version: 66.12
glider: 196
mission: 7
dive: 391
start: 9 21 114 0 19 21
data:
$ID,196
$MISSION,7
$DIVE,391
$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,-9991.1924
$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,19
$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,-14107.666,29,0.9,49,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.63
$_SM_ANGLEo,-19.8
$GPS2,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$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,-145.9,2979,2765,1863,1753,0.0,0.0,0,31,0.00,0.00,-11.95,0.000,16386,0.000,0.000,2979,2764,2604,2657,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2980,2765,2658,2554,20.1,0.0,1,57,0.90,2.40,-17.42,0.000,20996,0.065,0.085,2664,1377,3856,3921,3792,0,0,0,0,0,0,14.16,14.16,14.40
$GC,114,-0.69,-145.9,2665,1378,3922,3796,44.2,-29.8,17,118,0.00,2.50,0.00,0.000,1030,0.000,0.092,2653,2762,3858,3921,3795,0,0,0,0,0,0,28.83,14.12,28.83
$GC,423,-0.69,-145.9,2653,2763,3922,3796,118.0,-20.2,49,428,0.00,2.38,0.00,0.000,516,0.000,0.061,2653,1375,3858,3921,3795,0,0,0,0,0,0,28.83,14.22,28.83
$GC,463,-0.69,-145.9,2654,1375,3922,3797,125.4,-17.8,57,468,0.12,2.47,0.00,0.000,3078,0.280,0.093,2666,2755,3858,3922,3795,0,0,0,0,0,0,14.04,14.26,28.83
$GC,774,-0.69,-145.9,2666,2756,3923,3795,179.3,-17.1,89,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2756,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1074,-0.69,-145.9,2666,2756,3922,3795,225.5,-14.2,119,1078,0.00,2.33,0.00,0.000,516,0.000,0.062,2666,1379,3858,3921,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1148,-0.69,-145.9,2666,1378,3923,3801,235.3,-12.8,134,1154,0.00,2.45,0.00,0.000,1030,0.000,0.095,2662,2749,3858,3921,3795,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1463,-0.69,-145.9,2664,2750,3922,3796,278.7,-13.4,152,1468,0.00,1.83,0.00,0.000,260,0.000,0.100,2654,3786,3858,3921,3795,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1523,-0.69,-145.9,2654,3786,3923,3795,287.4,-14.5,164,1528,0.00,1.70,0.00,0.000,1030,0.000,0.051,2654,2754,3858,3921,3795,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1855,-0.69,-145.9,2655,2751,3923,3795,330.8,-12.8,180,1860,0.00,2.33,0.00,0.000,516,0.000,0.063,2654,1368,3858,3922,3795,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1910,-0.69,-145.9,2655,1368,3922,3796,337.5,-11.5,191,1916,0.00,2.47,0.00,0.000,1030,0.000,0.096,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2215,-0.69,-145.9,2650,2751,3923,3795,375.9,-12.7,202,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2750,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2515,-0.69,-145.9,2650,2752,3922,3796,413.8,-12.7,212,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-0.69,-145.9,2650,2751,3922,3795,451.1,-12.4,222,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2750,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-0.69,-145.9,2650,2752,3922,3796,487.8,-12.1,232,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3415,-0.69,-145.9,2650,2751,3922,3795,524.3,-12.1,242,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-0.69,-145.9,2650,2751,3923,3795,560.0,-12.0,252,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4015,-0.69,-145.9,2650,2750,3922,3795,595.8,-11.9,262,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.69,-145.9,2650,2751,3922,3796,631.2,-11.8,272,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-0.69,-145.9,2650,2751,3922,3796,666.0,-11.6,282,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.69,-145.9,2648,2751,3922,3795,700.2,-11.4,292,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.69,-145.9,2650,2751,3923,3795,734.5,-11.5,302,5220,0.00,2.33,0.00,0.000,516,0.000,0.063,2649,1366,3858,3921,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5250,-0.69,-145.9,2650,1366,3922,3795,738.5,-10.6,309,5255,0.12,2.45,0.00,0.000,3078,0.260,0.093,2665,2756,3857,3921,3794,0,0,0,0,0,0,14.09,14.34,28.83
$STATE,5363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5363,begin apogee
$GC,5368,-0.13,0.0,2666,2751,3923,3795,750.4,-10.3,317,5498,0.68,0.00,127.85,2.012,10244,0.210,0.000,2846,2751,3257,3277,3237,0,0,0,0,0,0,14.12,28.83,12.95
$STATE,5499,end apogee,CONTROL_FINISHED_OK
$STATE,5499,begin climb
$GC,5502,0.69,145.9,2848,2752,3272,3234,754.4,0.0,321,5638,0.88,0.00,126.47,1.890,11270,0.116,0.000,3114,2751,2656,2663,2650,0,0,0,0,0,0,13.72,28.83,12.54
$GC,5935,0.69,145.9,3114,2750,2664,2644,712.8,12.6,361,5940,0.00,2.42,0.00,0.000,516,0.000,0.063,3124,1355,2653,2663,2644,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6020,0.69,145.9,3126,1356,2664,2645,702.7,12.3,378,6026,0.00,2.50,0.00,0.000,1030,0.000,0.088,3125,2743,2653,2663,2644,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6325,0.69,145.9,3125,2743,2663,2644,662.7,13.2,389,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6625,0.69,145.9,3125,2743,2664,2643,624.1,12.9,399,6630,0.00,1.85,0.00,0.000,260,0.000,0.095,3125,3793,2653,2663,2644,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6660,0.69,145.9,3126,3794,2664,2644,619.0,14.9,406,6665,0.00,1.73,0.00,0.000,1030,0.000,0.047,3132,2716,2653,2663,2643,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6987,0.69,145.9,3133,2716,2664,2640,575.4,13.4,421,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2715,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,0.69,145.9,3132,2715,2664,2643,535.5,13.2,431,7290,0.00,1.88,0.00,0.000,260,0.000,0.095,3131,3782,2652,2663,2642,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7335,0.69,145.9,3132,3785,2664,2643,527.9,15.7,441,7340,0.00,1.70,0.00,0.000,1030,0.000,0.047,3140,2741,2653,2663,2643,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7645,0.69,145.9,3141,2740,2664,2643,486.0,13.5,453,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2740,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7945,0.69,145.9,3141,2741,2664,2644,446.1,13.3,463,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2740,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8245,0.69,145.9,3141,2741,2664,2644,405.8,13.4,473,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2740,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,0.69,145.9,3141,2741,2663,2644,365.8,13.4,483,8550,0.00,1.85,0.00,0.000,260,0.000,0.096,3140,3790,2653,2663,2643,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8605,0.69,145.9,3140,3791,2664,2644,356.7,16.1,495,8610,0.12,1.73,0.00,0.000,5126,0.269,0.048,3123,2719,2653,2663,2643,0,0,0,0,0,0,14.14,14.50,28.83
$GC,8935,0.69,152.6,3125,2719,2665,2643,317.8,11.3,511,8940,0.00,0.00,3.28,1.167,8198,0.000,0.000,3124,2719,2635,2645,2625,0,0,0,0,0,0,28.83,28.83,13.46
$GC,9235,0.70,164.5,3125,2719,2666,2626,284.9,11.0,521,9251,0.00,0.00,14.50,1.361,8198,0.000,0.000,3124,2719,2587,2596,2578,0,0,0,0,0,0,28.83,28.83,13.80
$GC,9535,0.72,183.1,3129,2719,2592,2572,252.3,10.6,531,9553,0.00,0.00,16.52,1.320,8198,0.000,0.000,3124,2719,2510,2516,2504,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9835,0.73,207.8,3126,2719,2513,2497,220.8,10.3,559,9858,0.00,0.00,21.70,1.267,8198,0.000,0.000,3124,2718,2409,2412,2407,0,0,0,0,0,0,28.83,28.83,13.72
$GC,10157,0.77,262.8,3125,2719,2407,2397,191.6,8.7,591,10207,0.00,2.40,45.45,1.213,8708,0.000,0.063,3133,1353,2183,2183,2183,0,0,0,0,0,0,28.83,14.20,13.64
$GC,10247,0.80,301.6,3134,1353,2181,2179,183.1,9.6,609,10288,0.00,2.47,33.38,1.212,9222,0.000,0.088,3132,2741,2021,2025,2018,0,0,0,0,0,0,28.83,14.19,13.50
$GC,10587,0.82,330.2,3133,2742,2026,2005,147.2,10.1,647,10618,0.00,2.38,24.35,1.198,8708,0.000,0.063,3141,1355,1903,1908,1899,0,0,0,0,0,0,28.83,14.28,13.65
$GC,10633,0.85,375.2,3142,1355,1906,1900,142.5,9.2,656,10680,0.00,2.45,39.00,1.185,9222,0.000,0.088,3142,2736,1721,1729,1714,0,0,0,0,0,0,28.83,14.14,13.49
$GC,10978,0.88,416.2,3142,2735,1729,1699,106.6,9.4,695,11013,0.12,0.00,32.78,1.172,10246,0.122,0.000,3193,2735,1559,1572,1546,0,0,0,0,0,0,14.26,28.83,13.57
$GC,11308,0.88,424.4,3194,2735,1568,1525,63.1,11.2,728,11312,0.00,0.00,2.22,0.343,8198,0.000,0.000,3193,2735,1526,1546,1507,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11609,0.96,535.9,3193,2735,1559,1507,42.0,5.7,758,11669,0.00,2.45,51.90,0.312,8708,0.000,0.065,3201,1354,1072,1087,1058,0,0,0,0,0,0,28.83,14.21,13.95
$GC,11691,1.03,634.6,3201,1354,1088,1058,37.0,6.4,772,11741,0.00,2.47,45.35,0.297,9222,0.000,0.089,3201,2737,669,650,688,0,0,0,0,0,0,28.83,14.16,13.93
$GC,12040,1.12,765.3,3202,2738,647,686,17.8,4.7,812,12066,0.15,2.42,19.45,0.252,10756,0.125,0.064,3270,1361,498,448,549,0,0,0,0,0,0,14.22,14.16,13.97
$FREEZE,8.98,-1.437,-1.433,2,8,0
$STATE,12149,end climb,FINISH_DEPTH_REACHED
$STATE,12149,begin subsurface finish
$FINISH1,9.0,1.021042,360
$GC,12157,0.25,359.8,3272,2743,452,549,9.0,9.2,834,12192,1.02,0.00,-29.77,0.000,20998,0.168,0.000,2980,2745,1794,1852,1736,0,0,0,0,0,0,14.04,28.83,14.44
$FINISH2,9.3
$STATE,12193,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12193,begin surface
$RAFOS_CLK,610
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14109.78,190914,234656
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.74
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,17
$SC_FREEKB,3763456
$24V_AH,12.54,122.521
$10V_AH,12.60,0.000
$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,4.125,62.925,604.200,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,0.000,9820.757,622.097,1693.237,177.503,0.000,1312.089,0.000,1267.040,0.000,0.539,0.000
$DEVICE_MAMPS,279.990,195.840,2011.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12245.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.257,0.000,0.000,0.000
$MEM,136608
$DATA_FILE_SIZE,29978,839
$CAP_FILE_SIZE,131438,0
$CFSIZE,2097872896,2016739328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5365.20,0x2378b6,2,5
$SOUNDSPEED,1449.2
$GPS,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376