version: 66.12
glider: 196
mission: 7
dive: 149
start: 8 16 114 10 25 59
data:
$ID,196
$MISSION,7
$DIVE,149
$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,-5199.4185
$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,53
$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
$GPS1,160814,101924,7244.857,-14412.565,34,0.7,54,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.3
$GPS2,160814,102540,7244.867,-14412.727,4,0.7,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,346.0,9622,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-145.9,155,2742,434,543,0.0,0.0,0,89,0.00,0.00,-72.35,0.000,16386,0.000,0.000,151,2742,2340,2348,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,152,2741,2350,2334,4.2,-5.5,7,135,11.93,1.85,-26.58,0.000,18692,0.389,0.120,2660,3796,3855,3915,3796,0,0,0,0,0,0,14.08,14.30,14.54
$GC,359,-0.69,-145.9,2660,3798,3917,3801,86.9,-26.0,61,364,0.00,1.73,0.00,0.000,1030,0.000,0.054,2659,2754,3857,3915,3800,0,0,0,0,0,0,28.83,14.43,28.83
$GC,669,-0.69,-145.9,2660,2754,3917,3801,153.7,-20.4,93,674,0.00,1.83,0.00,0.000,260,0.000,0.100,2651,3778,3858,3915,3801,0,0,0,0,0,0,28.83,14.42,28.83
$GC,824,-0.69,-145.9,2652,3778,3916,3802,186.0,-19.9,124,831,0.00,1.67,0.00,0.000,1030,0.000,0.054,2651,2757,3858,3916,3801,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1129,-0.69,-145.9,2653,2757,3916,3802,237.4,-15.8,155,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-0.69,-145.9,2652,2757,3916,3801,287.7,-15.4,171,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1749,-0.69,-145.9,2652,2757,3917,3800,331.5,-14.3,181,1754,0.00,2.33,0.00,0.000,516,0.000,0.067,2651,1359,3858,3915,3801,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1804,-0.69,-145.9,2652,1359,3916,3800,338.9,-13.2,192,1811,0.10,2.47,0.00,0.000,3078,0.230,0.098,2667,2749,3857,3915,3800,0,0,0,0,0,0,14.45,14.54,28.83
$GC,2110,-0.69,-145.9,2669,2750,3916,3801,377.9,-12.7,203,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2749,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2409,-0.69,-145.9,2668,2750,3916,3800,415.4,-12.4,213,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2749,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-0.69,-145.9,2668,2750,3916,3801,452.5,-12.3,223,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2749,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.69,-145.9,2666,2749,3917,3800,489.2,-12.3,233,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2749,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3309,-0.69,-145.9,2668,2751,3916,3796,525.4,-11.9,243,3314,0.00,2.33,0.00,0.000,516,0.000,0.064,2667,1371,3857,3915,3800,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3344,-0.69,-145.9,2668,1371,3916,3800,529.5,-11.3,250,3349,0.00,2.45,0.00,0.000,1030,0.000,0.098,2662,2752,3857,3915,3800,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3670,-0.69,-145.9,2663,2752,3916,3800,569.4,-12.3,265,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2752,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3969,-0.69,-145.9,2663,2751,3922,3800,606.0,-12.1,275,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2752,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.69,-145.9,2663,2752,3916,3800,642.2,-12.1,285,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2752,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4569,-0.69,-145.9,2663,2752,3916,3800,678.3,-12.0,295,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2752,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4869,-0.69,-145.9,2664,2752,3916,3800,714.2,-11.9,305,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2752,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,-0.69,-145.9,2663,2752,3916,3801,749.8,-11.9,315,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2752,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5201,-0.13,0.0,2663,2753,3916,3801,753.5,-11.9,316,5329,0.68,0.00,125.28,1.981,10244,0.223,0.000,2845,2752,3258,3275,3242,0,0,0,0,0,0,14.55,28.83,13.18
$STATE,5330,end apogee,CONTROL_FINISHED_OK
$STATE,5330,begin climb
$GC,5331,0.69,145.9,2846,2754,3272,3238,756.9,0.0,320,5461,0.88,0.00,123.85,1.800,11270,0.128,0.000,3111,2752,2660,2666,2654,0,0,0,0,0,0,13.82,28.83,12.86
$GC,5771,0.69,145.9,3112,2753,2664,2645,710.8,13.3,360,5775,0.00,1.88,0.00,0.000,260,0.000,0.098,3111,3787,2654,2664,2644,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5810,0.69,145.9,3111,3788,2664,2645,704.8,15.5,368,5815,0.00,1.77,0.00,0.000,1030,0.000,0.050,3118,2742,2654,2664,2644,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6131,0.69,145.9,3119,2741,2665,2645,661.4,13.4,382,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6430,0.69,145.9,3118,2741,2665,2645,621.1,13.5,392,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2651,2660,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6730,0.69,145.9,3119,2742,2664,2644,581.4,13.2,402,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2657,2671,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7030,0.69,145.9,3119,2741,2665,2643,542.0,13.1,412,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7330,0.69,145.9,3119,2740,2665,2644,503.3,12.8,422,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7630,0.69,145.9,3119,2742,2664,2644,465.0,12.8,432,7635,0.00,1.85,0.00,0.000,260,0.000,0.101,3118,3782,2652,2664,2640,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7650,0.69,145.9,3119,3783,2664,2644,462.3,13.4,436,7656,0.00,1.70,0.00,0.000,1030,0.000,0.052,3125,2742,2653,2664,2643,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7960,0.69,145.9,3126,2741,2665,2639,421.7,13.1,448,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,0.69,145.9,3126,2742,2664,2644,383.1,12.9,458,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,0.69,145.9,3126,2742,2664,2644,345.7,12.3,468,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,0.69,145.9,3125,2741,2664,2643,308.8,12.2,478,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,0.69,148.8,3125,2741,2665,2643,273.3,11.5,488,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9461,0.71,167.8,3125,2741,2665,2643,240.7,10.6,502,9482,0.00,0.00,18.48,1.297,8198,0.000,0.000,3125,2741,2569,2577,2562,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9780,0.74,216.2,3125,2741,2578,2557,208.5,9.1,534,9827,0.00,2.42,40.45,1.296,8708,0.000,0.067,3134,1353,2370,2373,2367,0,0,0,0,0,0,28.83,14.27,13.70
$GC,9841,0.78,274.1,3135,1352,2372,2367,203.1,8.5,542,9897,0.00,2.47,48.90,1.340,9222,0.000,0.092,3134,2745,2133,2133,2134,0,0,0,0,0,0,28.83,14.28,13.52
$GC,10201,0.79,281.9,3135,2745,2134,2122,161.5,11.2,584,10206,0.00,0.00,3.70,1.196,8198,0.000,0.000,3134,2745,2109,2116,2102,0,0,0,0,0,0,28.83,28.83,13.54
$GC,10502,0.80,310.0,3135,2745,2133,2103,129.5,10.1,614,10534,0.00,2.47,27.65,1.138,8708,0.000,0.068,3143,1344,1985,1990,1981,0,0,0,0,0,0,28.83,14.26,13.75
$GC,10558,0.82,334.4,3144,1344,1991,1981,123.7,10.3,624,10585,0.00,2.53,20.73,1.151,9222,0.000,0.093,3143,2735,1889,1889,1890,0,0,0,0,0,0,28.83,14.25,13.67
$GC,10883,0.83,340.2,3144,2736,1889,1879,85.8,11.3,659,10889,0.00,1.88,0.95,0.304,8452,0.000,0.102,3143,3786,1875,1882,1868,0,0,0,0,0,0,28.83,14.28,14.16
$GC,10913,0.83,340.2,3144,3786,1889,1874,81.9,12.9,665,10919,0.00,1.75,1.05,0.317,9222,0.000,0.051,3150,2736,1872,1877,1867,0,0,0,0,0,0,28.83,14.38,14.04
$GC,11224,0.88,417.0,3151,2737,1890,1869,55.0,7.5,697,11265,0.00,0.00,34.97,0.353,8454,0.000,0.000,3150,2736,1557,1564,1550,0,0,0,0,0,0,28.83,28.83,14.16
$GC,11564,0.95,518.8,3151,2737,1568,1539,31.5,6.2,732,11616,0.15,2.35,45.05,0.297,10756,0.114,0.069,3221,1353,1141,1146,1136,0,0,0,0,0,0,14.46,14.37,14.20
$GC,11645,0.98,564.3,3222,1353,1148,1137,24.5,9.2,748,11671,0.00,2.50,20.33,0.278,9222,0.000,0.094,3221,2736,955,951,960,0,0,0,0,0,0,28.83,14.32,14.19
$FREEZE,8.79,1.238,-1.441,2,1,0
$FREEZE,8.22,1.282,-1.440,2,1,0
$FREEZE,7.61,1.285,-1.439,2,1,0
$FREEZE,6.97,1.285,-1.439,2,1,0
$FREEZE,6.50,1.297,-1.438,2,1,0
$FREEZE,5.85,1.309,-1.438,2,1,0
$FREEZE,5.26,1.306,-1.437,2,1,0
$FREEZE,4.53,1.311,-1.437,2,1,0
$FREEZE,3.93,1.290,-1.437,2,1,0
$FREEZE,3.26,1.291,-1.436,2,1,0
$FREEZE,2.51,1.302,-1.435,2,1,0
$FREEZE,2.05,1.302,-1.435,2,1,0
$FREEZE,1.79,1.297,-1.435,2,1,0
$STATE,11975,end climb,SURFACE_DEPTH_REACHED
$STATE,11975,begin surface coast
$FREEZE,1.14,1.301,-1.434,2,1,0
$FREEZE,0.88,1.185,-1.439,2,1,0
$FREEZE,0.85,1.242,-0.720,2,1,0
$FINISH,0.9,1.010622
$STATE,12006,end surface coast,CONTROL_FINISHED_OK
$STATE,12006,begin surface
$SM_CCo,12020,49.97,0.198,0,0,499,676.54
$SM_GC,1.81,9.07,0.00,49.97,0.071,0.000,0.198,199,2737,499,-8.36,-0.65,676.54,0,0,0,0,0,0,14.47,28.83,14.30
$RAFOS_CLK,319
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7207.11,-14415.94,160814,065752
$TT8_MAMPS,0.04494,0.04494
$HUMID,45.58
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3871904
$24V_AH,12.86,44.838
$10V_AH,12.86,0.000
$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,22.800,42.225,511.375,49.975,0.000,0.000,0.000,220.675,1.000,0.000,25.750,0.000,9833.976,635.333,1842.514,132.782,0.000,1495.847,0.000,1175.495,1493.000,0.539,0.000
$DEVICE_MAMPS,388.620,120.105,1981.350,198.135,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12041.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.661,0.000,0.000,0.000
$MEM,277336
$DATA_FILE_SIZE,26729,787
$CAP_FILE_SIZE,129336,0
$CFSIZE,2097872896,2062614528
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12251.20,0x2378b6,7,5
$INTR,1,5199.46,0x2378b6,2,5
$INTR,2,12009.48,0x2378b6,7,5
$SOUNDSPEED,1449.5
$GPS,160814,134824,7246.192,-14411.776,26,0.9,46,22.9