version: 66.12
glider: 196
mission: 7
dive: 129
start: 8 13 114 13 2 14
data:
$ID,196
$MISSION,7
$DIVE,129
$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,-5175.458
$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,47
$R_STBD_OVSHOOT,19
$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
$GPS1,130814,125554,7222.707,-14403.171,22,0.8,42,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.8
$GPS2,130814,130156,7222.668,-14403.114,4,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,332.8,50759,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-145.9,200,2743,429,566,0.0,0.0,0,80,0.00,0.00,-63.05,0.000,16386,0.000,0.000,199,2743,2079,2083,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,200,2744,2084,2078,3.1,-2.8,6,135,11.75,1.90,-34.97,0.000,18692,0.392,0.128,2657,3789,3855,3914,3797,0,0,0,0,0,0,14.10,14.30,14.52
$GC,359,-0.69,-145.9,2657,3790,3915,3803,81.5,-25.0,62,365,0.00,1.73,0.00,0.000,1030,0.000,0.057,2657,2760,3858,3914,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,670,-0.69,-145.9,2657,2760,3914,3803,145.5,-18.8,94,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2759,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.69,-145.9,2658,2759,3915,3803,199.6,-16.2,124,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2759,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-0.69,-145.9,2657,2759,3915,3801,246.2,-15.9,154,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2759,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1569,-0.69,-145.9,2661,2759,3915,3802,289.9,-14.2,166,1575,0.00,2.38,0.00,0.000,516,0.000,0.072,2657,1363,3858,3914,3802,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1614,-0.69,-145.9,2657,1363,3915,3802,296.0,-13.3,175,1620,0.00,2.50,0.00,0.000,1030,0.000,0.101,2646,2758,3858,3914,3802,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1930,-0.69,-145.9,2647,2758,3916,3802,341.7,-14.4,188,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2758,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2229,-0.69,-145.9,2647,2758,3915,3802,384.1,-14.0,198,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2758,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.69,-145.9,2647,2759,3915,3802,425.3,-13.7,208,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2758,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2829,-0.69,-145.9,2647,2758,3916,3801,465.9,-13.4,218,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2758,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3129,-0.69,-145.9,2647,2759,3913,3802,506.2,-13.5,228,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2758,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3429,-0.69,-145.9,2647,2759,3915,3802,546.6,-13.4,238,3435,0.00,2.38,0.00,0.000,516,0.000,0.070,2646,1362,3857,3914,3801,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3469,-0.69,-145.9,2647,1362,3915,3802,551.9,-13.0,246,3475,0.10,2.47,0.00,0.000,3078,0.236,0.100,2663,2754,3857,3914,3801,0,0,0,0,0,0,14.52,14.61,28.83
$GC,3791,-0.69,-145.9,2664,2754,3920,3801,590.5,-12.0,260,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4089,-0.69,-145.9,2664,2754,3915,3802,626.4,-11.9,270,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4389,-0.69,-145.9,2663,2754,3915,3801,661.9,-11.8,280,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.69,-145.9,2663,2754,3914,3801,697.8,-12.0,290,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4990,-0.69,-145.9,2664,2755,3915,3802,733.5,-11.8,300,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5138,begin apogee
$GC,5142,-0.13,0.0,2664,2755,3915,3802,750.9,-11.7,305,5268,0.65,0.00,124.20,1.948,10244,0.226,0.000,2843,2754,3259,3275,3243,0,0,0,0,0,0,14.57,28.83,13.19
$STATE,5269,end apogee,CONTROL_FINISHED_OK
$STATE,5269,begin climb
$GC,5271,0.69,145.9,2844,2754,3272,3239,754.8,0.0,309,5401,0.88,0.00,123.40,1.808,11270,0.138,0.000,3106,2753,2659,2665,2653,0,0,0,0,0,0,13.81,28.83,12.88
$GC,5710,0.69,145.9,3107,2754,2665,2646,709.2,12.8,349,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2754,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,0.69,145.9,3107,2754,2665,2646,671.1,12.8,359,6016,0.00,1.88,0.00,0.000,260,0.000,0.101,3106,3792,2654,2664,2644,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6040,0.69,145.9,3107,3787,2660,2644,666.8,15.0,365,6046,0.00,1.77,0.00,0.000,1030,0.000,0.055,3113,2735,2654,2664,2645,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6371,0.69,145.9,3113,2735,2665,2645,623.1,13.1,381,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2658,2671,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,0.69,145.9,3114,2735,2665,2644,583.7,13.2,391,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,0.69,145.9,3114,2736,2665,2645,544.6,12.9,401,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,0.69,145.9,3114,2735,2665,2644,505.6,13.1,411,7276,0.00,1.88,0.00,0.000,260,0.000,0.103,3113,3786,2654,2664,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7330,0.69,145.9,3114,3787,2665,2645,496.7,15.8,423,7336,0.00,1.73,0.00,0.000,1030,0.000,0.056,3121,2740,2654,2664,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7661,0.69,145.9,3121,2739,2665,2644,452.5,13.3,439,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,0.69,145.9,3121,2740,2665,2644,413.8,12.7,449,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,0.69,145.9,3123,2740,2662,2644,376.0,12.6,459,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,0.69,145.9,3122,2741,2665,2645,338.2,12.5,469,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,0.69,145.9,3122,2740,2665,2645,301.5,12.1,479,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2740,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,0.69,145.9,3122,2739,2665,2652,265.2,12.0,489,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,0.70,162.8,3122,2741,2665,2645,231.6,10.7,509,9476,0.00,0.00,14.80,1.290,8198,0.000,0.000,3121,2739,2592,2599,2586,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9771,0.71,178.5,3122,2740,2596,2577,197.5,10.8,540,9787,0.00,0.00,13.30,1.255,8454,0.000,0.000,3121,2739,2528,2535,2521,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10092,0.77,258.7,3122,2740,2533,2517,169.1,7.4,573,10163,0.00,2.50,66.70,1.256,8708,0.000,0.074,3125,1347,2196,2197,2195,0,0,0,0,0,0,28.83,14.12,13.62
$GC,10223,0.80,309.3,3126,1348,2195,2192,157.5,8.9,599,10274,0.00,2.53,42.38,1.160,9222,0.000,0.095,3125,2751,1988,1986,1990,0,0,0,0,0,0,28.83,14.16,13.54
$GC,10573,0.81,317.6,3126,2752,1985,1980,119.6,11.2,639,10576,0.00,0.00,2.12,0.573,8198,0.000,0.000,3125,2757,1963,1964,1962,0,0,0,0,0,0,28.83,28.83,13.38
$GC,10876,0.84,367.3,3126,2751,1982,1963,89.9,9.0,669,10907,0.12,0.00,23.95,0.463,10246,0.133,0.000,3177,2751,1761,1761,1762,0,0,0,0,0,0,14.31,28.83,14.03
$GC,11207,0.88,415.3,3178,2753,1774,1758,50.8,9.1,702,11232,0.00,2.42,21.55,0.340,8708,0.000,0.073,3178,1349,1564,1568,1561,0,0,0,0,0,0,28.83,14.28,14.12
$GC,11291,0.92,481.3,3178,1348,1572,1560,43.8,8.1,719,11328,0.00,2.53,29.75,0.318,9222,0.000,0.096,3178,2745,1294,1301,1287,0,0,0,0,0,0,28.83,14.28,14.09
$GC,11627,0.99,580.6,3178,2741,1306,1273,12.4,6.3,756,11679,0.12,2.45,44.08,0.235,10756,0.140,0.074,3234,1354,889,880,899,0,0,0,0,0,0,14.30,14.26,14.16
$FREEZE,8.92,0.755,-1.452,2,1,0
$FREEZE,8.65,0.418,-1.404,2,1,0
$FREEZE,8.39,0.418,-1.404,2,1,0
$FREEZE,8.17,0.261,-1.394,2,1,0
$FREEZE,7.88,0.261,-1.394,2,1,0
$FREEZE,7.74,0.219,-1.387,2,1,0
$FREEZE,7.52,0.219,-1.387,2,1,0
$FREEZE,7.33,0.189,-1.383,2,1,0
$FREEZE,7.19,0.189,-1.383,2,1,0
$FREEZE,7.01,0.176,-1.378,2,1,0
$FREEZE,6.69,0.176,-1.378,2,1,0
$FREEZE,6.58,0.136,-1.376,2,1,0
$FREEZE,6.38,0.136,-1.375,2,1,0
$FREEZE,6.13,0.134,-1.373,2,1,0
$FREEZE,5.72,0.134,-1.373,2,1,0
$FREEZE,5.45,0.125,-1.370,2,1,0
$GC,11743,1.10,732.2,3234,1354,881,896,7.2,3.6,778,11794,0.00,2.50,43.00,0.216,9222,0.000,0.094,3234,2757,498,454,542,0,0,0,0,0,0,28.83,14.28,14.14
$FREEZE,4.85,0.075,-1.368,2,1,0
$FREEZE,4.27,-0.049,-1.367,2,1,0
$FREEZE,3.29,-0.062,-1.363,2,1,0
$FREEZE,2.70,0.006,-1.359,2,1,0
$FREEZE,2.02,-0.095,-1.359,2,1,0
$FREEZE,1.41,-0.057,-1.357,2,1,0
$STATE,11847,end climb,SURFACE_DEPTH_REACHED
$STATE,11847,begin surface coast
$FREEZE,0.95,-0.048,-1.356,2,1,0
$FREEZE,0.72,-0.054,-1.355,2,1,0
$FINISH,0.7,1.019987
$STATE,11868,end surface coast,CONTROL_FINISHED_OK
$STATE,11868,begin surface
$SM_CCo,11943,0.00,0.000,0,0,496,678.50
$SM_GC,2.26,9.40,0.00,0.00,0.086,0.000,0.000,198,2757,496,-8.37,-0.08,678.50,0,0,0,0,0,0,14.28,28.83,28.83
$RAFOS_CLK,68
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7146.24,-14408.78,130814,093019
$TT8_MAMPS,0.080892,0.080892
$HUMID,42.28
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,1
$SC_FREEKB,3880864
$24V_AH,12.88,39.053
$10V_AH,12.84,0.000
$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,23.025,35.525,549.225,0.000,0.000,0.000,0.000,208.500,0.250,0.000,26.095,0.000,9744.982,601.283,1836.637,119.006,0.000,1458.148,0.000,1186.340,1495.000,0.540,0.000
$DEVICE_MAMPS,392.445,127.755,1948.455,0.000,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.792,0.000,0.000,0.000
$MEM,288700
$DATA_FILE_SIZE,26707,794
$CAP_FILE_SIZE,126733,0
$CFSIZE,2097872896,2066513920
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12418.07,0x2378b6,7,5
$INTR,1,5139.26,0x2378b6,2,5
$INTR,2,11870.83,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,130814,162219,7223.951,-14402.853,15,0.9,35,22.9