version: 66.12
glider: 196
mission: 7
dive: 407
start: 9 23 114 8 57 0
data:
$ID,196
$MISSION,7
$DIVE,407
$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,65
$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,20.30
$_SM_ANGLEo,-18.3
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.69,-145.9,2979,2762,1790,1685,0.0,0.0,0,31,0.00,0.00,-11.68,0.000,16386,0.000,0.000,2978,2761,2584,2633,2536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2979,2762,2634,2539,23.4,0.0,1,57,0.93,1.85,-16.35,0.000,20740,0.068,0.121,2649,3784,3858,3923,3793,0,0,0,0,0,0,14.25,14.12,14.51
$GC,282,-0.69,-145.9,2650,3785,3924,3797,90.6,-23.0,51,287,0.00,1.70,0.00,0.000,1030,0.000,0.050,2649,2763,3859,3923,3796,0,0,0,0,0,0,28.83,14.24,28.83
$GC,593,-0.69,-145.9,2650,2762,3924,3793,153.7,-19.4,83,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,893,-0.69,-145.9,2650,2762,3925,3796,207.3,-16.5,113,897,0.00,2.35,0.00,0.000,516,0.000,0.065,2649,1376,3859,3923,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,973,-0.69,-145.9,2650,1377,3924,3797,218.5,-13.6,129,978,0.15,2.50,0.00,0.000,3078,0.259,0.096,2670,2760,3859,3923,3796,0,0,0,0,0,0,14.08,14.28,28.83
$GC,1303,-0.69,-145.9,2671,2762,3924,3797,261.4,-12.0,157,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2761,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.69,-145.9,2671,2762,3924,3797,297.0,-11.6,167,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2761,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-0.69,-145.9,2671,2762,3924,3797,331.2,-11.4,177,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2761,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,-0.69,-145.9,2671,2762,3924,3797,364.8,-11.2,187,2208,0.00,2.35,0.00,0.000,516,0.000,0.063,2669,1369,3859,3923,3796,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2238,-0.69,-145.9,2670,1369,3924,3797,368.7,-11.1,194,2243,0.00,2.47,0.00,0.000,1030,0.000,0.094,2663,2758,3859,3923,3795,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2565,-0.69,-145.9,2662,2758,3924,3796,407.4,-11.8,209,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3860,3924,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2863,-0.69,-145.9,2664,2759,3924,3796,441.2,-11.1,219,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3163,-0.69,-145.9,2664,2759,3924,3797,474.3,-11.1,229,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3463,-0.69,-145.9,2663,2759,3925,3796,507.3,-10.8,239,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3763,-0.69,-145.9,2664,2758,3925,3796,539.7,-10.7,249,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4063,-0.69,-145.9,2663,2759,3924,3798,571.5,-10.5,259,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.69,-145.9,2663,2759,3925,3796,603.1,-10.6,269,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4663,-0.69,-145.9,2663,2759,3925,3796,634.8,-10.5,279,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4963,-0.69,-145.9,2663,2759,3925,3797,666.8,-10.7,289,4968,0.00,2.33,0.00,0.000,516,0.000,0.061,2663,1376,3859,3923,3796,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5003,-0.69,-145.9,2663,1375,3925,3796,671.0,-10.1,297,5008,0.00,2.45,0.00,0.000,1030,0.000,0.093,2655,2753,3860,3924,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5325,-0.69,-145.9,2656,2754,3924,3797,706.7,-11.2,311,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2753,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.69,-145.9,2655,2753,3925,3796,739.7,-11.0,321,5628,0.00,1.83,0.00,0.000,260,0.000,0.099,2647,3787,3859,3923,3796,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5648,-0.69,-145.9,2648,3789,3924,3797,742.8,-13.1,326,5654,0.00,1.65,0.00,0.000,1030,0.000,0.050,2647,2754,3859,3923,3796,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,5711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5711,begin apogee
$GC,5716,-0.13,0.0,2648,2755,3925,3795,750.3,-11.7,329,5845,0.75,0.00,126.62,2.009,10244,0.217,0.000,2843,2754,3260,3279,3241,0,0,0,0,0,0,14.06,28.83,12.97
$STATE,5846,end apogee,CONTROL_FINISHED_OK
$STATE,5846,begin climb
$GC,5848,0.69,145.9,2845,2755,3276,3238,754.0,0.0,333,5980,0.88,0.00,125.62,1.857,11270,0.116,0.000,3111,2754,2661,2664,2659,0,0,0,0,0,0,13.72,28.83,12.52
$GC,6285,0.69,145.9,3112,2754,2666,2650,712.0,12.4,373,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2753,2657,2665,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6585,0.69,145.9,3112,2754,2666,2649,674.6,12.4,383,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2753,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6885,0.69,145.9,3112,2754,2667,2648,637.3,12.5,393,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2754,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7185,0.69,145.9,3112,2754,2666,2649,599.9,12.5,403,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2753,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7485,0.69,145.9,3111,2753,2666,2648,563.1,12.2,413,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2753,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7785,0.69,145.9,3110,2754,2666,2648,526.6,12.2,423,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2753,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8085,0.69,145.9,3112,2754,2666,2648,490.6,11.8,433,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2753,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8385,0.69,145.9,3112,2754,2666,2648,454.7,12.0,443,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2753,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8685,0.69,145.9,3112,2754,2666,2648,419.4,11.7,453,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2754,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8985,0.69,149.0,3112,2754,2666,2649,384.5,11.5,463,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2753,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9285,0.69,152.0,3112,2754,2665,2647,350.0,11.5,473,9290,0.00,0.00,3.75,1.342,8198,0.000,0.000,3111,2753,2638,2648,2629,0,0,0,0,0,0,28.83,28.83,13.47
$GC,9585,0.70,154.3,3112,2754,2664,2631,315.8,11.5,483,9595,0.00,2.33,4.10,1.388,8708,0.000,0.064,3121,1354,2631,2647,2616,0,0,0,0,0,0,28.83,14.55,13.71
$GC,9625,0.71,170.3,3122,1353,2654,2617,311.5,10.8,491,9647,0.00,2.42,17.02,1.375,9222,0.000,0.088,3122,2740,2560,2568,2553,0,0,0,0,0,0,28.83,14.40,13.76
$GC,9947,0.71,170.6,3123,2740,2567,2548,272.9,11.6,505,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2740,2556,2565,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10247,0.71,174.7,3123,2740,2567,2548,239.3,11.4,521,10250,0.00,0.00,2.12,0.623,8198,0.000,0.000,3122,2740,2548,2558,2538,0,0,0,0,0,0,28.83,28.83,13.36
$GC,10545,0.75,233.7,3123,2740,2572,2538,211.0,8.5,551,10600,0.00,0.00,52.38,1.265,8454,0.000,0.000,3123,2740,2301,2305,2298,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10905,0.79,286.1,3123,2741,2304,2291,176.1,8.8,593,10953,0.00,0.00,44.28,1.253,8454,0.000,0.000,3122,2740,2086,2092,2081,0,0,0,0,0,0,28.83,28.83,13.55
$GC,11255,0.82,333.5,3123,2740,2092,2071,141.7,9.1,632,11301,0.12,2.42,39.80,1.226,10756,0.132,0.067,3177,1355,1894,1898,1890,0,0,0,0,0,0,14.27,14.16,13.53
$GC,11331,0.82,333.5,3180,1352,1894,1888,132.9,11.7,647,11338,0.00,2.47,0.00,0.000,1030,0.000,0.089,3178,2731,1890,1894,1887,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11638,0.82,336.4,3183,2732,1903,1881,94.4,11.5,678,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2732,1887,1894,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11936,0.86,395.2,3178,2732,1894,1879,63.6,8.5,708,11968,0.00,2.45,26.83,0.379,8708,0.000,0.065,3178,1356,1647,1656,1638,0,0,0,0,0,0,28.83,14.16,13.84
$GC,12000,0.92,470.2,3179,1356,1657,1637,58.9,7.6,720,12039,0.00,2.47,34.42,0.363,9222,0.000,0.090,3178,2735,1339,1361,1317,0,0,0,0,0,0,28.83,14.09,13.85
$GC,12338,0.98,558.7,3183,2735,1371,1307,32.1,6.9,758,12380,0.00,0.00,40.25,0.283,8454,0.000,0.000,3178,2735,979,992,967,0,0,0,0,0,0,28.83,28.83,13.89
$GC,12678,1.08,697.3,3178,2737,990,959,16.4,4.3,796,12740,0.17,2.38,54.62,0.243,10756,0.126,0.062,3239,1355,498,447,549,0,0,0,0,0,0,14.12,14.16,13.92
$FREEZE,8.83,-1.411,-1.410,2,24,0
$STATE,12798,end climb,FINISH_DEPTH_REACHED
$STATE,12798,begin subsurface finish
$FINISH1,8.8,1.020716,377
$GC,12806,0.26,376.8,3240,2744,446,550,8.8,6.6,820,12845,0.82,2.42,-30.42,0.000,20996,0.100,0.083,2977,1335,1723,1779,1667,0,0,0,0,0,0,14.10,14.16,14.40
$FINISH2,6.6
$STATE,12845,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12845,begin surface
$RAFOS_CLK,95
$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,43.46
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,10
$SC_FREEKB,3756288
$24V_AH,12.52,127.629
$10V_AH,12.59,0.000
$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,3.825,45.925,571.825,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,0.000,10570.388,528.279,1690.723,177.550,0.000,1226.816,0.000,1254.623,1496.000,0.539,0.000
$DEVICE_MAMPS,259.335,120.870,2008.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12897.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.854,0.000,0.000,0.000
$MEM,128568
$DATA_FILE_SIZE,26752,828
$CAP_FILE_SIZE,129588,0
$CFSIZE,2097872896,2013724672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5712.71,0x2378b6,2,5
$SOUNDSPEED,1448.7
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376