version: 66.12
glider: 196
mission: 7
dive: 405
start: 9 23 114 2 7 22
data:
$ID,196
$MISSION,7
$DIVE,405
$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,62
$R_STBD_OVSHOOT,20
$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,15.72
$_SM_ANGLEo,-21.2
$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,-145.9,2964,2765,1806,1690,0.0,0.0,0,31,0.00,0.00,-12.10,0.000,16386,0.000,0.000,2963,2765,2531,2582,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2964,2766,2582,2484,19.1,0.0,1,58,0.88,1.80,-18.70,0.000,20740,0.067,0.115,2650,3788,3856,3923,3790,0,0,0,0,0,0,14.25,14.21,14.51
$GC,283,-0.69,-145.9,2650,3788,3924,3795,90.1,-22.6,51,287,0.00,1.73,0.00,0.000,1030,0.000,0.049,2649,2756,3859,3923,3795,0,0,0,0,0,0,28.83,14.28,28.83
$GC,593,-0.69,-145.9,2650,2756,3924,3795,153.4,-19.2,83,597,0.00,1.83,0.00,0.000,260,0.000,0.097,2641,3788,3859,3923,3795,0,0,0,0,0,0,28.83,14.26,28.83
$GC,823,-0.69,-145.9,2642,3789,3924,3795,198.4,-17.9,129,828,0.12,1.70,0.00,0.000,3078,0.259,0.051,2666,2764,3858,3923,3794,0,0,0,0,0,0,14.09,14.40,28.83
$GC,1135,-0.69,-145.9,2666,2763,3924,3795,243.3,-13.5,161,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2763,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1435,-0.69,-145.9,2665,2763,3924,3795,281.6,-12.2,175,1440,0.00,2.35,0.00,0.000,516,0.000,0.065,2665,1367,3859,3924,3795,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1495,-0.69,-145.9,2666,1368,3923,3796,288.4,-10.8,187,1499,0.00,2.47,0.00,0.000,1030,0.000,0.096,2660,2756,3859,3923,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1827,-0.69,-145.9,2664,2757,3924,3796,325.6,-11.4,203,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-0.69,-145.9,2663,2756,3924,3795,359.4,-11.5,213,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-0.69,-145.9,2663,2757,3924,3795,394.6,-11.7,223,2429,0.00,1.83,0.00,0.000,260,0.000,0.099,2655,3789,3859,3923,3795,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2445,-0.69,-145.9,2655,3792,3924,3795,397.1,-12.8,227,2449,0.00,1.67,0.00,0.000,1030,0.000,0.052,2655,2753,3858,3922,3795,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2755,-0.69,-145.9,2655,2753,3924,3795,434.8,-12.1,239,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2753,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-0.69,-145.9,2656,2754,3923,3796,471.4,-12.1,249,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2753,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.69,-145.9,2656,2754,3924,3796,507.4,-11.9,259,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2753,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3655,-0.69,-145.9,2655,2753,3924,3795,542.6,-11.6,269,3659,0.00,2.30,0.00,0.000,516,0.000,0.063,2655,1374,3858,3922,3794,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3700,-0.69,-145.9,2655,1373,3924,3794,547.6,-11.0,278,3704,0.00,2.45,0.00,0.000,1030,0.000,0.094,2649,2761,3859,3923,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4016,-0.69,-145.9,2650,2760,3924,3795,584.2,-11.6,291,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.69,-145.9,2650,2761,3924,3795,618.7,-11.6,301,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-0.69,-145.9,2650,2762,3924,3796,653.5,-11.7,311,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.69,-145.9,2655,2761,3924,3796,688.0,-11.4,321,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.69,-145.9,2650,2761,3924,3795,722.6,-11.5,331,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2761,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5482,begin apogee
$GC,5488,-0.13,0.0,2650,2761,3924,3795,753.3,-11.3,340,5617,0.75,0.00,126.88,2.023,10244,0.215,0.000,2847,2761,3256,3276,3237,0,0,0,0,0,0,14.08,28.83,12.96
$STATE,5618,end apogee,CONTROL_FINISHED_OK
$STATE,5618,begin climb
$GC,5620,0.69,145.9,2848,2761,3273,3234,757.3,0.0,344,5758,0.90,1.92,125.18,1.871,10500,0.128,0.099,3109,3786,2661,2671,2652,0,0,0,0,0,0,13.72,13.74,12.52
$GC,5983,0.69,145.9,3110,3787,2663,2648,718.5,14.9,419,5988,0.00,1.77,0.00,0.000,1030,0.000,0.047,3117,2724,2654,2662,2646,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6300,0.69,145.9,3118,2725,2663,2646,677.8,12.8,432,6304,0.00,2.35,0.00,0.000,516,0.000,0.064,3127,1343,2654,2663,2645,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6529,0.69,145.9,3128,1343,2664,2646,650.2,12.1,478,6534,0.00,2.47,0.00,0.000,1030,0.000,0.089,3127,2743,2654,2663,2645,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6839,0.69,145.9,3128,2744,2664,2645,608.8,13.4,490,6844,0.00,2.38,0.00,0.000,516,0.000,0.062,3137,1345,2651,2663,2640,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6884,0.69,145.9,3138,1345,2667,2644,603.1,12.6,499,6889,0.00,2.50,0.00,0.000,1030,0.000,0.089,3137,2749,2653,2663,2644,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7200,0.69,145.9,3139,2746,2664,2645,559.5,13.8,512,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2749,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7499,0.69,145.9,3138,2749,2664,2643,518.2,13.9,522,7504,0.00,1.83,0.00,0.000,260,0.000,0.094,3138,3784,2653,2663,2644,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7529,0.69,145.9,3138,3785,2664,2644,513.6,16.1,528,7534,0.00,1.75,0.00,0.000,1030,0.000,0.047,3145,2728,2653,2663,2644,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7861,0.69,145.9,3146,2728,2664,2644,467.6,13.8,544,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2728,2656,2662,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8160,0.69,145.9,3146,2728,2664,2643,427.0,13.3,554,8164,0.00,1.88,0.00,0.000,260,0.000,0.093,3145,3784,2653,2663,2644,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8209,0.69,145.9,3146,3784,2663,2645,419.5,15.5,564,8215,0.12,1.73,0.00,0.000,5126,0.246,0.047,3123,2745,2653,2663,2643,0,0,0,0,0,0,13.92,14.28,28.83
$GC,8521,0.69,145.9,3124,2745,2664,2644,382.7,11.8,576,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2744,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8820,0.69,150.9,3124,2745,2664,2645,348.2,11.4,586,8822,0.00,0.00,1.08,0.284,8198,0.000,0.000,3122,2744,2643,2654,2633,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9120,0.70,162.9,3123,2744,2671,2637,315.1,11.0,596,9136,0.00,0.00,15.07,1.403,8198,0.000,0.000,3123,2744,2592,2602,2583,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9420,0.71,167.6,3123,2745,2599,2575,280.7,11.4,606,9422,0.00,0.00,1.38,0.347,8198,0.000,0.000,3123,2744,2574,2585,2564,0,0,0,0,0,0,28.83,28.83,13.67
$GC,9720,0.72,183.6,3125,2744,2601,2570,248.0,10.8,616,9745,0.00,2.38,17.88,1.329,8708,0.000,0.063,3131,1357,2502,2510,2494,0,0,0,0,0,0,28.83,14.45,13.76
$GC,9775,0.74,211.7,3132,1358,2510,2494,242.2,10.1,626,9806,0.00,2.45,23.95,1.317,9222,0.000,0.087,3131,2748,2390,2394,2386,0,0,0,0,0,0,28.83,14.34,13.62
$GC,10111,0.74,220.5,3132,2749,2393,2380,204.9,11.2,663,10122,0.00,0.00,8.07,1.323,8198,0.000,0.000,3132,2748,2355,2361,2350,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10421,0.79,282.4,3132,2748,2362,2346,176.6,8.3,694,10482,0.00,2.45,52.55,1.274,8708,0.000,0.063,3140,1355,2098,2102,2095,0,0,0,0,0,0,28.83,14.18,13.54
$GC,10487,0.81,322.4,3140,1356,2102,2096,170.7,9.5,704,10527,0.00,2.47,34.55,1.336,9222,0.000,0.088,3140,2742,1937,1940,1934,0,0,0,0,0,0,28.83,14.19,13.46
$GC,10833,0.82,335.9,3141,2743,1939,1921,131.7,10.9,743,10845,0.00,0.00,10.98,1.220,8198,0.000,0.000,3140,2742,1889,1896,1882,0,0,0,0,0,0,28.83,28.83,13.67
$GC,11144,0.85,369.5,3141,2742,1893,1871,100.4,9.8,774,11178,0.00,2.42,26.83,1.130,8708,0.000,0.064,3149,1359,1744,1754,1734,0,0,0,0,0,0,28.83,14.23,13.65
$GC,11193,0.86,395.0,3150,1359,1752,1734,95.1,10.3,784,11209,0.00,2.45,10.98,0.472,9222,0.000,0.090,3149,2733,1647,1658,1636,0,0,0,0,0,0,28.83,14.18,13.84
$GC,11516,0.92,477.8,3150,2733,1667,1630,65.4,7.2,818,11556,0.12,0.00,38.53,0.383,10246,0.123,0.000,3202,2734,1309,1329,1290,0,0,0,0,0,0,14.28,28.83,13.85
$GC,11854,0.95,523.1,3203,2733,1332,1278,32.0,9.2,852,11880,0.00,2.40,20.70,0.285,8708,0.000,0.063,3210,1349,1124,1143,1105,0,0,0,0,0,0,28.83,14.20,13.89
$GC,11910,1.01,598.2,3212,1349,1146,1104,27.5,7.6,863,11950,0.00,2.50,35.28,0.284,9222,0.000,0.087,3211,2745,817,819,816,0,0,0,0,0,0,28.83,14.15,13.94
$FREEZE,8.73,-1.417,-1.415,2,22,0
$GC,12256,1.10,725.0,3215,2746,810,811,11.1,4.9,902,12293,0.12,0.00,35.83,0.226,10754,0.138,0.000,3268,2745,501,452,551,0,0,0,0,0,0,14.20,28.83,28.83
$STATE,12294,end climb,FINISH_DEPTH_REACHED
$STATE,12294,begin subsurface finish
$FINISH1,8.7,1.020789,373
$GC,12299,0.26,373.0,3269,2745,454,550,8.7,7.6,909,12336,1.00,2.45,-28.98,0.000,20996,0.173,0.086,2984,1351,1741,1792,1690,0,0,0,0,0,0,14.02,14.14,14.42
$FINISH2,8.7
$STATE,12337,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12337,begin surface
$RAFOS_CLK,274
$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,44.88
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,26
$SC_FREEKB,3757184
$24V_AH,12.52,127.000
$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,4.025,65.250,585.675,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,0.000,9838.301,600.076,1833.941,190.494,0.000,1339.411,0.000,1366.562,1481.000,0.539,0.000
$DEVICE_MAMPS,259.335,114.750,2023.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12393.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.303,0.000,0.000,0.000
$MEM,129576
$DATA_FILE_SIZE,30026,916
$CAP_FILE_SIZE,135615,0
$CFSIZE,2097872896,2014052352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5484.70,0x2378b6,2,5
$INTR,1,12296.49,0x2378b6,5,5
$SOUNDSPEED,1450.1
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376