version: 66.12
glider: 196
mission: 7
dive: 410
start: 9 23 114 19 35 24
data:
$ID,196
$MISSION,7
$DIVE,410
$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,63
$R_STBD_OVSHOOT,23
$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,16.49
$_SM_ANGLEo,-21.3
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.69,-145.9,2963,2767,1771,1667,0.0,0.0,0,30,0.00,0.00,-11.77,0.000,16386,0.000,0.000,2962,2766,2495,2538,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2964,2767,2539,2456,19.7,0.0,1,57,0.88,1.80,-18.75,0.000,20740,0.069,0.115,2648,3789,3857,3922,3793,0,0,0,0,0,0,14.26,14.22,14.53
$GC,282,-0.69,-145.9,2648,3789,3923,3796,90.7,-22.5,51,287,0.00,1.70,0.00,0.000,1030,0.000,0.050,2647,2768,3859,3922,3796,0,0,0,0,0,0,28.83,14.27,28.83
$GC,592,-0.69,-145.9,2649,2766,3923,3796,153.3,-18.9,83,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2766,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.69,-145.9,2649,2767,3923,3797,206.1,-16.0,113,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2766,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-0.69,-145.9,2649,2766,3923,3796,250.6,-14.0,143,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2766,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1493,-0.69,-145.9,2649,2767,3930,3797,291.1,-13.5,153,1498,0.00,2.35,0.00,0.000,516,0.000,0.066,2648,1378,3859,3922,3796,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1538,-0.69,-145.9,2649,1378,3923,3796,297.3,-13.1,162,1543,0.15,2.47,0.00,0.000,3078,0.250,0.096,2669,2757,3860,3924,3796,0,0,0,0,0,0,14.04,14.22,28.83
$GC,1855,-0.69,-145.9,2669,2757,3923,3797,332.8,-10.9,175,1860,0.00,1.85,0.00,0.000,260,0.000,0.099,2663,3789,3859,3922,3796,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1910,-0.69,-145.9,2664,3790,3923,3797,339.5,-11.7,186,1916,0.00,1.73,0.00,0.000,1030,0.000,0.050,2663,2760,3859,3922,3796,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2217,-0.69,-145.9,2664,2761,3922,3797,374.4,-11.6,197,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2515,-0.69,-145.9,2664,2760,3923,3796,409.1,-11.5,207,2520,0.00,2.38,0.00,0.000,516,0.000,0.063,2664,1363,3859,3922,3796,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2550,-0.69,-145.9,2664,1360,3923,3796,413.0,-10.2,214,2555,0.00,2.53,0.00,0.000,1030,0.000,0.096,2662,2760,3859,3922,3796,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2877,-0.69,-145.9,2664,2761,3923,3797,448.9,-11.0,229,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-0.69,-145.9,2663,2761,3923,3795,481.6,-10.9,239,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3475,-0.69,-145.9,2663,2761,3923,3796,514.1,-10.9,249,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.69,-145.9,2664,2761,3923,3796,547.2,-11.1,259,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4075,-0.69,-145.9,2663,2760,3923,3796,579.7,-10.8,269,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4375,-0.69,-145.9,2663,2761,3923,3796,611.4,-10.5,279,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4675,-0.69,-145.9,2663,2761,3923,3796,642.4,-10.2,289,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4975,-0.69,-145.9,2663,2761,3923,3796,672.8,-10.2,299,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5275,-0.69,-145.9,2663,2761,3923,3796,703.2,-10.3,309,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5575,-0.69,-145.9,2667,2760,3923,3796,734.1,-10.3,319,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5753,begin apogee
$GC,5758,-0.13,0.0,2664,2761,3923,3797,753.0,-10.5,325,5887,0.70,0.00,127.15,1.996,10246,0.210,0.000,2848,2761,3258,3276,3241,0,0,0,0,0,0,14.09,28.83,12.97
$STATE,5889,end apogee,CONTROL_FINISHED_OK
$STATE,5889,begin climb
$GC,5891,0.69,145.9,2848,2761,3273,3236,757.0,0.0,329,6028,0.90,2.60,126.07,1.857,10756,0.114,0.062,3126,1353,2658,2663,2653,0,0,0,0,0,0,13.74,13.29,12.53
$GC,6073,0.70,156.0,3127,1353,2662,2653,747.1,11.1,363,6089,0.00,2.62,10.38,1.779,9222,0.000,0.086,3126,2743,2618,2623,2613,0,0,0,0,0,0,28.83,13.49,12.70
$GC,6390,0.70,156.0,3128,2744,2622,2609,704.7,13.7,376,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2743,2613,2618,2608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6688,0.70,156.0,3127,2743,2623,2607,664.2,13.4,386,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2743,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6988,0.70,156.0,3128,2745,2623,2608,623.6,13.7,396,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2743,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7288,0.70,156.0,3127,2744,2623,2608,582.7,13.6,406,7293,0.00,1.85,0.00,0.000,260,0.000,0.094,3127,3798,2614,2622,2607,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7328,0.70,156.0,3128,3799,2623,2608,576.6,15.7,414,7333,0.00,1.75,0.00,0.000,1030,0.000,0.048,3134,2732,2614,2622,2607,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7650,0.70,156.0,3136,2733,2623,2608,531.4,14.1,428,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2732,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7948,0.70,156.0,3135,2733,2623,2608,489.7,13.8,438,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2732,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8248,0.70,156.0,3135,2732,2623,2609,448.1,13.9,448,8253,0.00,1.85,0.00,0.000,260,0.000,0.094,3135,3787,2615,2622,2608,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8283,0.70,156.0,3136,3788,2623,2608,442.6,16.0,455,8288,0.00,1.73,0.00,0.000,1030,0.000,0.049,3143,2734,2614,2622,2607,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8610,0.70,156.0,3143,2734,2623,2607,397.1,13.7,470,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2734,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8908,0.70,156.0,3144,2735,2623,2608,356.2,13.6,480,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2733,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9208,0.70,156.0,3143,2734,2623,2607,316.8,12.9,490,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2734,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9508,0.70,156.0,3143,2734,2623,2608,279.7,12.4,500,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2733,2614,2622,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9808,0.70,160.4,3144,2734,2623,2608,244.2,11.4,512,9819,0.00,1.90,2.33,0.743,8452,0.000,0.096,3143,3789,2609,2619,2599,0,0,0,0,0,0,28.83,14.50,13.37
$GC,9829,0.70,160.4,3144,3790,2622,2603,241.6,12.1,516,9834,0.00,1.67,0.00,0.000,1030,0.000,0.049,3150,2738,2612,2622,2602,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10141,0.73,202.8,3151,2738,2626,2602,210.6,9.4,548,10184,0.00,1.85,38.75,1.289,8452,0.000,0.093,3150,3789,2426,2427,2425,0,0,0,0,0,0,28.83,14.34,13.66
$GC,10221,0.73,202.8,3152,3789,2425,2426,202.4,12.3,564,10226,0.00,1.67,0.00,0.000,1030,0.000,0.049,3158,2748,2424,2423,2425,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10533,0.75,237.7,3159,2749,2424,2423,171.2,9.8,596,10567,0.00,2.38,29.60,1.284,8708,0.000,0.061,3166,1362,2283,2282,2285,0,0,0,0,0,0,28.83,14.32,13.62
$GC,10614,0.78,270.2,3168,1356,2280,2284,162.9,9.9,610,10647,0.00,2.50,28.38,1.327,9222,0.000,0.090,3167,2754,2152,2151,2154,0,0,0,0,0,0,28.83,14.17,13.47
$GC,10953,0.79,290.1,3167,2755,2151,2141,124.7,10.6,648,10973,0.00,0.00,16.27,1.237,8198,0.000,0.000,3166,2755,2069,2073,2065,0,0,0,0,0,0,28.83,28.83,13.65
$GC,11274,0.82,330.7,3168,2755,2074,2061,91.6,9.5,680,11294,0.00,0.00,17.67,0.464,8710,0.000,0.000,3169,2754,1909,1909,1909,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11594,0.87,398.3,3167,2755,1918,1907,62.2,8.0,713,11634,0.00,2.45,30.95,0.370,8708,0.000,0.063,3177,1360,1632,1642,1623,0,0,0,0,0,0,28.83,14.20,13.88
$GC,11744,0.93,495.1,3178,1361,1644,1621,51.0,6.5,743,11795,0.00,2.50,43.95,0.337,9222,0.000,0.091,3177,2746,1238,1261,1216,0,0,0,0,0,0,28.83,14.14,13.90
$GC,12094,1.03,624.9,3177,2746,1262,1202,25.9,4.7,783,12160,0.15,2.40,59.45,0.275,10756,0.120,0.064,3242,1360,708,696,721,0,0,0,0,0,0,14.21,14.17,13.94
$GC,12200,1.11,745.3,3242,1358,703,721,20.8,5.2,801,12230,0.00,2.50,24.42,0.262,9222,0.000,0.089,3242,2750,497,446,549,0,0,0,0,0,0,28.83,14.12,13.93
$FREEZE,8.86,-1.380,-1.403,2,27,0
$STATE,12383,end climb,FINISH_DEPTH_REACHED
$STATE,12383,begin subsurface finish
$FINISH1,8.9,1.020615,382
$GC,12389,0.27,382.1,3243,2751,445,550,8.9,6.4,823,12419,0.90,0.00,-27.50,0.000,20486,0.156,0.000,2984,2750,1702,1762,1643,0,0,0,0,0,0,14.04,28.83,14.42
$FINISH2,9.0
$STATE,12419,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12419,begin surface
$RAFOS_CLK,543
$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,45.27
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,14
$SC_FREEKB,3754944
$24V_AH,12.53,128.570
$10V_AH,12.79,0.000
$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,3.675,53.600,555.375,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,0.000,10103.756,566.381,1679.733,189.888,0.000,1239.861,0.000,1247.065,1487.000,0.539,0.000
$DEVICE_MAMPS,250.155,114.750,1995.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12461.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.415,0.000,0.000,0.000
$MEM,127060
$DATA_FILE_SIZE,26701,826
$CAP_FILE_SIZE,128118,0
$CFSIZE,2097872896,2013167616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5755.38,0x2378b6,2,5
$INTR,1,12386.10,0x2378b6,5,5
$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