version: 66.12
glider: 196
mission: 7
dive: 411
start: 9 23 114 23 5 6
data:
$ID,196
$MISSION,7
$DIVE,411
$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,16
$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,19.90
$_SM_ANGLEo,-20.5
$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,-145.9,2985,2751,1763,1648,0.0,0.0,0,33,0.00,0.00,-13.95,0.000,16386,0.000,0.000,2984,2751,2708,2764,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.69,-145.9,2985,2751,2767,2655,22.7,0.0,1,56,0.93,1.92,-14.98,0.000,20740,0.065,0.124,2651,3792,3858,3923,3793,0,0,0,0,0,0,14.26,14.14,14.50
$GC,176,-0.69,-145.9,2653,3793,3924,3797,65.4,-27.1,29,181,0.00,1.70,0.00,0.000,1030,0.000,0.049,2650,2773,3859,3923,3796,0,0,0,0,0,0,28.83,14.22,28.83
$GC,486,-0.69,-145.9,2652,2770,3924,3796,130.3,-19.4,61,491,0.00,2.38,0.00,0.000,516,0.000,0.064,2652,1369,3859,3923,3796,0,0,0,0,0,0,28.83,14.30,28.83
$GC,531,-0.69,-145.9,2652,1368,3924,3796,138.4,-16.7,70,538,0.12,2.53,0.00,0.000,3078,0.272,0.094,2665,2768,3859,3923,3796,0,0,0,0,0,0,13.93,14.12,28.83
$GC,836,-0.69,-145.9,2666,2769,3923,3797,189.5,-16.1,101,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.69,-145.9,2665,2766,3924,3796,232.8,-13.2,131,1141,0.00,2.38,0.00,0.000,516,0.000,0.061,2665,1366,3859,3923,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1201,-0.69,-145.9,2665,1367,3924,3796,240.9,-11.9,144,1207,0.00,2.50,0.00,0.000,1030,0.000,0.094,2662,2757,3859,3923,3796,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1516,-0.69,-145.9,2663,2759,3923,3797,281.0,-12.6,160,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2758,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,-0.69,-145.9,2663,2758,3924,3803,316.8,-12.0,170,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2757,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.69,-145.9,2663,2757,3924,3796,352.2,-11.6,180,2121,0.00,1.83,0.00,0.000,260,0.000,0.100,2654,3792,3859,3922,3796,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2146,-0.69,-145.9,2655,3792,3924,3796,356.1,-13.1,186,2151,0.00,1.70,0.00,0.000,1030,0.000,0.051,2654,2741,3859,3922,3796,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2478,-0.69,-145.9,2655,2741,3924,3796,396.4,-12.2,202,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2741,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2776,-0.69,-145.9,2655,2742,3923,3797,432.5,-12.0,212,2781,0.00,2.30,0.00,0.000,516,0.000,0.063,2654,1376,3859,3923,3796,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2826,-0.69,-145.9,2655,1376,3923,3795,438.3,-11.9,222,2831,0.00,2.47,0.00,0.000,1030,0.000,0.095,2649,2758,3858,3922,3794,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3136,-0.69,-145.9,2650,2760,3924,3797,476.5,-12.4,234,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.69,-145.9,2650,2759,3924,3796,513.5,-12.2,244,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3736,-0.69,-145.9,2650,2759,3923,3797,550.0,-12.0,254,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4036,-0.69,-145.9,2650,2759,3924,3796,585.2,-11.6,264,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4336,-0.69,-145.9,2650,2760,3923,3797,619.5,-11.3,274,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4636,-0.69,-145.9,2649,2759,3924,3797,653.4,-11.3,284,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4936,-0.69,-145.9,2650,2759,3924,3796,687.3,-11.2,294,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2759,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5236,-0.69,-145.9,2650,2759,3924,3796,721.0,-11.3,304,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2759,3857,3918,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5504,begin apogee
$GC,5509,-0.13,0.0,2650,2759,3924,3796,751.2,-11.1,313,5639,0.75,0.00,127.20,2.007,10244,0.215,0.000,2846,2759,3255,3275,3236,0,0,0,0,0,0,14.05,28.83,12.93
$STATE,5640,end apogee,CONTROL_FINISHED_OK
$STATE,5641,begin climb
$GC,5643,0.69,145.9,2846,2759,3273,3234,754.9,0.0,317,5779,0.88,0.00,125.60,1.863,11270,0.115,0.000,3113,2759,2657,2663,2652,0,0,0,0,0,0,13.71,28.83,12.52
$GC,6076,0.69,145.9,3113,2759,2664,2645,712.7,12.6,357,6081,0.00,2.42,0.00,0.000,516,0.000,0.063,3123,1357,2654,2663,2645,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6166,0.69,151.4,3124,1357,2664,2645,701.8,11.3,375,6176,0.00,2.50,2.25,0.698,9222,0.000,0.088,3127,2748,2645,2657,2633,0,0,0,0,0,0,28.83,14.10,12.93
$GC,6496,0.69,151.4,3125,2749,2669,2635,658.5,13.2,391,6498,0.00,0.00,1.27,0.338,8198,0.000,0.000,3124,2748,2641,2655,2628,0,0,0,0,0,0,28.83,28.83,13.61
$GC,6796,0.69,151.4,3125,2749,2672,2632,619.0,13.1,401,6799,0.00,0.00,1.42,0.369,8198,0.000,0.000,3124,2748,2641,2657,2626,0,0,0,0,0,0,28.83,28.83,13.62
$GC,7096,0.69,151.4,3125,2749,2672,2630,580.0,12.9,411,7099,0.00,0.00,1.42,0.373,8198,0.000,0.000,3124,2748,2642,2658,2626,0,0,0,0,0,0,28.83,28.83,13.62
$GC,7396,0.69,151.4,3125,2749,2672,2630,541.7,12.7,421,7401,0.00,1.90,1.67,0.415,8452,0.000,0.094,3124,3792,2643,2662,2625,0,0,0,0,0,0,28.83,14.36,13.64
$GC,7446,0.69,151.4,3125,3793,2668,2634,534.4,14.9,431,7452,0.00,1.75,0.85,0.283,9222,0.000,0.048,3131,2736,2643,2660,2626,0,0,0,0,0,0,28.83,14.31,13.91
$GC,7758,0.69,151.4,3132,2735,2673,2629,493.3,13.2,443,7761,0.00,0.00,1.12,0.324,8198,0.000,0.000,3128,2735,2641,2658,2625,0,0,0,0,0,0,28.83,28.83,13.63
$GC,8057,0.69,151.4,3133,2736,2673,2630,454.3,13.0,453,8060,0.00,0.00,1.85,0.434,8198,0.000,0.000,3131,2735,2641,2658,2625,0,0,0,0,0,0,28.83,28.83,13.68
$GC,8357,0.69,151.4,3132,2735,2673,2628,415.2,13.0,463,8359,0.00,0.00,1.15,0.334,8198,0.000,0.000,3131,2735,2645,2666,2625,0,0,0,0,0,0,28.83,28.83,13.64
$GC,8657,0.69,151.4,3132,2735,2673,2628,377.0,12.6,473,8659,0.00,0.00,0.98,0.303,8198,0.000,0.000,3131,2735,2642,2659,2625,0,0,0,0,0,0,28.83,28.83,13.88
$GC,8957,0.69,151.4,3132,2736,2673,2629,340.4,12.0,483,8959,0.00,0.00,1.05,0.317,8198,0.000,0.000,3131,2735,2642,2659,2625,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9257,0.70,157.0,3132,2735,2673,2628,305.9,11.3,493,9272,0.00,2.33,9.20,1.410,8708,0.000,0.064,3142,1354,2614,2626,2602,0,0,0,0,0,0,28.83,14.54,13.75
$GC,9302,0.71,177.5,3143,1354,2626,2602,301.0,10.5,502,9327,0.00,2.45,18.05,1.373,9222,0.000,0.089,3142,2744,2529,2537,2521,0,0,0,0,0,0,28.83,14.38,13.71
$GC,9647,0.71,177.5,3143,2746,2537,2519,256.6,13.0,521,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2745,2527,2537,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9947,0.74,210.5,3143,2745,2538,2518,221.9,9.9,547,9979,0.00,2.38,27.98,1.307,8708,0.000,0.063,3150,1350,2395,2398,2392,0,0,0,0,0,0,28.83,14.35,13.69
$GC,10049,0.75,227.8,3151,1351,2393,2392,211.3,10.7,567,10070,0.00,2.47,15.20,1.320,9222,0.000,0.089,3151,2737,2325,2326,2325,0,0,0,0,0,0,28.83,14.21,13.59
$GC,10371,0.78,268.3,3151,2737,2326,2320,175.4,9.5,601,10410,0.00,0.00,34.38,1.252,8454,0.000,0.000,3150,2736,2160,2160,2160,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10711,0.79,293.1,3151,2738,2160,2152,139.0,10.3,637,10734,0.00,0.00,21.80,1.232,8198,0.000,0.000,3150,2737,2061,2065,2057,0,0,0,0,0,0,28.83,28.83,13.65
$GC,11031,0.82,330.3,3151,2737,2060,2045,107.2,9.7,669,11065,0.00,2.38,28.80,1.197,8708,0.000,0.062,3158,1351,1905,1906,1904,0,0,0,0,0,0,28.83,14.24,13.60
$GC,11097,0.84,360.1,3159,1350,1903,1904,100.7,10.0,682,11126,0.00,2.50,23.20,1.237,9222,0.000,0.090,3158,2743,1784,1788,1781,0,0,0,0,0,0,28.83,14.15,13.50
$GC,11431,0.88,413.5,3159,2744,1788,1767,66.4,8.8,719,11462,0.00,1.90,22.88,0.385,8452,0.000,0.096,3158,3779,1573,1586,1561,0,0,0,0,0,0,28.83,14.16,13.88
$GC,11494,0.90,444.2,3159,3780,1588,1563,60.5,10.0,731,11513,0.00,1.70,14.52,0.368,9222,0.000,0.049,3164,2735,1446,1463,1429,0,0,0,0,0,0,28.83,14.24,13.87
$GC,11812,0.95,522.6,3164,2735,1468,1419,35.4,7.5,765,11854,0.12,2.45,35.92,0.290,10756,0.123,0.065,3221,1352,1124,1141,1108,0,0,0,0,0,0,14.24,14.20,13.94
$GC,11994,1.07,684.5,3220,1351,1142,1104,23.5,3.0,801,12070,0.00,2.47,70.90,0.267,9222,0.000,0.089,3221,2736,500,449,551,0,0,0,0,0,0,28.83,14.07,13.94
$FREEZE,8.69,-1.328,-1.400,2,28,0
$FREEZE,7.81,-1.328,-1.399,2,28,0
$FREEZE,6.78,-1.328,-1.398,2,28,0
$FREEZE,5.97,-1.328,-1.398,2,28,0
$FREEZE,5.06,-1.330,-1.397,2,28,0
$FREEZE,4.70,-1.321,-1.396,2,28,0
$FREEZE,4.48,-1.288,-1.395,2,28,0
$FREEZE,4.61,-1.320,-1.396,2,28,0
$FREEZE,4.68,-1.318,-1.396,2,28,0
$FREEZE,4.70,-1.329,-1.397,2,28,0
$FREEZE,4.82,-1.329,-1.397,2,28,0
$FREEZE,5.03,-1.329,-1.397,2,28,0
$FREEZE,5.04,-1.331,-1.397,2,28,0
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$STATE,12808,end climb,NO_VERTICAL_VELOCITY
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$STATE,12823,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12823,begin surface
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$IRIDIUM_FIX,7250.09,-14059.14,190914,234921
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$TCM_TEMP,13.10
$XPDR_PINGS,9
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$24V_AH,12.52,128.902
$10V_AH,12.53,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,272.340,123.930,2006.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.470,0.000,0.000,0.000
$MEM,126552
$DATA_FILE_SIZE,30041,915
$CAP_FILE_SIZE,143806,0
$CFSIZE,2097872896,2012938240
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12581.54,0x2378b6,7,5
$INTR,1,5506.32,0x2378b6,2,5
$INTR,2,12810.36,0x2378b6,5,5
$SOUNDSPEED,1447.6
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376