version: 66.12
glider: 196
mission: 7
dive: 225
start: 8 27 114 13 2 40
data:
$ID,196
$MISSION,7
$DIVE,225
$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,-1
$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,9
$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,-5295.3647
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,270814,092954,7333.765,-14509.069,5,0.9,26,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,7.5
$GPS2,270814,092954,7333.765,-14509.069,5,0.9,26,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7400.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,336.6,48589,-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,16,-0.69,-145.9,3241,2761,451,550,0.0,0.0,0,100,0.00,0.00,-82.00,0.000,16386,0.000,0.000,3240,2762,2599,2657,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.69,-145.9,3241,2765,2658,2546,3.2,-3.0,8,140,1.88,0.00,-33.30,0.000,20742,0.153,0.000,2677,2762,3855,3922,3788,0,0,0,0,0,0,14.35,28.83,14.64
$GC,438,-0.69,-145.9,2679,2763,3922,3795,92.5,-20.8,43,443,0.00,2.35,0.00,0.000,516,0.000,0.067,2677,1373,3858,3922,3794,0,0,0,0,0,0,28.83,14.41,28.83
$GC,472,-0.69,-145.9,2678,1373,3923,3795,99.4,-19.0,50,479,0.00,2.47,0.00,0.000,1030,0.000,0.098,2669,2758,3857,3922,3793,0,0,0,0,0,0,28.83,14.35,28.83
$GC,778,-0.69,-145.9,2670,2759,3923,3795,157.8,-18.7,81,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2758,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1078,-0.69,-145.9,2670,2758,3923,3794,209.6,-16.4,111,1083,0.00,2.35,0.00,0.000,516,0.000,0.067,2669,1366,3858,3922,3794,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1122,-0.69,-145.9,2670,1366,3924,3794,216.6,-14.7,120,1129,0.00,2.47,0.00,0.000,1030,0.000,0.099,2663,2759,3858,3922,3794,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1438,-0.69,-145.9,2663,2761,3922,3795,263.8,-14.3,146,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-0.69,-145.9,2663,2760,3923,3794,304.4,-13.2,156,1743,0.00,1.85,0.00,0.000,260,0.000,0.105,2656,3789,3858,3922,3794,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1768,-0.69,-145.9,2657,3790,3923,3795,308.8,-15.0,162,1773,0.00,1.70,0.00,0.000,1030,0.000,0.054,2656,2757,3858,3922,3794,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2099,-0.69,-145.9,2653,2757,3923,3794,353.0,-13.0,178,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2757,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2398,-0.69,-145.9,2657,2758,3923,3795,392.2,-13.1,188,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2757,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.69,-145.9,2657,2757,3923,3794,430.8,-12.7,198,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2757,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,-0.69,-145.9,2657,2758,3922,3794,468.9,-12.7,208,3003,0.00,2.30,0.00,0.000,516,0.000,0.067,2656,1372,3858,3922,3794,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3037,-0.69,-145.9,2657,1372,3923,3794,473.8,-11.5,216,3043,0.00,2.45,0.00,0.000,1030,0.000,0.099,2650,2765,3858,3922,3794,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3359,-0.69,-145.9,2651,2766,3923,3795,515.3,-12.8,230,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3658,-0.69,-145.9,2650,2766,3923,3794,553.5,-12.7,240,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,-0.69,-145.9,2651,2765,3923,3794,591.0,-12.5,250,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2766,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4258,-0.69,-145.9,2649,2765,3927,3794,628.2,-12.3,260,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2766,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4558,-0.69,-145.9,2651,2766,3922,3795,665.4,-12.3,270,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2766,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4858,-0.69,-145.9,2651,2766,3922,3795,701.7,-12.2,280,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2762,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5158,-0.69,-145.9,2651,2766,3923,3794,737.6,-12.0,290,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5276,begin apogee
$GC,5280,-0.13,0.0,2651,2767,3922,3795,751.9,-11.9,294,5409,0.73,0.00,126.18,2.013,10246,0.229,0.000,2843,2766,3257,3278,3237,0,0,0,0,0,0,14.45,28.83,13.12
$STATE,5410,end apogee,CONTROL_FINISHED_OK
$STATE,5410,begin climb
$GC,5411,0.69,145.9,2845,2767,3274,3234,755.3,0.0,298,5541,0.90,0.00,125.60,1.836,10502,0.123,0.000,3111,2766,2659,2665,2654,0,0,0,0,0,0,13.79,28.83,12.70
$GC,5818,0.69,145.9,3112,2767,2664,2645,713.8,13.2,317,5823,0.00,1.90,0.00,0.000,260,0.000,0.096,3111,3789,2654,2664,2645,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5842,0.69,145.9,3112,3789,2664,2646,710.1,14.4,322,5849,0.00,1.77,0.00,0.000,1030,0.000,0.050,3116,2747,2654,2663,2645,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6148,0.69,145.9,3118,2748,2664,2645,668.6,13.5,333,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,0.69,145.9,3117,2748,2664,2644,628.9,13.2,343,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6748,0.69,145.9,3117,2747,2665,2644,589.5,13.0,353,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7048,0.69,145.9,3118,2747,2664,2645,550.4,13.0,363,7053,0.00,1.85,0.00,0.000,260,0.000,0.098,3117,3780,2653,2663,2644,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7092,0.69,145.9,3118,3781,2664,2645,543.9,15.2,372,7098,0.00,1.70,0.00,0.000,1030,0.000,0.051,3124,2742,2655,2664,2647,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7409,0.69,145.9,3125,2742,2664,2645,502.4,13.0,385,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,0.69,145.9,3125,2741,2665,2643,463.1,13.1,395,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8008,0.69,145.9,3126,2742,2664,2645,423.8,13.1,405,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8308,0.69,145.9,3126,2741,2665,2645,385.1,12.8,415,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8608,0.69,145.9,3125,2740,2664,2639,346.8,12.8,425,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8908,0.69,145.9,3126,2742,2665,2645,309.7,12.2,435,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9208,0.70,156.5,3125,2741,2665,2644,275.5,11.1,445,9223,0.00,1.88,9.68,1.343,8452,0.000,0.103,3125,3786,2614,2624,2604,0,0,0,0,0,0,28.83,14.55,13.97
$GC,9248,0.70,156.5,3124,3786,2623,2605,270.7,12.5,453,9253,0.00,1.73,0.00,0.000,1030,0.000,0.051,3132,2735,2613,2622,2604,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9558,0.72,185.6,3133,2736,2623,2605,236.9,10.1,474,9590,0.00,2.38,24.15,1.258,8708,0.000,0.067,3143,1358,2496,2501,2492,0,0,0,0,0,0,28.83,14.43,13.88
$GC,9609,0.75,225.8,3144,1358,2501,2493,232.0,9.5,482,9651,0.00,2.45,34.22,1.248,9222,0.000,0.091,3143,2749,2332,2332,2332,0,0,0,0,0,0,28.83,14.42,13.69
$GC,9949,0.76,246.3,3144,2750,2331,2326,192.0,10.5,520,9971,0.00,0.00,17.38,1.252,8198,0.000,0.000,3143,2749,2248,2251,2246,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10271,0.77,267.3,3150,2750,2252,2241,156.5,10.5,552,10291,0.00,0.00,18.48,1.214,8198,0.000,0.000,3143,2749,2165,2169,2162,0,0,0,0,0,0,28.83,28.83,13.75
$GC,10602,0.80,299.6,3144,2750,2167,2154,123.6,9.9,584,10635,0.00,2.45,26.40,1.180,8708,0.000,0.068,3151,1355,2029,2032,2027,0,0,0,0,0,0,28.83,14.23,13.72
$GC,10666,0.83,344.1,3153,1355,2031,2025,116.3,9.3,597,10707,0.00,2.47,35.17,1.202,9222,0.000,0.093,3152,2742,1852,1850,1855,0,0,0,0,0,0,28.83,14.21,13.54
$GC,11005,0.84,360.8,3151,2742,1849,1839,78.9,10.7,635,11016,0.00,0.00,6.47,0.412,8198,0.000,0.000,3153,2742,1788,1791,1786,0,0,0,0,0,0,28.83,28.83,13.91
$GC,11315,0.92,476.4,3154,2743,1801,1786,52.3,5.5,666,11370,0.12,0.00,52.78,0.341,10246,0.129,0.000,3202,2742,1314,1326,1303,0,0,0,0,0,0,14.25,28.83,13.95
$GC,11665,0.97,545.9,3203,2741,1330,1288,21.4,7.9,701,11701,0.00,2.40,31.33,0.265,8708,0.000,0.067,3208,1357,1029,1035,1024,0,0,0,0,0,0,28.83,14.13,14.01
$GC,11747,1.05,660.7,3209,1362,1037,1021,16.2,5.5,717,11807,0.00,2.50,52.33,0.243,9222,0.000,0.091,3208,2748,561,524,599,0,0,0,0,0,0,28.83,14.12,13.98
$FREEZE,8.51,-1.059,-1.428,2,2,0
$FREEZE,7.88,-1.084,-1.427,2,2,0
$FREEZE,7.39,-1.104,-1.426,2,2,0
$FREEZE,6.81,-1.115,-1.425,2,2,0
$FREEZE,6.20,-1.131,-1.424,2,2,0
$FREEZE,5.67,-1.132,-1.422,2,2,0
$FREEZE,5.07,-1.179,-1.421,2,2,0
$FREEZE,4.47,-1.184,-1.420,2,2,0
$FREEZE,3.99,-1.187,-1.419,2,2,0
$FREEZE,3.40,-1.190,-1.419,2,2,0
$FREEZE,2.87,-1.197,-1.418,2,2,0
$FREEZE,2.27,-1.191,-1.418,2,2,0
$FREEZE,1.68,-1.192,-1.417,2,2,0
$STATE,11994,end climb,SURFACE_DEPTH_REACHED
$STATE,11994,begin surface coast
$FREEZE,1.10,-1.194,-1.417,2,2,0
$FREEZE,0.82,-1.196,-1.416,2,2,0
$FREEZE,0.69,-1.196,-0.074,2,2,0
$FINISH,0.7,1.000835
$STATE,12025,end surface coast,FINISH_DEPTH_REACHED
$STATE,12025,begin surface
$SM_CCo,12041,6.82,0.212,0,0,499,676.54
$SM_GC,2.78,9.32,0.00,6.82,0.085,0.000,0.212,200,2748,499,-8.37,-0.34,676.54,0,0,0,0,0,0,14.26,28.83,14.11
$RAFOS_CLK,77
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14504.84,270814,060301
$TT8_MAMPS,0.080892,0.080892
$HUMID,42.51
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,9
$SC_FREEKB,3837856
$24V_AH,12.70,68.056
$10V_AH,13.04,0.000
$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,12.950,43.475,560.150,6.825,0.000,0.000,0.000,0.000,2.250,0.000,0.000,0.000,9816.229,674.115,1549.784,119.852,0.000,1280.106,0.000,1125.111,1493.000,0.540,0.000
$DEVICE_MAMPS,228.735,248.625,2012.715,211.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12062.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.219,0.000,0.000,0.000
$MEM,233864
$DATA_FILE_SIZE,26734,751
$CAP_FILE_SIZE,122593,0
$CFSIZE,2097872896,2048163840
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,123.23,0x234482,0,24
$INTR,1,5277.50,0x2378b6,2,5
$INTR,2,12028.40,0x2378b6,7,5
$SOUNDSPEED,1448.5
$GPS,270814,162454,7337.065,-14509.744,36,0.8,56,22.8