version: 66.12
glider: 196
mission: 7
dive: 252
start: 8 31 114 10 59 39
data:
$ID,196
$MISSION,7
$DIVE,252
$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,-5685.2686
$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,61
$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
$GPS1,310814,105225,7344.743,-14451.985,34,0.9,54,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.3
$GPS2,310814,105919,7344.776,-14451.992,5,1.1,25,23.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,203.7,12892,-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,-145.9,203,2738,437,550,0.0,0.0,0,89,0.00,0.00,-71.47,0.000,16386,0.000,0.000,202,2738,2249,2259,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,203,2738,2261,2241,3.6,-3.4,7,140,12.10,2.38,-29.08,0.000,18948,0.397,0.090,2669,1385,3858,3921,3795,0,0,0,0,0,0,13.98,14.23,14.47
$GC,260,-0.69,-145.9,2670,1385,3922,3798,57.4,-25.9,41,265,0.00,2.45,0.00,0.000,1030,0.000,0.094,2660,2758,3859,3921,3797,0,0,0,0,0,0,28.83,14.22,28.83
$GC,570,-0.69,-145.9,2661,2758,3922,3797,130.1,-21.3,73,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2758,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,870,-0.69,-145.9,2661,2758,3923,3797,189.3,-19.0,103,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2758,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.69,-145.9,2661,2758,3922,3797,240.9,-15.8,133,1175,0.00,2.33,0.00,0.000,516,0.000,0.064,2660,1376,3859,3921,3797,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1210,-0.69,-145.9,2661,1376,3922,3797,246.8,-13.9,141,1215,0.00,2.50,0.00,0.000,1030,0.000,0.097,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1541,-0.69,-145.9,2650,2775,3922,3798,296.9,-14.7,155,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.69,-145.9,2651,2776,3922,3799,340.4,-14.3,165,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2140,-0.69,-145.9,2650,2776,3921,3797,382.8,-14.0,175,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2772,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.69,-145.9,2650,2775,3922,3797,424.1,-13.8,185,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.69,-145.9,2650,2776,3922,3798,464.5,-13.5,195,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3040,-0.69,-145.9,2648,2776,3922,3798,504.6,-13.3,205,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,-0.69,-145.9,2648,2776,3918,3799,544.0,-13.1,215,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.69,-145.9,2650,2776,3922,3798,582.8,-12.9,225,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3940,-0.69,-145.9,2649,2775,3922,3797,620.9,-12.6,235,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4240,-0.69,-145.9,2650,2776,3922,3798,658.8,-12.7,245,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-0.69,-145.9,2650,2776,3922,3798,696.8,-12.7,255,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.69,-145.9,2648,2776,3922,3798,734.7,-12.6,265,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2775,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4992,-0.13,0.0,2650,2775,3922,3798,753.7,-12.7,270,5123,0.75,0.00,127.55,2.001,10244,0.224,0.000,2847,2775,3255,3275,3236,0,0,0,0,0,0,14.20,28.83,13.02
$STATE,5124,end apogee,CONTROL_FINISHED_OK
$STATE,5124,begin climb
$GC,5125,0.69,145.9,2847,2775,3274,3233,757.4,0.0,274,5256,0.85,0.00,124.88,1.833,11270,0.117,0.000,3107,2772,2659,2666,2653,0,0,0,0,0,0,13.71,28.83,12.62
$GC,5561,0.69,145.9,3108,2775,2666,2643,713.6,12.9,314,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2775,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,0.69,145.9,3107,2775,2666,2644,675.5,12.6,324,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2775,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6161,0.69,145.9,3108,2776,2665,2644,637.5,12.6,334,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2775,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,0.69,145.9,3108,2775,2665,2644,599.7,12.6,344,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2775,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6761,0.69,145.9,3108,2776,2665,2644,562.1,12.5,354,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2772,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,0.69,145.9,3108,2776,2665,2643,524.5,12.5,364,7066,0.00,2.38,0.00,0.000,516,0.000,0.064,3118,1357,2653,2664,2642,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7096,0.69,145.9,3119,1358,2665,2644,520.3,12.1,371,7101,0.00,2.42,0.00,0.000,1030,0.000,0.091,3118,2745,2654,2665,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7422,0.69,145.9,3118,2747,2666,2643,478.5,12.9,386,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2745,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,0.69,145.9,3119,2746,2665,2644,440.6,12.5,396,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2745,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8021,0.69,145.9,3119,2744,2666,2643,403.7,12.3,406,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2745,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8321,0.69,145.9,3118,2745,2666,2643,366.4,12.4,416,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2745,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,0.69,145.9,3119,2745,2666,2643,329.8,12.0,426,8626,0.00,1.85,0.00,0.000,260,0.000,0.099,3118,3787,2653,2665,2642,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8641,0.69,145.9,3119,3787,2666,2643,327.2,12.9,430,8646,0.00,1.70,0.00,0.000,1030,0.000,0.050,3125,2742,2653,2665,2642,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8952,0.69,146.1,3126,2743,2666,2643,290.9,11.6,442,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2742,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9251,0.71,168.6,3126,2743,2666,2643,258.2,10.4,452,9271,0.00,0.00,19.12,1.308,8198,0.000,0.000,3125,2743,2571,2578,2564,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9551,0.72,192.7,3126,2743,2575,2555,226.5,10.3,476,9573,0.00,0.00,20.90,1.274,8198,0.000,0.000,3124,2742,2471,2477,2465,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9872,0.76,250.3,3125,2743,2468,2456,196.7,8.6,508,9927,0.00,2.42,47.95,1.255,8708,0.000,0.066,3136,1355,2230,2232,2228,0,0,0,0,0,0,28.83,14.20,13.63
$GC,9972,0.79,284.7,3137,1355,2231,2226,187.4,9.8,528,10007,0.00,2.47,29.00,1.266,9222,0.000,0.091,3136,2740,2093,2095,2091,0,0,0,0,0,0,28.83,14.23,13.57
$GC,10312,0.79,284.7,3137,2741,2096,2079,148.6,11.7,566,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2740,2087,2094,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10612,0.81,321.0,3137,2741,2095,2079,117.9,9.7,596,10643,0.00,0.00,27.98,1.180,8710,0.000,0.000,3136,2741,1945,1945,1945,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10943,0.85,372.4,3136,2740,1944,1934,84.5,8.9,631,10974,0.00,2.42,22.15,0.443,8708,0.000,0.067,3140,1356,1741,1744,1738,0,0,0,0,0,0,28.83,14.25,13.97
$GC,11009,0.89,431.8,3140,1356,1747,1738,78.8,8.5,644,11045,0.12,2.47,27.58,0.425,11270,0.120,0.092,3198,2740,1496,1504,1489,0,0,0,0,0,0,14.30,14.23,13.90
$GC,11343,0.92,479.0,3199,2740,1510,1476,42.6,9.1,681,11369,0.00,2.38,21.15,0.316,8708,0.000,0.063,3207,1356,1303,1319,1288,0,0,0,0,0,0,28.83,14.25,14.02
$GC,11399,0.97,539.3,3208,1356,1322,1288,37.9,8.4,692,11436,0.00,2.47,28.02,0.315,9222,0.000,0.090,3207,2736,1057,1065,1049,0,0,0,0,0,0,28.83,14.23,13.98
$GC,11734,1.06,669.1,3208,2736,1065,1040,12.7,4.7,729,11800,0.00,2.42,58.70,0.232,8708,0.000,0.067,3207,1360,527,482,573,0,0,0,0,0,0,28.83,14.20,14.08
$FREEZE,8.88,-1.052,-1.424,2,1,0
$FREEZE,8.54,-1.052,-1.423,2,1,0
$FREEZE,8.21,-1.073,-1.421,2,1,0
$FREEZE,8.05,-1.073,-1.421,2,1,0
$FREEZE,7.73,-1.070,-1.420,2,1,0
$FREEZE,7.34,-1.070,-1.420,2,1,0
$FREEZE,7.12,-1.069,-1.419,2,1,0
$FREEZE,6.87,-1.069,-1.419,2,1,0
$FREEZE,6.57,-1.063,-1.400,2,1,0
$GC,11850,1.13,776.5,3208,1361,483,574,6.9,5.9,752,11862,0.17,2.45,3.22,0.236,11270,0.127,0.090,3266,2731,498,448,548,0,0,0,0,0,0,14.23,14.21,14.09
$FREEZE,5.73,-1.060,-1.417,2,1,0
$FREEZE,5.06,-1.052,-1.416,2,1,0
$FREEZE,4.30,-1.043,-1.415,2,1,0
$FREEZE,3.45,-1.045,-1.414,2,1,0
$FREEZE,2.64,-1.040,-1.413,2,1,0
$FREEZE,1.79,-1.037,-1.413,2,1,0
$STATE,11915,end climb,SURFACE_DEPTH_REACHED
$STATE,11915,begin surface coast
$FREEZE,0.90,-1.039,-1.412,2,1,0
$FREEZE,0.67,-0.999,-0.792,2,1,0
$FINISH,0.7,1.011665
$STATE,11935,end surface coast,FINISH_DEPTH_REACHED
$STATE,11936,begin surface
$SM_CCo,12012,0.00,0.000,0,0,498,677.03
$SM_GC,1.89,9.40,0.00,0.00,0.080,0.000,0.000,206,2732,498,-8.36,-0.79,677.03,0,0,0,0,0,0,14.33,28.83,28.83
$RAFOS_CLK,421
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14449.16,310814,072716
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.52
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,11
$SC_FREEKB,3825760
$24V_AH,12.62,76.712
$10V_AH,12.73,0.000
$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,23.400,37.525,558.200,0.000,0.000,0.000,0.000,233.400,2.750,0.000,26.784,0.000,9834.281,601.688,1815.851,171.313,0.000,1473.327,0.000,1145.057,1483.000,0.541,0.000
$DEVICE_MAMPS,397.035,98.685,2001.240,0.000,0.000,0.000,0.000,159.120,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11980.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.782,0.000,0.000,0.000
$MEM,219020
$DATA_FILE_SIZE,26786,762
$CAP_FILE_SIZE,126175,0
$CFSIZE,2097872896,2043215872
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12458.38,0x2378b6,7,5
$INTR,1,4990.23,0x2378b6,2,5
$INTR,2,11940.10,0x2378b6,7,5
$SOUNDSPEED,1448.2
$GPS,310814,142118,7343.514,-14455.339,38,0.8,58,22.9