version: 66.13
glider: 199
mission: 7
dive: 281
start: 11 27 118 20 5 12
data:
$ID,199
$MISSION,7
$DIVE,281
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,11400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53675
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019
$HD_B,0.016000001
$HD_C,1.2e-06
$HEADING,190
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,10
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2070
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,0
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2943
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,400
$LOITER_D_TOP,120
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.83926
$PRESSURE_SLOPE,0.00010895507
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,6
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.6
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043925666
$SEABIRD_T_H,0.0006320356
$SEABIRD_T_I,2.5405934e-05
$SEABIRD_T_J,3.1033937e-06
$SEABIRD_C_G,-9.8267241
$SEABIRD_C_H,1.1324162
$SEABIRD_C_I,-0.0020002997
$SEABIRD_C_J,0.00022812413
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,271118,200207,7122.6772,-15119.6816,0,1001.0,0,19.7,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.54
$_SM_ANGLEo,-3.6
$GPS2,271118,200207,7122.6772,-15119.6816,0,1001.0,0,19.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.159,0.205
$TGT_NAME,HEADING
$TGT_LATLONG,7112.042,-15125.501
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,170.3,20000,-15.7,-9.167,-24.11,2445
$D_GRID,990
$EXEC,0,999,2,0.000000,0.000000
$EXEC,1,101,2,3011900.000000,0.000000
$EXEC,2,911,16,245.000000,0.000000
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-0.73,-146.0,2119,2760,2478,2323,0.0,0.0,0,45,0.00,0.00,-29.10,0.005,16390,0.000,0.000,2118,2760,3540,3616,3464,0,0,0,0,0,0,14.53,12.85,14.53
$GC,48,-0.73,-146.0,2118,2761,3617,3466,13.1,-4.6,3,54,0.95,2.03,0.00,0.000,4356,0.173,0.188,1837,3780,3540,3616,3465,0,0,0,0,0,0,14.12,14.10,14.23
$GC,139,-0.73,-146.0,1838,3781,3617,3467,25.2,-12.5,21,144,0.00,1.95,0.00,0.000,1030,0.000,0.135,1837,2739,3541,3616,3466,0,0,0,0,0,0,14.32,14.17,14.35
$GC,329,-0.73,-146.0,1837,2740,3617,3468,49.8,-14.0,41,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2739,3541,3616,3467,0,0,0,0,0,0,14.55,14.57,14.57
$GC,509,-0.73,-146.0,1838,2738,3617,3467,77.4,-15.5,59,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2739,3541,3616,3467,0,0,0,0,0,0,14.56,14.58,14.57
$GC,689,-0.73,-146.0,1837,2740,3617,3468,98.9,-10.9,77,694,0.00,2.60,0.00,0.000,516,0.000,0.121,1837,1327,3541,3616,3467,0,0,0,0,0,0,14.57,14.19,14.58
$GC,919,-0.73,-146.0,1839,1327,3617,3467,117.4,-6.7,123,924,0.00,2.80,0.00,0.000,1030,0.000,0.156,1828,2760,3541,3616,3467,0,0,0,0,0,0,14.33,14.11,14.37
$GC,1109,-0.73,-146.0,1829,2760,3617,3467,132.1,-8.3,143,1114,0.00,2.67,0.00,0.000,516,0.000,0.123,1828,1325,3541,3615,3467,0,0,0,0,0,0,14.56,14.18,14.58
$GC,1170,-0.73,-146.0,1829,1327,3617,3467,137.5,-8.8,155,1175,0.00,2.80,0.00,0.000,1030,0.000,0.157,1821,2757,3541,3616,3466,0,0,0,0,0,0,14.32,14.11,14.36
$GC,1360,-0.73,-146.0,1821,2761,3617,3467,153.9,-8.5,175,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2760,3541,3616,3467,0,0,0,0,0,0,14.56,14.59,14.57
$GC,1540,-0.73,-146.0,1821,2761,3617,3469,168.3,-8.1,193,1545,0.00,2.67,0.00,0.000,516,0.000,0.122,1821,1326,3541,3616,3467,0,0,0,0,0,0,14.56,14.17,14.57
$GC,1590,-0.73,-146.0,1821,1327,3617,3468,172.1,-8.2,203,1595,0.00,2.80,0.00,0.000,1030,0.000,0.156,1812,2757,3541,3616,3467,0,0,0,0,0,0,14.31,14.10,14.36
$GC,1781,-0.73,-146.0,1813,2757,3617,3467,176.2,0.0,223,1786,0.00,2.65,0.00,0.000,548,0.000,0.119,1812,1332,3539,3616,3462,0,0,0,0,0,0,14.55,14.17,14.57
$STATE,1799,end dive,NO_VERTICAL_VELOCITY
$STATE,1799,begin apogee
$GC,1807,-0.19,0.0,1813,2602,3617,3466,176.2,0.0,227,1926,0.68,0.00,115.80,1.632,10246,0.158,0.000,2010,2602,2942,3042,2842,0,0,0,0,0,0,14.16,13.82,13.10
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1929,0.73,146.0,2011,2602,3037,2836,176.1,0.0,239,2055,1.00,2.55,116.85,1.540,10500,0.165,0.181,2297,3771,2341,2448,2234,0,0,0,0,0,0,13.74,13.31,12.74
$GC,2280,0.73,146.0,2298,3771,2449,2223,146.8,9.8,305,2285,0.00,2.25,0.00,0.000,1030,0.000,0.129,2304,2595,2336,2448,2224,0,0,0,0,0,0,14.00,13.88,14.04
$GC,2470,0.73,146.0,2304,2594,2449,2220,129.7,9.2,325,2475,0.00,2.38,0.00,0.000,260,0.000,0.179,2304,3777,2332,2443,2221,0,0,0,0,0,0,14.42,13.99,14.43
$GC,2701,0.73,146.0,2304,3778,2448,2221,106.8,9.1,371,2706,0.00,2.20,0.00,0.000,1030,0.000,0.129,2311,2590,2333,2446,2220,0,0,0,0,0,0,14.38,14.23,14.41
$GC,2891,0.80,146.0,2312,2590,2449,2219,92.8,6.8,391,2896,0.00,2.60,0.00,0.000,580,0.000,0.122,2322,1170,2333,2448,2219,0,0,0,0,0,0,14.62,14.24,14.64
$GC,3077,0.88,146.0,2322,1172,2449,2219,79.2,6.5,428,3083,0.00,2.75,0.00,0.000,1094,0.000,0.145,2322,2612,2333,2448,2218,0,0,0,0,0,0,14.42,14.21,14.48
$GC,3262,0.99,252.3,2322,2612,2449,2218,70.4,4.7,447,3352,0.17,2.80,82.60,1.461,10788,0.107,0.122,2406,1180,1906,2007,1806,0,0,0,0,0,0,14.42,13.95,13.35
$GC,3517,0.99,252.3,2406,1178,2002,1800,45.7,11.1,496,3523,0.00,2.78,0.00,0.000,1030,0.000,0.143,2406,2611,1900,2001,1799,0,0,0,0,0,0,14.25,14.07,14.31
$GC,3702,1.04,252.3,2407,2612,2002,1796,28.3,7.3,515,3703,0.00,0.00,0.00,0.000,70,0.000,0.000,2406,2611,1898,2001,1796,0,0,0,0,0,0,14.57,14.59,14.59
$GC,3882,1.16,252.3,2407,2611,2002,1794,17.0,5.2,533,3887,0.12,2.65,0.00,0.000,2628,0.130,0.122,2477,1183,1898,2001,1795,0,0,0,0,0,0,14.38,14.22,14.42
$FREEZE,9.91,-1.606,-1.700,2,90,0
$STATE,4008,end climb,FINISH_DEPTH_REACHED
$STATE,4008,begin subsurface finish
$FINISH1,9.9,1.024896,133
$GC,4016,0.13,132.7,2478,2608,2001,1794,9.9,6.6,558,4039,1.35,2.72,-16.48,0.008,20996,0.250,0.144,2120,1180,2403,2482,2324,0,0,0,0,0,0,14.09,12.88,14.27
$FINISH2,9.1
$STATE,4040,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4040,begin surface
$RAFOS_CLK,170
$RAFOS_FIX,7122.412109,-15119.755859,271118,212159,0,1,0.12
$IRIDIUM_FIX,7126.12,-15113.13,271118,131911
$TT8_MAMPS,0.038948,0.272636
$HUMID,50.98
$INTERNAL_PRESSURE,9.60812
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.8
$24V_AH,12.74,119.476
$10V_AH,13.02,0.000
$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,4.275,57.050,315.250,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,2570.320,347.557,1124.057,113.446,0.000,797.777,0.000,809.597,0.000,2.533,0.000
$DEVICE_MAMPS,250.155,188.190,1631.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.470,30.200,36.190,0.000,9.500,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4066.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.290,0.000,0.000,0.000
$MEM,334564
$DATA_FILE_SIZE,20063,562
$CAP_FILE_SIZE,56664,0
$CFSIZE,2097872896,2034270208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.5
$GPS,271118,211159,7122.412,-15119.756,0,1001.0,0,19.7,0.0,0.0,0,0.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,231