version: 66.12
glider: 196
mission: 7
dive: 409
start: 9 23 114 16 13 45
data:
$ID,196
$MISSION,7
$DIVE,409
$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,64
$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,2.67
$_SM_ANGLEo,-5.4
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,2984,2741,567,601,0.0,0.0,0,71,0.00,0.00,-51.65,0.000,16386,0.000,0.000,2984,2741,1997,2046,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.69,-145.9,2985,2742,2046,1952,3.1,-1.1,5,126,0.93,1.85,-45.25,0.000,20740,0.067,0.115,2653,3786,3854,3917,3792,0,0,0,0,0,0,14.16,14.12,14.41
$GC,351,-0.69,-145.9,2655,3787,3918,3797,86.0,-24.3,61,355,0.00,1.70,0.00,0.000,1030,0.000,0.049,2653,2770,3856,3917,3796,0,0,0,0,0,0,28.83,14.19,28.83
$GC,661,-0.69,-145.9,2654,2770,3918,3797,149.5,-18.7,93,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2769,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,961,-0.69,-145.9,2654,2769,3919,3796,202.2,-16.9,123,965,0.00,2.35,0.00,0.000,516,0.000,0.064,2653,1378,3856,3917,3796,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1011,-0.69,-145.9,2654,1378,3913,3797,210.2,-15.2,133,1016,0.00,2.47,0.00,0.000,1030,0.000,0.096,2643,2758,3856,3917,3795,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1331,-0.69,-145.9,2644,2758,3918,3795,259.4,-14.8,162,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-0.69,-145.9,2644,2759,3918,3797,301.0,-13.4,172,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.69,-145.9,2644,2758,3918,3796,339.6,-12.6,182,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.69,-145.9,2644,2758,3919,3796,377.9,-12.8,192,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.69,-145.9,2644,2759,3918,3797,416.0,-12.7,202,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2831,-0.69,-145.9,2644,2759,3918,3797,453.6,-12.4,212,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.69,-145.9,2644,2759,3918,3797,490.9,-12.4,222,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3431,-0.69,-145.9,2645,2759,3918,3796,527.8,-12.3,232,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2759,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3731,-0.69,-145.9,2644,2759,3916,3797,564.0,-12.0,242,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-0.69,-145.9,2644,2759,3918,3796,599.6,-11.8,252,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.69,-145.9,2644,2758,3918,3796,635.0,-11.7,262,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4631,-0.69,-145.9,2644,2756,3918,3803,669.3,-11.4,272,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4931,-0.69,-145.9,2644,2758,3919,3803,703.5,-11.4,282,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5231,-0.69,-145.9,2644,2759,3918,3797,737.2,-11.1,292,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5354,-0.13,0.0,2645,2765,3918,3798,750.9,-11.4,296,5484,0.77,0.00,127.10,1.997,10244,0.219,0.000,2846,2758,3257,3276,3239,0,0,0,0,0,0,14.06,28.83,12.97
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5487,0.69,145.9,2849,2759,3272,3236,754.4,0.0,300,5624,0.82,2.50,125.20,1.857,10756,0.103,0.061,3103,1347,2658,2663,2654,0,0,0,0,0,0,13.74,13.77,12.54
$GC,5629,0.74,213.0,3103,1347,2665,2653,749.4,8.1,331,5694,0.00,2.67,59.53,1.836,9222,0.000,0.088,3103,2742,2386,2393,2380,0,0,0,0,0,0,28.83,13.34,12.51
$GC,6014,0.74,213.0,3103,2743,2393,2372,697.9,13.7,358,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6314,0.74,213.0,3099,2744,2400,2372,656.7,13.7,368,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,0.74,213.0,3104,2744,2393,2372,616.4,13.3,378,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2381,2392,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,0.74,213.0,3104,2744,2392,2372,576.3,13.3,388,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7214,0.74,213.0,3108,2743,2400,2371,535.9,13.5,398,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,0.74,213.0,3103,2743,2393,2371,495.4,13.5,408,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7815,0.74,213.0,3104,2744,2392,2372,455.5,13.3,418,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8114,0.74,213.0,3104,2742,2394,2371,416.2,13.1,428,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,0.74,213.0,3104,2744,2393,2372,376.7,13.3,438,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2381,2391,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8714,0.74,213.0,3103,2743,2393,2371,337.3,13.2,448,8719,0.00,2.35,0.00,0.000,516,0.000,0.063,3112,1356,2381,2391,2371,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8734,0.74,213.0,3113,1355,2392,2372,334.7,12.8,452,8739,0.00,2.45,0.00,0.000,1030,0.000,0.089,3112,2742,2381,2392,2371,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9046,0.74,213.0,3113,2743,2392,2372,293.9,12.9,464,9051,0.00,1.85,0.00,0.000,260,0.000,0.095,3112,3789,2381,2392,2371,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9066,0.74,213.0,3113,3789,2392,2372,290.9,13.4,468,9071,0.00,1.73,0.00,0.000,1030,0.000,0.047,3119,2736,2381,2392,2371,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9376,0.74,213.0,3120,2738,2392,2372,251.0,12.4,480,9381,0.00,2.33,0.00,0.000,516,0.000,0.063,3129,1353,2381,2392,2371,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9401,0.74,213.0,3130,1350,2393,2372,248.1,11.7,485,9407,0.00,2.45,0.00,0.000,1030,0.000,0.089,3129,2740,2381,2392,2371,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9706,0.74,223.7,3129,2741,2393,2371,213.0,11.1,516,9717,0.00,0.00,9.62,1.327,8198,0.000,0.000,3129,2742,2345,2353,2337,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10016,0.78,268.0,3129,2741,2351,2333,182.2,9.3,547,10062,0.00,2.40,38.22,1.244,8708,0.000,0.062,3137,1359,2158,2160,2157,0,0,0,0,0,0,28.83,14.33,13.69
$GC,10094,0.81,315.2,3138,1360,2160,2156,175.0,9.1,562,10139,0.00,2.45,39.60,1.245,9222,0.000,0.090,3137,2737,1972,1969,1975,0,0,0,0,0,0,28.83,14.22,13.51
$GC,10437,0.83,341.9,3138,2737,1967,1962,137.2,10.2,601,10468,0.00,2.40,23.48,1.211,8708,0.000,0.063,3145,1361,1860,1858,1862,0,0,0,0,0,0,28.83,14.27,13.62
$GC,10500,0.85,367.8,3146,1362,1857,1857,131.0,10.2,613,10530,0.00,2.47,23.27,1.192,9222,0.000,0.089,3145,2746,1752,1755,1750,0,0,0,0,0,0,28.83,14.18,13.54
$GC,10828,0.86,388.6,3146,2746,1757,1737,96.0,10.5,649,10839,0.00,0.00,8.73,0.479,8198,0.000,0.000,3145,2746,1672,1681,1663,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11138,0.91,454.4,3146,2747,1689,1663,66.6,8.1,680,11174,0.12,2.38,30.73,0.386,10756,0.125,0.062,3207,1361,1404,1419,1389,0,0,0,0,0,0,14.28,14.23,13.90
$GC,11224,0.93,484.7,3209,1362,1420,1387,58.0,10.0,697,11245,0.00,2.45,14.07,0.362,9222,0.000,0.090,3207,2730,1281,1299,1263,0,0,0,0,0,0,28.83,14.16,13.84
$GC,11550,0.98,559.3,3209,2731,1300,1255,27.3,7.7,732,11591,0.00,2.38,34.35,0.282,8708,0.000,0.064,3213,1355,977,988,967,0,0,0,0,0,0,28.83,14.20,13.96
$GC,11602,1.08,705.1,3214,1355,990,968,24.4,3.9,742,11663,0.00,2.47,54.42,0.273,9222,0.000,0.089,3212,2734,498,444,552,0,0,0,0,0,0,28.83,14.15,13.94
$FREEZE,8.42,-1.408,-1.408,2,26,0
$STATE,11891,end climb,FINISH_DEPTH_REACHED
$STATE,11891,begin subsurface finish
$FINISH1,8.4,1.020685,378
$GC,11897,0.26,378.4,3214,2735,436,552,8.4,8.2,777,11934,0.73,2.38,-31.85,0.000,20996,0.086,0.080,2971,1352,1716,1770,1662,0,0,0,0,0,0,14.16,14.19,14.44
$FINISH2,5.8
$STATE,11935,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$RAFOS_CLK,602
$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,45.82
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.10
$XPDR_PINGS,21
$SC_FREEKB,3755392
$24V_AH,12.51,128.263
$10V_AH,12.61,0.000
$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,3.375,48.475,588.325,0.000,0.000,0.000,0.000,0.000,5.250,0.000,0.000,0.000,9679.852,616.410,1587.748,175.629,0.000,1288.078,0.000,1178.994,0.000,0.539,0.000
$DEVICE_MAMPS,218.790,114.750,1997.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11992.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.154,0.000,0.000,0.000
$MEM,127560
$DATA_FILE_SIZE,26752,784
$CAP_FILE_SIZE,122803,0
$CFSIZE,2097872896,2013331456
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13194.34,0x2378b6,7,5
$INTR,1,5351.18,0x2378b6,2,5
$INTR,2,11893.96,0x2378b6,5,5
$SOUNDSPEED,1448.4
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376