version: 66.12
glider: 196
mission: 7
dive: 390
start: 9 20 114 20 48 25
data:
$ID,196
$MISSION,7
$DIVE,390
$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,62
$R_STBD_OVSHOOT,22
$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,20.29
$_SM_ANGLEo,-23.3
$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,-145.9,2976,2748,1862,1759,0.0,0.0,0,31,0.00,0.00,-12.40,0.000,16386,0.000,0.000,2975,2747,2706,2762,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2976,2747,2764,2651,23.4,0.0,1,54,0.90,2.40,-14.85,0.000,20996,0.063,0.082,2656,1370,3857,3921,3794,0,0,0,0,0,0,14.28,14.26,14.52
$GC,279,-0.69,-145.9,2657,1369,3922,3796,84.7,-18.1,50,285,0.00,2.50,0.00,0.000,1030,0.000,0.097,2645,2759,3858,3921,3796,0,0,0,0,0,0,28.83,14.21,28.83
$GC,584,-0.69,-145.9,2647,2760,3922,3801,148.8,-19.7,81,589,0.00,2.35,0.00,0.000,516,0.000,0.063,2645,1372,3858,3921,3796,0,0,0,0,0,0,28.83,14.34,28.83
$GC,599,-0.69,-145.9,2646,1372,3922,3792,151.7,-19.6,84,605,0.15,2.47,0.00,0.000,3078,0.272,0.093,2665,2757,3859,3921,3797,0,0,0,0,0,0,14.03,14.23,28.83
$GC,904,-0.69,-145.9,2667,2758,3921,3798,202.6,-15.7,115,909,0.00,2.35,0.00,0.000,516,0.000,0.061,2666,1371,3857,3920,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,939,-0.69,-145.9,2665,1370,3922,3797,207.6,-14.2,122,945,0.00,2.45,0.00,0.000,1030,0.000,0.094,2661,2748,3859,3921,3797,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1244,-0.69,-145.9,2662,2749,3921,3798,251.1,-13.1,153,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3861,3921,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,-0.69,-145.9,2662,2749,3921,3797,289.6,-12.8,163,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.69,-145.9,2663,2749,3921,3797,326.9,-12.2,173,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,-0.69,-145.9,2662,2751,3922,3796,362.4,-11.7,183,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2444,-0.69,-145.9,2663,2749,3921,3797,396.6,-11.3,193,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2744,-0.69,-145.9,2662,2749,3921,3798,429.8,-11.1,203,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3044,-0.69,-145.9,2662,2748,3921,3797,462.8,-11.0,213,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2748,3862,3928,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3344,-0.69,-145.9,2662,2747,3922,3796,495.9,-11.0,223,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2752,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3644,-0.69,-145.9,2663,2749,3921,3797,528.3,-10.8,233,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3944,-0.69,-145.9,2663,2749,3919,3798,560.7,-10.8,243,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4244,-0.69,-145.9,2660,2748,3922,3797,593.0,-10.8,253,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4544,-0.69,-145.9,2662,2750,3921,3793,624.9,-10.6,263,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.69,-145.9,2662,2748,3922,3797,657.3,-10.7,273,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5144,-0.69,-145.9,2662,2748,3921,3797,689.0,-10.5,283,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5444,-0.69,-145.9,2662,2748,3922,3797,720.9,-10.5,293,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2748,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5742,begin apogee
$GC,5747,-0.13,0.0,2662,2748,3922,3797,752.3,-10.6,303,5877,0.70,0.00,127.53,2.017,10244,0.213,0.000,2846,2749,3256,3276,3237,0,0,0,0,0,0,14.12,28.83,12.97
$STATE,5878,end apogee,CONTROL_FINISHED_OK
$STATE,5878,begin climb
$GC,5880,0.69,145.9,2847,2749,3273,3233,755.7,0.0,307,6016,0.88,0.00,125.30,1.870,11270,0.116,0.000,3114,2749,2658,2665,2652,0,0,0,0,0,0,13.72,28.83,12.55
$GC,6314,0.69,145.9,3115,2746,2666,2646,712.2,12.9,347,6319,0.00,2.40,0.00,0.000,516,0.000,0.062,3124,1360,2655,2665,2645,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6364,0.69,145.9,3125,1360,2666,2646,706.0,12.2,357,6369,0.00,2.50,0.00,0.000,1030,0.000,0.088,3125,2741,2655,2665,2646,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6674,0.69,145.9,3126,2742,2665,2646,664.7,13.3,369,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6974,0.69,145.9,3126,2741,2665,2646,624.7,13.4,379,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7274,0.69,145.9,3125,2742,2665,2645,585.1,13.1,389,7279,0.00,1.85,0.00,0.000,260,0.000,0.096,3124,3795,2654,2664,2645,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7334,0.69,145.9,3126,3797,2665,2645,576.0,15.8,401,7339,0.00,1.67,0.00,0.000,1030,0.000,0.047,3132,2740,2655,2665,2645,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7665,0.69,145.9,3133,2741,2665,2645,530.9,13.7,417,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2739,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,0.69,145.9,3134,2740,2665,2645,490.4,13.5,427,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2740,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,0.69,145.9,3133,2740,2666,2644,450.6,13.3,437,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2740,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8564,0.69,145.9,3133,2740,2665,2645,411.1,13.2,447,8569,0.00,1.85,0.00,0.000,260,0.000,0.097,3132,3789,2654,2665,2644,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8604,0.69,145.9,3133,3789,2666,2644,405.1,15.2,455,8609,0.00,1.73,0.00,0.000,1030,0.000,0.047,3140,2737,2654,2665,2644,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8926,0.69,145.9,3141,2737,2665,2645,362.1,13.2,469,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2736,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9224,0.69,145.9,3141,2736,2665,2645,323.9,12.5,479,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2736,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,0.69,145.9,3141,2736,2675,2644,287.6,11.9,489,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2736,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9824,0.70,162.7,3141,2735,2666,2644,254.4,10.7,499,9840,0.00,0.00,15.10,1.342,8198,0.000,0.000,3140,2736,2593,2599,2588,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10124,0.72,191.9,3141,2737,2595,2580,223.1,10.1,525,10155,0.00,0.00,24.80,1.291,8198,0.000,0.000,3140,2732,2469,2472,2467,0,0,0,0,0,0,28.83,28.83,13.72
$GC,10456,0.77,261.2,3141,2736,2473,2463,193.2,7.9,558,10519,0.00,2.38,57.38,1.267,8708,0.000,0.064,3150,1360,2188,2188,2188,0,0,0,0,0,0,28.83,14.19,13.54
$GC,10559,0.79,292.8,3152,1359,2186,2186,183.6,9.9,578,10595,0.00,2.50,27.00,1.291,9222,0.000,0.090,3151,2753,2058,2061,2056,0,0,0,0,0,0,28.83,14.16,13.46
$GC,10895,0.80,300.0,3152,2754,2062,2047,144.3,11.2,615,10900,0.00,0.00,3.85,1.233,8198,0.000,0.000,3151,2753,2033,2040,2027,0,0,0,0,0,0,28.83,28.83,13.38
$GC,11195,0.82,330.0,3152,2754,2059,2028,112.9,10.0,645,11225,0.00,0.00,27.02,1.162,8198,0.000,0.000,3150,2753,1905,1911,1900,0,0,0,0,0,0,28.83,28.83,13.69
$GC,11530,0.86,392.3,3152,2754,1910,1900,80.8,8.3,678,11561,0.00,2.47,27.38,0.431,8708,0.000,0.063,3160,1360,1658,1667,1649,0,0,0,0,0,0,28.83,14.16,13.87
$GC,11598,0.91,461.4,3160,1359,1672,1648,75.5,8.0,691,11637,0.00,2.50,32.25,0.412,9222,0.000,0.090,3160,2747,1376,1396,1356,0,0,0,0,0,0,28.83,14.12,13.82
$GC,11942,0.97,541.0,3161,2747,1399,1344,46.8,7.4,730,11984,0.15,2.47,36.65,0.324,10756,0.113,0.063,3233,1358,1051,1065,1038,0,0,0,0,0,0,14.16,14.12,13.88
$GC,12038,1.01,606.6,3232,1357,1068,1038,37.7,8.1,749,12075,0.00,2.47,30.23,0.298,9222,0.000,0.089,3233,2733,785,783,787,0,0,0,0,0,0,28.83,14.07,13.87
$GC,12374,1.07,689.7,3233,2738,782,787,13.6,7.2,786,12415,0.00,2.45,33.15,0.235,8708,0.000,0.069,3232,1362,498,448,548,0,0,0,0,0,0,28.83,14.05,13.93
$GC,12441,1.16,811.9,3235,1362,450,548,9.3,5.1,799,12447,0.00,2.45,0.00,0.000,1030,0.000,0.090,3234,2718,498,449,548,0,0,0,0,0,0,28.83,14.05,28.83
$FREEZE,8.19,-1.437,-1.436,2,7,0
$STATE,12453,end climb,FINISH_DEPTH_REACHED
$STATE,12453,begin subsurface finish
$FINISH1,8.2,1.021099,357
$GC,12458,0.25,356.8,3234,2719,450,548,8.2,6.8,801,12496,0.88,0.00,-31.10,0.000,20742,0.147,0.000,2979,2719,1805,1862,1748,0,0,0,0,0,0,14.01,28.83,14.33
$FINISH2,8.4
$STATE,12496,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12496,begin surface
$RAFOS_CLK,52
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14109.78,190914,234656
$TT8_MAMPS,0.080892,0.080892
$HUMID,42.71
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,7
$SC_FREEKB,3763904
$24V_AH,12.55,122.207
$10V_AH,12.63,0.000
$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,3.650,47.950,567.625,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,0.000,10225.106,576.086,1643.473,172.988,0.000,1238.283,0.000,1209.442,1433.000,0.539,0.000
$DEVICE_MAMPS,271.575,97.155,2017.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12551.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.975,0.000,0.000,0.000
$MEM,137116
$DATA_FILE_SIZE,26755,806
$CAP_FILE_SIZE,125512,0
$CFSIZE,2097872896,2016935936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5744.24,0x2378b6,2,5
$INTR,1,12455.27,0x2378b6,5,5
$SOUNDSPEED,1449.0
$GPS,200914,000154,7328.246,-14107.666,29,0.9,49,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376