version: 66.12
glider: 196
mission: 7
dive: 406
start: 9 23 114 5 35 47
data:
$ID,196
$MISSION,7
$DIVE,406
$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,59
$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,19.77
$_SM_ANGLEo,-19.0
$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,-145.9,2976,2765,1795,1695,0.0,0.0,0,30,0.00,0.00,-11.85,0.000,16386,0.000,0.000,2975,2765,2587,2633,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2765,2637,2546,22.7,0.0,1,57,0.90,1.85,-16.50,0.000,20740,0.067,0.124,2654,3782,3857,3921,3794,0,0,0,0,0,0,14.26,14.12,14.51
$GC,282,-0.69,-145.9,2654,3783,3922,3797,91.4,-23.0,51,286,0.00,1.70,0.00,0.000,1030,0.000,0.050,2653,2766,3858,3921,3796,0,0,0,0,0,0,28.83,14.21,28.83
$GC,592,-0.69,-145.9,2654,2764,3922,3797,154.2,-19.2,83,596,0.00,1.80,0.00,0.000,260,0.000,0.098,2645,3783,3858,3921,3796,0,0,0,0,0,0,28.83,14.26,28.83
$GC,816,-0.69,-145.9,2647,3785,3922,3797,198.4,-18.0,128,822,0.00,1.70,0.00,0.000,1030,0.000,0.051,2646,2759,3858,3921,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1122,-0.69,-145.9,2647,2759,3923,3796,246.0,-14.3,159,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1422,-0.69,-145.9,2647,2760,3922,3797,288.4,-13.9,171,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1722,-0.69,-145.9,2646,2759,3921,3796,328.1,-13.1,181,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2758,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2022,-0.69,-145.9,2646,2760,3922,3797,365.8,-12.5,191,2026,0.00,2.33,0.00,0.000,516,0.000,0.064,2646,1376,3858,3921,3796,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2067,-0.69,-145.9,2646,1376,3923,3796,371.2,-12.0,200,2072,0.15,2.45,0.00,0.000,3078,0.251,0.096,2667,2759,3858,3921,3796,0,0,0,0,0,0,14.12,14.32,28.83
$GC,2384,-0.69,-145.9,2668,2757,3923,3796,405.9,-10.9,213,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2682,-0.69,-145.9,2669,2760,3921,3797,437.9,-10.7,223,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2982,-0.69,-145.9,2669,2760,3922,3797,470.4,-10.8,233,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3282,-0.69,-145.9,2670,2759,3920,3796,503.7,-11.1,243,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3582,-0.69,-145.9,2668,2758,3923,3796,535.9,-10.6,253,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-0.69,-145.9,2669,2760,3922,3797,567.4,-10.4,263,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.69,-145.9,2668,2758,3922,3796,599.2,-10.5,273,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,-0.69,-145.9,2669,2760,3922,3799,630.8,-10.5,283,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2758,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.69,-145.9,2669,2760,3922,3797,661.7,-10.2,293,4787,0.00,2.33,0.00,0.000,516,0.000,0.062,2668,1373,3858,3921,3796,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4827,-0.69,-145.9,2669,1374,3922,3797,666.2,-9.8,302,4832,0.00,2.45,0.00,0.000,1030,0.000,0.093,2663,2755,3858,3921,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5144,-0.69,-145.9,2661,2756,3917,3797,698.4,-10.2,315,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5442,-0.69,-145.9,2663,2755,3922,3796,729.0,-10.3,325,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2755,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5655,-0.13,0.0,2664,2756,3922,3797,750.5,-10.3,332,5784,0.70,0.00,126.88,1.994,10244,0.208,0.000,2848,2755,3257,3276,3238,0,0,0,0,0,0,14.09,28.83,12.97
$STATE,5785,end apogee,CONTROL_FINISHED_OK
$STATE,5785,begin climb
$GC,5788,0.69,145.9,2849,2754,3272,3234,754.4,0.0,336,5925,0.85,2.47,124.97,1.867,10756,0.101,0.060,3114,1356,2659,2662,2656,0,0,0,0,0,0,13.75,13.76,12.54
$GC,5945,0.73,202.3,3114,1356,2663,2653,748.4,8.6,370,6000,0.00,2.62,49.92,1.841,9222,0.000,0.087,3114,2742,2430,2436,2424,0,0,0,0,0,0,28.83,13.39,12.54
$GC,6316,0.73,202.3,3114,2742,2436,2416,696.8,14.3,394,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2742,2425,2435,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6616,0.73,202.3,3114,2743,2435,2417,654.1,14.3,404,6620,0.00,1.85,0.00,0.000,260,0.000,0.096,3114,3789,2425,2435,2415,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6640,0.73,202.3,3114,3789,2436,2416,650.2,15.8,409,6646,0.00,1.73,0.00,0.000,1030,0.000,0.048,3122,2741,2425,2435,2415,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6946,0.73,202.3,3122,2742,2436,2416,605.3,14.6,420,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2741,2425,2435,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7246,0.73,202.3,3122,2741,2436,2415,561.4,14.7,430,7251,0.00,2.33,0.00,0.000,516,0.000,0.064,3133,1355,2423,2431,2415,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7270,0.73,202.3,3133,1353,2436,2422,557.6,14.1,435,7277,0.00,2.45,0.00,0.000,1030,0.000,0.089,3132,2746,2424,2435,2414,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7576,0.73,202.3,3133,2747,2436,2415,510.5,15.4,446,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2747,2425,2435,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7876,0.73,202.3,3132,2747,2436,2415,464.2,15.6,456,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2747,2425,2435,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,0.73,202.3,3133,2747,2436,2415,417.6,15.5,466,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2747,2425,2435,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8476,0.73,202.3,3133,2748,2436,2416,372.5,14.8,476,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2747,2425,2435,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8778,0.73,202.3,3133,2747,2436,2415,329.0,14.7,486,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2747,2425,2435,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9076,0.73,202.3,3133,2747,2436,2415,286.8,13.4,496,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2747,2425,2435,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9376,0.73,202.3,3133,2748,2436,2416,246.5,13.5,506,9380,0.00,1.85,0.00,0.000,260,0.000,0.096,3132,3791,2425,2435,2415,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9446,0.73,202.3,3133,3793,2436,2416,236.2,14.5,520,9450,0.00,1.70,0.00,0.000,1030,0.000,0.048,3140,2731,2425,2435,2415,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9756,0.76,241.8,3140,2734,2437,2415,202.6,9.5,552,9797,0.00,2.38,33.33,1.287,8708,0.000,0.063,3151,1367,2266,2267,2265,0,0,0,0,0,0,28.83,14.22,13.61
$GC,9829,0.77,257.1,3152,1368,2268,2265,195.3,10.8,566,9848,0.00,2.45,13.02,1.338,9222,0.000,0.090,3150,2738,2209,2210,2208,0,0,0,0,0,0,28.83,14.16,13.54
$GC,10147,0.79,293.3,3152,2739,2210,2203,160.8,9.7,600,10183,0.00,2.42,31.58,1.272,8708,0.000,0.063,3161,1363,2057,2059,2056,0,0,0,0,0,0,28.83,14.24,13.57
$GC,10208,0.80,298.2,3162,1362,2060,2055,154.0,11.4,611,10219,0.00,2.45,2.88,1.037,9222,0.000,0.089,3160,2734,2047,2054,2040,0,0,0,0,0,0,28.83,14.20,13.31
$GC,10520,0.80,307.1,3161,2734,2060,2039,117.9,11.2,643,10530,0.00,0.00,7.93,1.262,8710,0.000,0.000,3160,2734,2003,2011,1996,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10828,0.82,330.2,3161,2734,2012,1988,84.8,10.4,675,10839,0.00,0.00,10.12,0.439,8198,0.000,0.000,3160,2734,1909,1913,1906,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11138,0.88,421.1,3161,2735,1922,1906,60.5,6.8,706,11184,0.00,2.42,41.40,0.369,8708,0.000,0.064,3164,1367,1540,1552,1528,0,0,0,0,0,0,28.83,14.16,13.92
$GC,11206,0.94,508.7,3165,1367,1553,1527,56.1,7.0,718,11250,0.00,2.47,39.90,0.353,9222,0.000,0.091,3164,2745,1182,1204,1161,0,0,0,0,0,0,28.83,14.16,13.88
$GC,11549,1.00,595.5,3165,2746,1203,1147,29.9,7.0,757,11595,0.17,2.40,39.17,0.275,10756,0.105,0.065,3246,1357,827,832,823,0,0,0,0,0,0,14.21,14.18,13.95
$GC,11685,1.08,709.2,3247,1357,832,825,20.8,5.6,784,11731,0.00,2.47,37.75,0.262,9222,0.000,0.089,3246,2734,498,447,549,0,0,0,0,0,0,28.83,14.09,13.91
$FREEZE,8.58,-1.416,-1.413,2,23,0
$STATE,11868,end climb,FINISH_DEPTH_REACHED
$STATE,11868,begin subsurface finish
$FINISH1,8.6,1.020761,374
$GC,11873,0.26,374.4,3247,2735,441,551,8.6,6.9,807,11910,0.90,2.42,-28.60,0.000,20996,0.160,0.086,2986,1364,1735,1789,1682,0,0,0,0,0,0,14.02,14.14,14.41
$FINISH2,9.1
$STATE,11911,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11911,begin surface
$RAFOS_CLK,159
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14059.14,190914,234921
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.92
$INTERNAL_PRESSURE,8.67023
$TCM_TEMP,13.20
$XPDR_PINGS,13
$SC_FREEKB,3756736
$24V_AH,12.54,127.314
$10V_AH,12.62,0.000
$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,3.675,58.075,558.850,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,0.000,9643.582,557.190,1655.085,175.868,0.000,1233.717,0.000,1233.376,1470.000,0.539,0.000
$DEVICE_MAMPS,250.920,123.930,1993.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.408,0.000,0.000,0.000
$MEM,129076
$DATA_FILE_SIZE,26721,814
$CAP_FILE_SIZE,126034,0
$CFSIZE,2097872896,2013888512
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5652.61,0x2378b6,2,5
$INTR,1,11870.77,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376