version: 66.12
glider: 196
mission: 7
dive: 357
start: 9 16 114 0 51 2
data:
$ID,196
$MISSION,7
$DIVE,357
$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,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,-8342.5654
$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,57
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.02
$_SM_ANGLEo,-18.6
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,167.0,221862,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.69,-145.9,2976,2760,1863,1756,0.0,0.0,0,31,0.00,0.00,-12.23,0.000,16386,0.000,0.000,2975,2759,2593,2645,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2978,2760,2645,2543,18.7,0.0,1,57,0.90,1.83,-18.05,0.000,20740,0.070,0.125,2655,3784,3855,3920,3790,0,0,0,0,0,0,14.26,14.21,14.52
$GC,254,-0.69,-145.9,2656,3786,3921,3796,84.2,-23.3,45,258,0.00,1.67,0.00,0.000,1030,0.000,0.053,2654,2755,3855,3915,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,563,-0.69,-145.9,2655,2755,3921,3795,148.5,-19.6,77,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2754,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,863,-0.69,-145.9,2656,2755,3921,3795,203.0,-17.3,107,868,0.00,2.35,0.00,0.000,516,0.000,0.065,2654,1367,3857,3920,3794,0,0,0,0,0,0,28.83,14.36,28.83
$GC,908,-0.69,-145.9,2655,1368,3921,3796,210.1,-15.4,116,914,0.00,2.50,0.00,0.000,1030,0.000,0.096,2650,2761,3857,3920,3795,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1223,-0.69,-145.9,2650,2761,3921,3794,259.0,-13.7,144,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3859,3925,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1523,-0.69,-145.9,2650,2762,3921,3794,300.9,-14.2,154,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.69,-145.9,2650,2762,3921,3795,341.1,-13.2,164,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.69,-145.9,2650,2761,3921,3793,379.7,-12.8,174,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2761,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.69,-145.9,2652,2761,3924,3794,416.5,-12.2,184,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.69,-145.9,2650,2761,3921,3794,452.6,-12.1,194,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2760,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.69,-145.9,2650,2760,3921,3795,489.3,-12.3,204,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3323,-0.69,-145.9,2650,2762,3920,3795,525.8,-12.1,214,3328,0.00,2.33,0.00,0.000,516,0.000,0.063,2649,1373,3857,3920,3794,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3363,-0.69,-145.9,2650,1373,3921,3795,530.6,-11.2,222,3368,0.12,2.45,0.00,0.000,3078,0.262,0.096,2666,2755,3857,3920,3794,0,0,0,0,0,0,14.20,14.38,28.83
$GC,3685,-0.69,-145.9,2667,2756,3920,3795,565.4,-10.9,236,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2754,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3983,-0.69,-145.9,2667,2756,3920,3795,598.1,-10.9,246,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4283,-0.69,-145.9,2666,2755,3922,3795,630.9,-11.0,256,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.69,-145.9,2667,2755,3921,3795,663.2,-10.8,266,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4883,-0.69,-145.9,2667,2755,3921,3795,695.5,-10.7,276,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5183,-0.69,-145.9,2667,2756,3921,3795,727.2,-10.5,286,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5421,begin apogee
$GC,5426,-0.13,0.0,2667,2755,3921,3794,752.0,-10.3,294,5555,0.68,0.00,126.47,2.018,10244,0.215,0.000,2846,2755,3257,3276,3238,0,0,0,0,0,0,14.17,28.83,13.00
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5558,0.69,145.9,2848,2756,3272,3235,755.6,0.0,298,5690,0.88,0.00,125.62,1.875,11270,0.119,0.000,3113,2755,2661,2665,2657,0,0,0,0,0,0,13.74,28.83,12.57
$GC,5995,0.69,145.9,3114,2755,2666,2648,711.5,12.8,338,6000,0.00,2.45,0.00,0.000,516,0.000,0.065,3124,1351,2656,2664,2648,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6065,0.69,148.1,3125,1350,2666,2649,702.9,11.5,352,6070,0.00,2.50,0.00,0.000,1030,0.000,0.090,3124,2740,2656,2665,2648,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6387,0.69,148.1,3125,2741,2665,2648,660.0,13.4,366,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2741,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6685,0.69,148.1,3125,2741,2666,2647,619.6,13.4,376,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,0.69,148.1,3125,2741,2665,2648,579.9,13.2,386,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2741,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,0.69,148.1,3125,2741,2665,2648,540.7,13.1,396,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2740,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7586,0.69,148.1,3125,2741,2661,2648,501.6,12.9,406,7590,0.00,1.83,0.00,0.000,260,0.000,0.098,3124,3787,2656,2665,2647,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7635,0.69,148.1,3125,3787,2666,2647,494.2,15.3,416,7640,0.00,1.73,0.00,0.000,1030,0.000,0.053,3131,2746,2656,2665,2647,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7945,0.69,148.1,3132,2746,2666,2647,453.1,13.2,428,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2745,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8245,0.69,148.1,3132,2745,2666,2647,413.7,13.2,438,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2745,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,0.69,148.1,3133,2746,2665,2648,374.6,13.0,448,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2745,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8845,0.69,148.1,3132,2746,2666,2648,337.0,12.1,458,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2745,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9145,0.69,148.1,3132,2745,2666,2647,301.2,12.0,468,9150,0.00,2.35,0.00,0.000,516,0.000,0.067,3143,1345,2656,2666,2647,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9205,0.70,155.5,3143,1342,2667,2652,294.5,11.2,480,9221,0.00,2.45,8.95,1.388,9222,0.000,0.092,3143,2740,2619,2626,2613,0,0,0,0,0,0,28.83,14.40,13.85
$GC,9535,0.70,166.3,3143,2741,2627,2611,256.9,11.1,496,9551,0.00,2.35,10.48,1.347,8708,0.000,0.064,3153,1341,2575,2580,2570,0,0,0,0,0,0,28.83,14.52,13.83
$GC,9566,0.71,178.6,3154,1342,2578,2571,253.6,11.0,502,9581,0.00,2.47,11.23,1.323,9222,0.000,0.092,3153,2747,2527,2530,2525,0,0,0,0,0,0,28.83,14.43,13.81
$GC,9888,0.75,231.5,3154,2746,2528,2517,218.2,8.8,537,9938,0.00,2.40,44.25,1.239,8708,0.000,0.063,3162,1350,2307,2305,2310,0,0,0,0,0,0,28.83,14.26,13.62
$GC,9972,0.77,255.3,3163,1350,2302,2310,210.0,10.4,554,9999,0.00,2.50,20.20,1.252,9222,0.000,0.091,3162,2742,2212,2210,2214,0,0,0,0,0,0,28.83,14.23,13.58
$GC,10298,0.78,279.3,3162,2742,2211,2205,172.3,10.4,589,10323,0.00,2.40,20.88,1.217,8708,0.000,0.066,3172,1342,2112,2114,2111,0,0,0,0,0,0,28.83,14.29,13.67
$GC,10353,0.80,300.4,3173,1344,2113,2110,166.5,10.5,599,10379,0.00,2.50,18.25,1.206,9222,0.000,0.092,3172,2742,2028,2030,2026,0,0,0,0,0,0,28.83,14.24,13.62
$GC,10678,0.80,309.7,3174,2743,2029,2019,127.2,11.1,634,10689,0.00,0.00,7.72,1.242,8198,0.000,0.000,3172,2742,1992,1998,1986,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10988,0.82,327.3,3173,2742,1999,1979,93.4,10.7,665,10999,0.00,0.00,7.45,0.466,8710,0.000,0.000,3172,2742,1924,1929,1919,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11303,0.87,398.0,3173,2742,1937,1919,64.7,7.9,697,11338,0.00,0.00,32.67,0.380,8198,0.000,0.000,3172,2742,1634,1641,1628,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11635,0.99,578.0,3173,2743,1646,1616,44.5,2.1,730,11723,0.12,0.00,81.62,0.318,10246,0.126,0.000,3223,2742,900,903,897,0,0,0,0,0,0,14.19,28.83,13.88
$GC,12023,1.07,688.8,3224,2743,901,887,17.7,5.7,769,12075,0.00,2.42,45.53,0.251,8708,0.000,0.066,3230,1346,497,446,549,0,0,0,0,0,0,28.83,14.11,13.92
$FREEZE,8.97,-1.418,-1.437,2,9,0
$STATE,12183,end climb,FINISH_DEPTH_REACHED
$STATE,12183,begin subsurface finish
$FINISH1,9.0,1.021110,356
$GC,12191,0.25,356.3,3231,2745,445,549,9.0,4.5,801,12227,0.85,1.95,-30.35,0.000,20740,0.156,0.130,2977,3782,1808,1862,1754,0,0,0,0,0,0,13.99,14.07,14.34
$FINISH2,8.6
$STATE,12227,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12227,begin surface
$RAFOS_CLK,51
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.080892,0.080892
$HUMID,42.99
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,11
$SC_FREEKB,3778688
$24V_AH,12.57,111.596
$10V_AH,12.65,0.000
$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,3.550,50.550,561.325,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,0.000,9976.319,572.252,1638.335,158.846,0.000,1225.889,0.000,1207.712,1492.000,0.540,0.000
$DEVICE_MAMPS,261.630,130.050,2018.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12280.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.803,0.000,0.000,0.000
$MEM,154428
$DATA_FILE_SIZE,26728,807
$CAP_FILE_SIZE,124244,0
$CFSIZE,2097872896,2023227392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5423.12,0x2378b6,2,5
$SOUNDSPEED,1449.0
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5