version: 66.12
glider: 196
mission: 7
dive: 379
start: 9 19 114 6 27 13
data:
$ID,196
$MISSION,7
$DIVE,379
$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,-9806.5869
$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,60
$R_STBD_OVSHOOT,26
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-62.8
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,7416.750,-14047.392
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.5,20000,-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,-145.9,198,2775,434,561,0.0,0.0,0,160,0.00,0.00,-141.30,0.000,16390,0.000,0.000,197,2776,3853,3898,3808,0,0,0,0,0,0,28.83,28.83,14.56
$GC,163,-0.69,-145.9,198,2777,3898,3811,3.8,-2.9,14,183,12.27,2.40,0.00,0.000,2564,0.398,0.057,2674,1369,3856,3901,3811,0,0,0,0,0,0,13.93,14.25,28.83
$GC,333,-0.69,-145.9,2675,1370,3905,3812,66.0,-23.8,48,339,0.00,2.50,0.00,0.000,1030,0.000,0.093,2665,2761,3857,3905,3810,0,0,0,0,0,0,28.83,14.21,28.83
$GC,644,-0.69,-145.9,2666,2763,3906,3812,130.5,-17.7,80,648,0.00,2.35,0.00,0.000,516,0.000,0.062,2665,1372,3857,3905,3810,0,0,0,0,0,0,28.83,14.31,28.83
$GC,683,-0.69,-145.9,2666,1372,3906,3811,137.3,-16.3,88,689,0.00,2.47,0.00,0.000,1030,0.000,0.094,2653,2762,3858,3905,3811,0,0,0,0,0,0,28.83,14.27,28.83
$GC,994,-0.69,-145.9,2654,2764,3906,3812,194.8,-18.8,120,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2762,3857,3905,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.69,-145.9,2655,2764,3905,3812,244.2,-14.5,150,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2763,3858,3905,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1615,-0.69,-145.9,2655,2764,3906,3812,287.9,-13.3,164,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2763,3858,3905,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-0.69,-145.9,2655,2764,3905,3812,326.7,-12.6,174,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2763,3857,3905,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-0.69,-145.9,2654,2764,3906,3812,365.2,-13.1,184,2218,0.00,2.33,0.00,0.000,516,0.000,0.064,2654,1378,3857,3905,3810,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2268,-0.69,-145.9,2655,1383,3906,3812,372.2,-12.6,195,2274,0.00,2.45,0.00,0.000,1030,0.000,0.094,2643,2756,3857,3905,3810,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2573,-0.69,-145.9,2644,2757,3906,3811,412.5,-13.1,206,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3857,3905,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2874,-0.69,-145.9,2644,2756,3906,3809,450.6,-12.5,216,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3857,3905,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3174,-0.69,-145.9,2643,2756,3906,3811,488.0,-12.4,226,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3857,3905,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.69,-145.9,2644,2756,3906,3811,524.8,-12.2,236,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3857,3905,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.69,-145.9,2644,2756,3906,3811,561.7,-12.3,246,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3857,3905,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.69,-145.9,2643,2757,3906,3810,599.0,-12.4,256,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3858,3905,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.69,-145.9,2644,2756,3906,3811,636.2,-12.4,266,4378,0.00,2.33,0.00,0.000,516,0.000,0.063,2649,1373,3858,3905,3811,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4408,-0.69,-145.9,2645,1374,3902,3812,640.4,-11.7,273,4414,0.17,2.45,0.00,0.000,3078,0.243,0.094,2671,2757,3858,3905,3811,0,0,0,0,0,0,14.13,14.36,28.83
$GC,4735,-0.69,-145.9,2673,2759,3906,3811,674.5,-10.5,288,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2758,3858,3906,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.69,-145.9,2673,2759,3906,3811,705.4,-10.3,298,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2758,3858,3906,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,-0.69,-145.9,2672,2758,3907,3810,736.2,-10.3,308,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2758,3858,3906,3811,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5481,begin apogee
$GC,5487,-0.13,0.0,2672,2758,3908,3811,751.4,-10.1,313,5618,0.65,0.00,128.15,2.015,10244,0.203,0.000,2849,2758,3255,3273,3237,0,0,0,0,0,0,14.14,28.83,12.95
$STATE,5619,end apogee,CONTROL_FINISHED_OK
$STATE,5619,begin climb
$GC,5621,0.69,145.9,2849,2758,3272,3234,755.3,0.0,317,5757,0.85,2.50,126.47,1.873,10756,0.097,0.062,3113,1354,2658,2663,2653,0,0,0,0,0,0,13.70,13.71,12.52
$GC,5762,0.73,208.3,3114,1355,2664,2653,750.6,8.3,348,5823,0.00,2.67,55.85,1.825,9222,0.000,0.089,3113,2744,2406,2416,2397,0,0,0,0,0,0,28.83,13.28,12.50
$GC,6148,0.73,208.3,3114,2745,2412,2388,695.7,14.6,375,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2744,2399,2413,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,0.73,208.3,3114,2744,2414,2387,651.8,14.6,385,6453,0.00,1.85,0.00,0.000,260,0.000,0.096,3113,3787,2399,2412,2387,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6483,0.73,208.3,3118,3788,2413,2388,646.1,17.4,392,6488,0.00,1.75,0.00,0.000,1030,0.000,0.049,3122,2739,2399,2412,2387,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6809,0.73,208.3,3122,2740,2413,2388,596.6,15.3,407,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2739,2399,2412,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7108,0.73,208.3,3122,2740,2413,2387,551.5,15.0,417,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2399,2413,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,0.73,208.3,3122,2740,2413,2387,507.3,14.6,427,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2399,2412,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7708,0.73,208.3,3123,2740,2412,2387,463.4,14.6,437,7713,0.00,2.33,0.00,0.000,516,0.000,0.066,3132,1357,2399,2413,2386,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7733,0.73,208.3,3133,1356,2414,2385,459.9,15.2,442,7739,0.00,2.45,0.00,0.000,1030,0.000,0.090,3132,2746,2399,2413,2386,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8038,0.73,208.3,3133,2747,2413,2387,413.0,15.5,453,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2746,2399,2413,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8338,0.73,208.3,3133,2747,2413,2387,366.4,15.6,463,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2746,2399,2413,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8638,0.73,208.3,3133,2745,2414,2387,321.1,14.9,473,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2746,2399,2412,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8938,0.73,208.3,3133,2746,2414,2386,276.5,14.3,483,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2746,2399,2412,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9240,0.74,218.8,3133,2747,2414,2387,240.3,11.1,497,9250,0.00,0.00,9.27,1.340,8198,0.000,0.000,3132,2746,2366,2376,2356,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9548,0.77,261.5,3133,2746,2372,2351,206.7,9.4,528,9589,0.00,0.00,36.65,1.261,8198,0.000,0.000,3132,2746,2186,2188,2185,0,0,0,0,0,0,28.83,28.83,13.71
$GC,9890,0.80,296.3,3133,2747,2189,2180,173.9,9.8,562,9924,0.00,2.38,30.05,1.252,8708,0.000,0.063,3140,1351,2043,2046,2041,0,0,0,0,0,0,28.83,14.30,13.64
$GC,9979,0.82,334.1,3141,1351,2045,2038,165.1,9.6,580,10020,0.00,2.47,32.20,1.261,9222,0.000,0.091,3140,2740,1892,1891,1893,0,0,0,0,0,0,28.83,14.22,13.52
$GC,10319,0.84,354.3,3142,2741,1891,1883,128.3,10.6,618,10340,0.00,0.00,17.77,1.222,8198,0.000,0.000,3141,2740,1807,1809,1806,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10641,0.86,383.0,3142,2741,1809,1799,95.3,10.1,650,10659,0.00,0.00,12.43,0.478,8198,0.000,0.000,3141,2740,1697,1704,1690,0,0,0,0,0,0,28.83,28.83,13.85
$GC,10961,0.89,427.2,3142,2741,1709,1690,65.0,9.3,682,10991,0.12,2.45,20.80,0.379,10756,0.118,0.066,3213,1348,1516,1526,1506,0,0,0,0,0,0,14.25,14.21,13.92
$GC,11022,0.89,427.2,3214,1348,1528,1505,57.6,12.0,694,11027,0.12,2.47,0.00,0.000,5126,0.217,0.091,3185,2732,1516,1527,1505,0,0,0,0,0,0,14.07,14.16,28.83
$GC,11334,0.97,549.6,3186,2733,1531,1497,37.5,5.1,726,11394,0.00,2.45,56.00,0.299,8708,0.000,0.066,3191,1353,1013,1023,1004,0,0,0,0,0,0,28.83,14.19,13.94
$GC,11434,1.05,661.6,3191,1352,1028,1004,32.9,5.7,742,11495,0.12,2.47,51.55,0.295,11270,0.122,0.090,3246,2728,561,523,599,0,0,0,0,0,0,14.21,14.14,13.92
$FREEZE,8.91,-1.430,-1.446,2,31,0
$STATE,11732,end climb,FINISH_DEPTH_REACHED
$STATE,11732,begin subsurface finish
$FINISH1,8.9,1.021236,350
$GC,11737,0.24,349.7,3247,2728,519,599,8.9,7.2,778,11775,0.93,2.45,-28.25,0.000,20996,0.162,0.089,2979,1351,1836,1887,1786,0,0,0,0,0,0,14.06,14.18,14.43
$FINISH2,10.2
$STATE,11775,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11775,begin surface
$RAFOS_CLK,303
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.02
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,10
$SC_FREEKB,3768832
$24V_AH,12.50,118.646
$10V_AH,12.56,0.000
$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,15.250,49.975,577.200,0.000,0.000,0.000,0.000,121.050,2.500,0.000,181.867,0.000,9574.129,588.485,1985.244,388.169,0.000,1470.007,0.000,1178.920,1491.000,0.539,0.000
$DEVICE_MAMPS,397.800,96.390,2015.010,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11826.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.271,0.000,0.000,0.000
$MEM,142620
$DATA_FILE_SIZE,26700,785
$CAP_FILE_SIZE,129340,0
$CFSIZE,2097872896,2019065856
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13438.70,0x2378b6,7,5
$INTR,1,5483.52,0x2378b6,2,5
$INTR,2,11734.44,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376