,145.9,3124,2749,2666,2644,546.2,13.0,428,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2749,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7802,0.69,145.9,3124,2750,2666,2646,507.5,12.8,438,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2749,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8102,0.69,145.9,3124,2750,2666,2645,469.1,12.8,448,8107,0.00,1.83,0.00,0.000,260,0.000,0.096,3123,3792,2654,2665,2644,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8167,0.69,145.9,3124,3792,2666,2645,459.7,14.8,461,8172,0.00,1.73,0.00,0.000,1030,0.000,0.048,3131,2738,2654,2665,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8494,0.69,145.9,3132,2739,2666,2645,417.5,12.9,476,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2738,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8792,0.69,145.9,3132,2739,2665,2645,379.5,12.5,486,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2738,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,0.69,145.9,3132,2739,2666,2645,342.5,12.2,496,9097,0.00,1.85,0.00,0.000,260,0.000,0.095,3130,3792,2655,2666,2644,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9167,0.69,145.9,3131,3792,2667,2644,331.9,14.1,511,9172,0.00,1.73,0.00,0.000,1030,0.000,0.048,3139,2740,2655,2665,2645,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9484,0.69,145.9,3140,2741,2666,2645,293.1,12.1,524,9489,0.00,2.33,0.00,0.000,516,0.000,0.062,3149,1350,2658,2673,2644,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9554,0.70,163.7,3150,1349,2667,2644,285.3,10.7,538,9576,0.00,2.45,15.70,1.371,9222,0.000,0.088,3150,2743,2585,2591,2579,0,0,0,0,0,0,28.83,14.34,13.78
$GC,9876,0.71,167.5,3150,2744,2592,2577,248.0,11.4,552,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2743,2583,2591,2575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10174,0.74,212.3,3150,2744,2592,2576,217.7,9.2,582,10216,0.00,0.00,40.67,1.320,8198,0.000,0.000,3150,2739,2390,2393,2388,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10516,0.77,263.6,3149,2743,2391,2379,183.9,8.9,616,10565,0.00,0.00,43.58,1.310,8710,0.000,0.000,3149,2745,2176,2179,2174,0,0,0,0,0,0,28.83,28.83,13.55
$GC,10864,0.79,284.3,3151,2744,2180,2167,147.7,10.5,655,10886,0.00,2.45,17.50,1.251,8708,0.000,0.063,3159,1348,2093,2100,2087,0,0,0,0,0,0,28.83,14.33,13.63
$GC,10911,0.81,319.6,3159,1348,2098,2086,142.9,9.8,664,10947,0.00,2.50,30.10,1.225,9222,0.000,0.089,3159,2746,1951,1953,1950,0,0,0,0,0,0,28.83,14.19,13.53
$GC,11246,0.83,343.7,3160,2747,1953,1941,105.1,10.3,701,11267,0.00,0.00,18.52,1.174,8198,0.000,0.000,3159,2746,1852,1856,1848,0,0,0,0,0,0,28.83,28.83,13.62
$GC,11568,0.87,405.8,3160,2747,1855,1837,73.4,8.3,733,11597,0.00,0.00,27.52,0.405,8198,0.000,0.000,3159,2746,1601,1612,1591,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11898,0.93,494.8,3160,2747,1618,1581,48.2,6.9,766,11940,0.12,0.00,40.60,0.327,10502,0.123,0.000,3214,2746,1239,1256,1222,0,0,0,0,0,0,14.24,28.83,13.93
$GC,12236,1.07,684.5,3214,2746,1258,1208,24.3,1.5,803,12327,0.00,2.40,83.45,0.271,8708,0.000,0.063,3214,1360,498,446,551,0,0,0,0,0,0,28.83,14.12,13.94
$FREEZE,8.95,-1.418,-1.418,2,21,0
$STATE,12467,end climb,FINISH_DEPTH_REACHED
$STATE,12467,begin subsurface finish
$FINISH1,8.9,1.020822,371
$GC,12475,0.26,371.3,3214,2748,442,550,8.9,9.1,849,12514,0.75,2.40,-32.42,0.000,20996,0.096,0.080,2973,1347,1746,1805,1688,0,0,0,0,0,0,14.12,14.18,14.41
$FINISH2,5.6
$STATE,12514,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12514,begin surface
$RAFOS_CLK,363
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14059.14,190914,234921
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.92
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.10
$XPDR_PINGS,12
$SC_FREEKB,3757632
$24V_AH,12.51,126.673
$10V_AH,12.54,0.000
$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,14.950,48.650,570.900,0.000,0.000,0.000,0.000,121.250,3.000,0.000,181.884,0.000,10213.741,630.191,2032.501,415.440,0.000,1458.328,0.000,1286.561,1411.000,0.539,0.000
$DEVICE_MAMPS,399.330,95.625,2009.655,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12568.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.476,0.000,0.000,0.000
$MEM,129940
$DATA_FILE_SIZE,30072,857
$CAP_FILE_SIZE,136098,0
$CFSIZE,2097872896,2014248960
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13299.35,0x2378b6,7,5
$INTR,1,5672.62,0x2378b6,2,5
$SOUNDSPEED,1448.9
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376