version: 66.12
glider: 196
mission: 7
dive: 43
start: 8 1 114 4 52 37
data:
$ID,196
$MISSION,7
$DIVE,43
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,681.01007
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-4728.1914
$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,2790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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,400
$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
$GPS1,010814,044554,7125.154,-14408.480,147,0.9,167,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.5
$GPS2,010814,045219,7125.151,-14408.390,6,0.8,26,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,332.8,20114,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.69,-145.9,187,2789,469,534,0.0,0.0,0,59,0.00,0.00,-43.67,0.000,16386,0.000,0.000,185,2788,1696,1713,1680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.69,-145.9,186,2789,1714,1682,3.3,-6.1,4,120,11.93,2.50,-39.28,0.000,19204,0.401,0.094,2665,1360,3857,3918,3796,0,0,0,0,0,0,14.12,14.33,14.52
$GC,344,-0.69,-145.9,2666,1359,3922,3802,64.4,-18.7,58,353,0.00,2.53,0.00,0.000,1030,0.000,0.097,2657,2756,3860,3919,3802,0,0,0,0,0,0,28.83,14.37,28.83
$GC,657,-0.69,-145.9,2657,2757,3920,3802,126.1,-18.5,90,666,0.00,2.40,0.00,0.000,516,0.000,0.072,2657,1365,3860,3919,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,860,-0.69,-145.9,2657,1368,3920,3802,158.5,-14.7,130,868,0.00,2.50,0.00,0.000,1030,0.000,0.100,2645,2755,3860,3918,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1172,-0.69,-145.9,2646,2754,3920,3804,207.3,-14.9,162,1181,0.00,1.85,0.00,0.000,260,0.000,0.108,2637,3785,3860,3918,3802,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1270,-0.69,-145.9,2638,3785,3920,3802,223.1,-16.0,181,1278,0.10,1.73,0.00,0.000,3078,0.263,0.063,2663,2760,3860,3918,3802,0,0,0,0,0,0,14.36,14.50,28.83
$GC,1595,-0.69,-145.9,2663,2761,3918,3803,265.6,-12.7,206,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1895,-0.69,-145.9,2663,2760,3917,3803,302.3,-12.1,216,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2195,-0.69,-145.9,2663,2762,3915,3802,338.0,-12.0,226,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2495,-0.69,-145.9,2669,2760,3916,3801,373.1,-11.6,236,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2760,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-0.69,-145.9,2663,2760,3916,3800,407.6,-11.5,246,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3096,-0.69,-145.9,2663,2760,3916,3800,441.6,-11.3,256,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3395,-0.69,-145.9,2664,2760,3915,3800,475.4,-11.2,266,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3695,-0.69,-145.9,2663,2760,3915,3800,509.1,-11.2,276,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.69,-145.9,2664,2760,3915,3800,542.6,-11.2,286,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4295,-0.69,-145.9,2664,2761,3914,3801,575.9,-11.0,296,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4595,-0.69,-145.9,2663,2760,3915,3799,609.1,-11.0,306,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4896,-0.69,-145.9,2664,2761,3910,3800,642.0,-11.0,316,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5195,-0.69,-145.9,2663,2760,3915,3798,675.0,-11.0,326,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5496,-0.69,-145.9,2663,2760,3919,3798,707.5,-10.7,336,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5795,-0.69,-145.9,2664,2761,3914,3798,739.7,-10.8,346,5805,0.00,1.80,0.00,0.000,260,0.000,0.110,2657,3780,3855,3914,3797,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5833,-0.69,-145.9,2658,3780,3915,3797,744.3,-11.5,353,5840,0.00,1.67,0.00,0.000,1030,0.000,0.065,2658,2766,3855,3914,3796,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,5889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5889,begin apogee
$GC,5891,-0.13,0.0,2658,2767,3914,3797,750.5,-10.9,359,6018,0.70,0.00,123.85,1.920,10244,0.233,0.000,2847,2766,3255,3274,3236,0,0,0,0,0,0,14.61,28.83,13.17
$STATE,6019,end apogee,CONTROL_FINISHED_OK
$STATE,6019,begin climb
$GC,6020,0.69,145.9,2847,2766,3274,3232,753.6,0.0,363,6147,0.88,0.00,123.55,1.845,11270,0.145,0.000,3107,2766,2663,2673,2654,0,0,0,0,0,0,13.80,28.83,12.96
$GC,6467,0.69,145.9,3108,2766,2671,2642,701.9,13.5,397,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2765,2655,2670,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6767,0.69,145.9,3108,2766,2670,2641,662.4,13.1,407,6774,0.00,2.40,0.00,0.000,516,0.000,0.076,3118,1398,2655,2670,2640,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6787,0.69,145.9,3119,1398,2671,2640,659.5,13.2,411,6794,0.00,2.53,0.00,0.000,1030,0.000,0.098,3117,2790,2655,2670,2640,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7098,0.69,145.9,3119,2791,2670,2641,616.4,14.0,423,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2790,2656,2672,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7398,0.69,145.9,3119,2791,2671,2640,574.8,13.9,433,7405,0.00,2.42,0.00,0.000,516,0.000,0.076,3125,1390,2654,2670,2639,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7439,0.69,145.9,3125,1391,2671,2639,569.4,12.9,441,7446,0.00,2.50,0.00,0.000,1030,0.000,0.098,3125,2787,2654,2670,2639,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7761,0.69,145.9,3125,2788,2671,2640,524.2,14.1,455,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2787,2654,2670,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8060,0.69,145.9,3126,2788,2670,2640,482.3,13.9,465,8067,0.00,2.40,0.00,0.000,516,0.000,0.076,3125,1399,2654,2669,2639,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8096,0.69,145.9,3126,1400,2670,2640,477.7,12.8,472,8103,0.00,2.47,0.00,0.000,1030,0.000,0.098,3125,2787,2654,2670,2639,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8423,0.69,145.9,3126,2787,2671,2639,433.0,13.6,487,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2787,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8722,0.69,145.9,3126,2788,2670,2640,392.4,13.5,497,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2787,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9022,0.69,145.9,3126,2788,2670,2640,351.9,13.5,507,9029,0.00,2.40,0.00,0.000,516,0.000,0.076,3125,1386,2654,2670,2639,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9068,0.69,145.9,3126,1390,2670,2640,346.2,12.5,516,9075,0.00,2.50,0.00,0.000,1030,0.000,0.098,3125,2799,2654,2670,2639,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9384,0.69,145.9,3126,2799,2671,2639,304.0,13.3,529,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2799,2657,2670,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9684,0.69,145.9,3125,2799,2671,2638,264.4,13.1,539,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2799,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9984,0.69,145.9,3126,2799,2671,2639,226.7,12.1,561,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2799,2654,2670,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10284,0.70,154.9,3126,2800,2670,2640,192.2,11.1,591,10298,0.00,2.45,8.07,1.345,8708,0.000,0.074,3129,1394,2620,2634,2607,0,0,0,0,0,0,28.83,14.57,14.01
$GC,10353,0.72,190.2,3130,1395,2635,2608,185.3,9.8,604,10388,0.00,2.45,29.15,1.409,9222,0.000,0.098,3129,2790,2480,2489,2472,0,0,0,0,0,0,28.83,14.50,13.88
$GC,10682,0.74,221.9,3130,2790,2488,2468,149.3,9.9,639,10715,0.00,0.00,27.52,1.294,8198,0.000,0.000,3130,2789,2346,2351,2342,0,0,0,0,0,0,28.83,28.83,13.80
$GC,11012,0.77,262.3,3130,2790,2352,2338,115.6,9.5,672,11047,0.00,0.00,31.33,1.267,8198,0.000,0.000,3129,2789,2182,2186,2179,0,0,0,0,0,0,28.83,28.83,13.75
$GC,11345,0.80,297.5,3130,2790,2187,2171,82.6,9.8,705,11361,0.00,0.00,14.60,0.438,8710,0.000,0.000,3129,2789,2044,2047,2042,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11655,0.84,360.2,3130,2790,2060,2040,54.4,8.3,737,11689,0.10,2.42,28.25,0.350,10756,0.151,0.074,3178,1395,1788,1782,1794,0,0,0,0,0,0,14.38,14.26,14.14
$GC,11728,0.86,389.5,3178,1396,1786,1794,47.0,10.1,750,11750,0.00,2.50,13.43,0.327,9222,0.000,0.099,3175,2788,1669,1666,1672,0,0,0,0,0,0,28.83,14.26,14.13
$GC,12045,0.90,453.1,3178,2785,1671,1662,17.4,8.2,783,12078,0.00,0.00,28.10,0.250,8198,0.000,0.000,3178,2793,1407,1410,1405,0,0,0,0,0,0,28.83,28.83,14.20
$FREEZE,11.14,4.739,-1.334,0,1,0
$STATE,12283,end climb,NO_VERTICAL_VELOCITY
$STATE,12283,begin surface
$SM_CCo,12285,99.25,0.230,0,0,499,676.54
$SM_CCo,12614,-0.35,0.000,0,0,500,676.54
$SM_CCo,12617,-0.03,0.000,0,0,501,676.29
$SM_CCo,12619,0.22,0.540,0,0,498,676.54
$SM_GC,1.90,8.98,0.00,0.22,0.072,0.000,0.540,204,2788,498,-8.36,0.79,676.54,0,0,0,0,0,0,14.36,28.83,14.27
$RAFOS_CLK,74
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14400.34,010814,011106
$TT8_MAMPS,0.080892,0.080892
$HUMID,43.97
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.30
$XPDR_PINGS,10
$SC_FREEKB,3918880
$24V_AH,12.96,14.891
$10V_AH,12.78,0.000
$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,22.675,46.425,427.850,99.475,0.000,0.000,0.000,244.600,7.000,0.000,27.509,0.000,10214.825,673.466,2029.459,85.606,0.000,1548.312,0.000,1202.761,1493.000,37.452,0.000
$DEVICE_MAMPS,400.860,110.160,1920.150,540.090,0.000,0.000,0.000,154.530,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12316.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.625,0.000,0.000,0.000
$MEM,295668
$DATA_FILE_SIZE,26747,807
$CAP_FILE_SIZE,136828,0
$CFSIZE,2097872896,2082734080
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13046.35,0x2378b6,7,5
$INTR,1,5890.29,0x2378b6,2,5
$INTR,2,12603.97,0x2378b6,7,5
$SOUNDSPEED,1450.6
$EKF,12704,4286.722168,-8648.751953,11.139855,-0.023823,-0.014891,0.002601,0.000293,0.002886,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.005,16.26,1
$GPS,010814,082418,7126.752,-14408.730,34,0.8,54,22.6