version: 66.12
glider: 196
mission: 7
dive: 387
start: 9 20 114 10 29 46
data:
$ID,196
$MISSION,7
$DIVE,387
$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,190
$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,-9991.1924
$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,59
$R_STBD_OVSHOOT,16
$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
$GPS1,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.96
$_SM_ANGLEo,-18.9
$GPS2,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,7317.610,-14114.188
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.9,20000,-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,17,-0.69,-145.9,2978,2760,1855,1761,0.0,0.0,0,31,0.00,0.00,-12.07,0.000,16386,0.000,0.000,2977,2760,2669,2719,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2978,2761,2721,2622,22.8,0.0,1,57,0.90,2.42,-15.70,0.000,20996,0.066,0.083,2661,1375,3858,3921,3795,0,0,0,0,0,0,14.27,14.26,14.52
$GC,87,-0.69,-145.9,2662,1376,3923,3798,37.0,-31.0,12,94,0.00,2.50,0.00,0.000,1030,0.000,0.091,2650,2771,3859,3922,3796,0,0,0,0,0,0,28.83,14.22,28.83
$GC,393,-0.69,-145.9,2650,2771,3922,3797,113.4,-21.8,43,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2770,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,693,-0.69,-145.9,2650,2770,3923,3798,172.0,-18.5,73,697,0.00,2.38,0.00,0.000,516,0.000,0.061,2650,1369,3859,3922,3797,0,0,0,0,0,0,28.83,14.36,28.83
$GC,763,-0.69,-145.9,2651,1370,3922,3799,183.9,-16.4,87,768,0.12,2.47,0.00,0.000,3078,0.276,0.093,2665,2755,3860,3922,3798,0,0,0,0,0,0,14.11,14.31,28.83
$GC,1073,-0.69,-145.9,2665,2755,3923,3798,231.6,-14.7,119,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1393,-0.69,-145.9,2666,2756,3923,3799,274.5,-13.1,139,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-0.69,-145.9,2666,2756,3920,3797,310.7,-11.8,149,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2755,3860,3922,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.69,-145.9,2666,2755,3922,3798,345.7,-11.7,159,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-0.69,-145.9,2666,2756,3922,3798,380.1,-11.4,169,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2593,-0.69,-145.9,2666,2756,3923,3798,413.6,-11.0,179,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,-0.69,-145.9,2666,2755,3922,3799,446.9,-11.1,189,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3193,-0.69,-145.9,2666,2756,3922,3797,480.2,-11.1,199,3198,0.00,2.33,0.00,0.000,516,0.000,0.062,2665,1371,3859,3921,3797,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3248,-0.69,-145.9,2666,1371,3922,3799,486.0,-10.4,210,3254,0.00,2.45,0.00,0.000,1030,0.000,0.093,2659,2753,3859,3921,3797,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3553,-0.69,-145.9,2660,2754,3922,3797,519.9,-11.0,221,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3853,-0.69,-145.9,2657,2755,3922,3798,552.5,-10.8,231,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4153,-0.69,-145.9,2660,2754,3923,3798,584.8,-10.8,241,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,-0.69,-145.9,2660,2752,3923,3800,617.0,-10.6,251,4458,0.00,2.33,0.00,0.000,516,0.000,0.061,2659,1371,3859,3922,3797,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4493,-0.69,-145.9,2660,1370,3922,3798,621.2,-10.3,259,4497,0.00,2.45,0.00,0.000,1030,0.000,0.093,2649,2753,3860,3922,3798,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4814,-0.69,-145.9,2650,2754,3922,3799,657.2,-11.5,273,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2754,3860,3922,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5113,-0.69,-145.9,2650,2754,3923,3797,691.1,-11.3,283,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2753,3860,3922,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5415,-0.69,-145.9,2651,2755,3922,3798,724.7,-11.2,293,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2754,3859,3921,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5656,-0.13,0.0,2650,2754,3923,3798,751.1,-10.9,301,5787,0.75,0.00,128.30,2.021,10244,0.216,0.000,2845,2754,3254,3273,3236,0,0,0,0,0,0,14.03,28.83,12.93
$STATE,5788,end apogee,CONTROL_FINISHED_OK
$STATE,5788,begin climb
$GC,5790,0.69,145.9,2845,2755,3272,3235,754.4,0.0,305,5926,0.90,1.95,126.22,1.863,10500,0.129,0.099,3107,3783,2659,2662,2656,0,0,0,0,0,0,13.66,13.68,12.54
$GC,6151,0.69,145.9,3107,3783,2663,2648,714.8,15.2,380,6156,0.00,1.77,0.00,0.000,1030,0.000,0.047,3115,2749,2655,2662,2648,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6468,0.69,145.9,3116,2749,2663,2647,673.9,12.6,393,6472,0.00,2.40,0.00,0.000,516,0.000,0.062,3126,1345,2654,2662,2646,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6697,0.69,145.9,3127,1345,2663,2645,646.8,11.9,439,6702,0.00,2.47,0.00,0.000,1030,0.000,0.088,3126,2741,2654,2662,2646,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7009,0.69,145.9,3127,2742,2663,2645,605.6,13.4,451,7014,0.00,2.38,0.00,0.000,516,0.000,0.061,3136,1337,2653,2662,2645,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7063,0.69,145.9,3137,1337,2663,2645,598.5,12.7,462,7070,0.00,2.50,0.00,0.000,1030,0.000,0.088,3136,2753,2653,2662,2645,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7369,0.69,145.9,3137,2753,2663,2645,556.4,13.9,473,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2753,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,0.69,145.9,3137,2753,2662,2644,515.1,13.7,483,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2753,2653,2661,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7969,0.69,145.9,3137,2754,2663,2646,474.3,13.4,493,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2753,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8269,0.69,145.9,3137,2754,2662,2646,434.7,13.2,503,8273,0.00,1.83,0.00,0.000,260,0.000,0.095,3136,3794,2653,2662,2645,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8299,0.69,145.9,3137,3793,2663,2645,430.3,15.0,509,8303,0.00,1.73,0.00,0.000,1030,0.000,0.048,3144,2735,2653,2662,2645,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8630,0.69,145.9,3145,2735,2663,2645,385.9,13.3,525,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2734,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,0.69,145.9,3145,2735,2663,2644,346.8,12.9,535,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2734,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9229,0.69,145.9,3145,2736,2663,2646,308.1,12.6,545,9233,0.00,1.85,0.00,0.000,260,0.000,0.096,3144,3787,2653,2662,2645,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9253,0.69,145.9,3145,3788,2662,2646,304.7,13.3,550,9260,0.10,1.73,0.00,0.000,5126,0.252,0.048,3115,2734,2653,2662,2645,0,0,0,0,0,0,14.07,14.47,28.83
$GC,9560,0.71,178.9,3116,2734,2663,2645,273.6,9.9,561,9590,0.00,0.00,27.80,1.353,8198,0.000,0.000,3115,2734,2525,2531,2519,0,0,0,0,0,0,28.83,28.83,13.77
$GC,9889,0.74,211.4,3116,2734,2529,2512,238.5,9.9,578,9921,0.00,2.40,27.60,1.331,8708,0.000,0.063,3124,1353,2390,2393,2387,0,0,0,0,0,0,28.83,14.35,13.68
$GC,9941,0.76,244.6,3125,1353,2391,2387,233.5,9.9,587,9976,0.00,2.45,28.58,1.333,9222,0.000,0.087,3124,2740,2257,2255,2259,0,0,0,0,0,0,28.83,14.30,13.55
$GC,10281,0.78,269.5,3124,2740,2257,2244,196.2,10.3,625,10307,0.00,2.38,21.15,1.287,8708,0.000,0.060,3133,1354,2153,2156,2150,0,0,0,0,0,0,28.83,14.25,13.63
$GC,10359,0.81,318.8,3134,1355,2156,2147,189.0,9.0,640,10408,0.00,2.45,41.67,1.287,9222,0.000,0.087,3133,2734,1952,1954,1951,0,0,0,0,0,0,28.83,14.23,13.47
$GC,10713,0.82,331.1,3134,2735,1954,1940,148.8,11.0,681,10725,0.00,0.00,10.68,1.271,8198,0.000,0.000,3133,2734,1907,1913,1902,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11024,0.84,364.2,3134,2735,1909,1893,116.3,9.9,712,11055,0.00,2.42,26.15,1.191,8708,0.000,0.064,3141,1358,1768,1775,1761,0,0,0,0,0,0,28.83,14.28,13.66
$GC,11096,0.87,408.3,3142,1357,1772,1756,109.3,9.3,726,11140,0.10,2.45,35.85,1.213,11270,0.142,0.090,3189,2732,1588,1599,1577,0,0,0,0,0,0,14.23,14.19,13.50
$GC,11446,0.89,433.9,3190,2732,1595,1560,64.5,10.3,766,11461,0.00,2.38,10.30,0.377,8708,0.000,0.064,3196,1358,1488,1506,1470,0,0,0,0,0,0,28.83,14.21,13.89
$GC,11481,0.93,483.7,3197,1359,1510,1471,61.1,9.0,773,11512,0.00,2.45,23.92,0.370,9222,0.000,0.090,3196,2728,1284,1305,1264,0,0,0,0,0,0,28.83,14.16,13.88
$GC,11817,0.98,556.3,3197,2728,1307,1255,34.0,7.8,810,11858,0.00,2.40,33.28,0.290,8708,0.000,0.063,3204,1362,989,1000,979,0,0,0,0,0,0,28.83,14.19,13.97
$GC,11883,1.04,649.2,3212,1362,999,979,29.6,6.7,822,11933,0.00,2.45,43.65,0.290,9222,0.000,0.090,3204,2728,608,582,635,0,0,0,0,0,0,28.83,14.12,13.92
$GC,12238,1.13,778.1,3205,2729,577,636,10.4,4.8,863,12259,0.17,2.42,12.32,0.230,10756,0.110,0.064,3285,1358,498,448,549,0,0,0,0,0,0,14.25,14.20,14.01
$FREEZE,8.40,-1.440,-1.436,2,4,0
$STATE,12262,end climb,FINISH_DEPTH_REACHED
$STATE,12262,begin subsurface finish
$FINISH1,8.4,1.021100,357
$GC,12270,0.25,356.8,3286,2741,449,550,8.4,7.8,868,12309,1.10,2.38,-31.95,0.000,20996,0.194,0.080,2981,1357,1805,1853,1757,0,0,0,0,0,0,14.03,14.20,14.45
$FINISH2,7.8
$STATE,12310,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12310,begin surface
$RAFOS_CLK,340
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14109.78,190914,234656
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.88
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.10
$XPDR_PINGS,16
$SC_FREEKB,3765248
$24V_AH,12.54,121.262
$10V_AH,12.58,0.000
$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,4.150,71.525,597.475,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,0.000,9875.703,611.768,1756.873,181.503,0.000,1334.888,0.000,1306.585,1474.000,0.539,0.000
$DEVICE_MAMPS,276.165,247.095,2021.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12360.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.586,0.000,0.000,0.000
$MEM,138624
$DATA_FILE_SIZE,30053,876
$CAP_FILE_SIZE,133980,0
$CFSIZE,2097872896,2017492992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5652.64,0x2378b6,2,5
$SOUNDSPEED,1450.3
$GPS,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376