version: 66.12
glider: 196
mission: 7
dive: 241
start: 8 29 114 20 44 6
data:
$ID,196
$MISSION,7
$DIVE,241
$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,-5676.4487
$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,55
$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
$GPS1,290814,171902,7353.119,-14426.769,5,0.8,26,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,0.2
$GPS2,290814,171902,7353.119,-14426.769,5,0.8,26,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.4,96546,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-145.9,3261,2734,443,551,0.0,0.0,0,99,0.00,0.00,-81.38,0.000,16386,0.000,0.000,3259,2733,2594,2650,2539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.69,-145.9,3260,2734,2651,2541,3.3,-3.7,8,139,1.88,0.00,-34.20,0.000,20998,0.121,0.000,2674,2734,3858,3921,3795,0,0,0,0,0,0,14.27,28.83,14.57
$GC,438,-0.69,-145.9,2675,2734,3922,3795,96.7,-21.9,43,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2733,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.69,-145.9,2675,2734,3922,3796,155.9,-18.0,73,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2734,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1037,-0.69,-145.9,2675,2733,3922,3795,207.1,-16.0,103,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2733,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1357,-0.69,-145.9,2675,2734,3922,3796,254.7,-13.9,133,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2733,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1657,-0.69,-145.9,2675,2733,3922,3796,294.9,-13.0,143,1662,0.00,1.88,0.00,0.000,260,0.000,0.103,2665,3780,3858,3921,3795,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1681,-0.69,-145.9,2666,3781,3922,3797,298.4,-14.2,148,1688,0.00,1.67,0.00,0.000,1030,0.000,0.055,2665,2763,3858,3921,3795,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1987,-0.69,-145.9,2667,2763,3921,3796,338.5,-13.0,159,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2763,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2287,-0.69,-145.9,2666,2763,3922,3796,376.1,-12.5,169,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2762,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2587,-0.69,-145.9,2666,2763,3922,3795,413.3,-12.4,179,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2763,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,-0.69,-145.9,2666,2763,3922,3795,449.7,-12.1,189,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3187,-0.69,-145.9,2666,2762,3922,3795,485.3,-11.9,199,3192,0.00,2.30,0.00,0.000,516,0.000,0.065,2665,1372,3858,3921,3795,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3232,-0.69,-145.9,2666,1372,3921,3796,490.5,-10.9,208,3237,0.00,2.45,0.00,0.000,1030,0.000,0.098,2662,2771,3858,3921,3795,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3548,-0.69,-145.9,2663,2766,3922,3796,528.5,-12.0,221,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.69,-145.9,2663,2765,3922,3795,564.1,-11.8,231,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4147,-0.69,-145.9,2664,2766,3921,3796,598.8,-11.7,241,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4447,-0.69,-145.9,2664,2766,3922,3796,633.4,-11.6,251,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-0.69,-145.9,2664,2766,3921,3796,668.0,-11.5,261,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5047,-0.69,-145.9,2664,2765,3922,3796,702.3,-11.4,271,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5347,-0.69,-145.9,2664,2765,3922,3796,735.9,-11.2,281,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2765,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5495,begin apogee
$GC,5499,-0.13,0.0,2664,2765,3921,3796,752.5,-11.0,286,5628,0.68,0.00,125.93,1.992,10246,0.216,0.000,2846,2765,3257,3277,3238,0,0,0,0,0,0,14.45,28.83,13.13
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5630,0.69,145.9,2846,2765,3274,3234,756.2,0.0,290,5763,0.90,2.62,124.80,1.832,10756,0.116,0.064,3125,1348,2657,2662,2653,0,0,0,0,0,0,13.81,13.35,12.69
$GC,5818,0.69,145.9,3125,1349,2662,2651,743.8,12.4,320,5824,0.00,2.62,0.00,0.000,1030,0.000,0.089,3125,2744,2655,2661,2649,0,0,0,0,0,0,28.83,13.58,28.83
$GC,6128,0.69,145.9,3126,2745,2661,2649,699.8,14.2,332,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2654,2661,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6428,0.69,145.9,3125,2745,2662,2648,657.6,13.9,342,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2654,2660,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6728,0.69,145.9,3127,2746,2661,2649,615.9,13.7,352,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2660,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7029,0.69,145.9,3126,2746,2661,2649,574.8,13.6,362,7033,0.00,1.85,0.00,0.000,260,0.000,0.098,3125,3779,2654,2661,2647,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7063,0.69,145.9,3126,3779,2662,2648,569.4,15.9,369,7069,0.00,1.73,0.00,0.000,1030,0.000,0.049,3130,2729,2654,2661,2647,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7390,0.69,145.9,3133,2729,2662,2647,524.0,13.8,384,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2729,2654,2661,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,0.69,145.9,3134,2730,2662,2648,482.5,13.8,394,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2729,2653,2660,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7989,0.69,145.9,3133,2730,2662,2648,441.3,13.6,404,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2729,2654,2661,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8288,0.69,145.9,3134,2729,2671,2647,400.4,13.5,414,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2729,2654,2661,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8589,0.69,145.9,3133,2730,2662,2647,360.2,13.2,424,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2729,2654,2661,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,0.69,145.9,3134,2730,2662,2648,321.6,12.7,434,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2729,2654,2661,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9189,0.69,145.9,3134,2730,2662,2648,284.6,12.1,444,9194,0.00,2.30,0.00,0.000,516,0.000,0.065,3143,1344,2654,2661,2647,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9228,0.71,172.0,3144,1343,2663,2646,280.3,10.2,452,9255,0.00,2.45,21.95,1.321,9222,0.000,0.091,3143,2751,2554,2557,2551,0,0,0,0,0,0,28.83,14.57,13.90
$GC,9559,0.71,173.0,3144,2751,2554,2542,239.0,11.6,476,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2751,2547,2553,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9859,0.75,229.6,3144,2752,2554,2544,210.5,8.6,506,9911,0.00,1.90,47.65,1.257,8452,0.000,0.099,3143,3782,2316,2314,2318,0,0,0,0,0,0,28.83,14.25,13.68
$GC,9951,0.75,229.6,3144,3783,2311,2318,200.9,12.4,524,9956,0.00,1.73,0.00,0.000,1030,0.000,0.049,3151,2747,2313,2311,2316,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10262,0.77,255.6,3152,2747,2313,2311,166.9,10.2,556,10293,0.00,2.42,21.83,1.225,8708,0.000,0.065,3162,1353,2209,2209,2210,0,0,0,0,0,0,28.83,14.29,13.74
$GC,10347,0.78,268.5,3163,1354,2209,2209,157.8,10.9,573,10364,0.00,2.47,11.77,1.234,9222,0.000,0.093,3162,2741,2158,2157,2160,0,0,0,0,0,0,28.83,14.29,13.74
$GC,10663,0.79,286.8,3162,2740,2158,2151,121.5,10.7,606,10683,0.00,0.00,14.20,1.180,8198,0.000,0.000,3162,2741,2083,2086,2080,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10983,0.82,328.1,3163,2741,2086,2075,87.8,9.4,638,11004,0.00,0.00,17.77,0.454,8198,0.000,0.000,3162,2740,1919,1916,1923,0,0,0,0,0,0,28.83,28.83,13.98
$GC,11303,0.86,391.5,3163,2741,1924,1921,58.2,8.3,670,11338,0.00,2.42,28.77,0.359,8708,0.000,0.067,3170,1361,1660,1663,1657,0,0,0,0,0,0,28.83,14.25,14.02
$GC,11418,0.94,504.7,3169,1361,1662,1655,49.9,5.6,693,11475,0.00,2.47,50.42,0.336,9222,0.000,0.093,3170,2745,1199,1215,1183,0,0,0,0,0,0,28.83,14.25,13.97
$GC,11776,1.02,613.9,3170,2744,1220,1170,26.5,5.8,734,11828,0.17,0.00,49.45,0.278,10758,0.108,0.000,3245,2745,754,740,768,0,0,0,0,0,0,14.28,28.83,14.02
$FREEZE,8.21,-1.299,-1.441,2,2,0
$FREEZE,7.38,-1.321,-1.440,2,2,0
$FREEZE,6.57,-1.333,-1.439,2,2,0
$FREEZE,5.63,-1.338,-1.438,2,2,0
$FREEZE,4.83,-1.337,-1.437,2,2,0
$FREEZE,4.00,-1.341,-1.436,2,2,0
$FREEZE,3.22,-1.341,-1.436,2,2,0
$FREEZE,2.52,-1.344,-1.435,2,2,0
$FREEZE,1.85,-1.334,-1.434,2,2,0
$STATE,12065,end climb,SURFACE_DEPTH_REACHED
$STATE,12065,begin surface coast
$FREEZE,1.78,-1.312,-1.433,2,2,0
$FREEZE,1.80,-1.349,-1.435,2,2,0
$FINISH,1.8,1.021150
$STATE,12085,end surface coast,CONTROL_FINISHED_OK
$STATE,12085,begin surface
$SM_CCo,12107,29.08,0.203,0,0,499,676.78
$SM_GC,3.27,9.48,0.00,29.08,0.089,0.000,0.203,199,2746,499,-8.35,-0.40,676.78,0,0,0,0,0,0,14.31,28.83,14.13
$RAFOS_CLK,24
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14431.34,290814,134349
$TT8_MAMPS,0.080143,0.080143
$HUMID,44.01
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3830688
$24V_AH,12.69,73.190
$10V_AH,12.91,0.000
$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,13.100,35.300,514.550,29.075,0.000,0.000,0.000,0.000,1.000,0.000,0.000,0.000,9932.375,622.735,1568.203,123.801,0.000,1236.527,0.000,1144.693,1433.000,0.539,0.000
$DEVICE_MAMPS,216.495,103.275,1992.060,202.725,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.390,0.000,0.000,0.000
$MEM,224996
$DATA_FILE_SIZE,26752,766
$CAP_FILE_SIZE,120189,0
$CFSIZE,2097872896,2045149184
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12287.34,0x2378b6,7,5
$INTR,1,5497.43,0x2378b6,2,5
$INTR,2,12095.00,0x2378b6,7,5
$SOUNDSPEED,1448.9
$GPS,290814,171902,7353.119,-14426.769,5,0.8,26,23.1