version: 66.12
glider: 196
mission: 7
dive: 150
start: 8 16 114 13 55 17
data:
$ID,196
$MISSION,7
$DIVE,150
$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,-5200.6782
$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,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
$GPS1,160814,134824,7246.192,-14411.776,26,0.9,46,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.7
$GPS2,160814,135458,7246.190,-14411.900,4,0.8,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,156.6,129996,-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,-145.9,173,2739,420,562,0.0,0.0,0,89,0.00,0.00,-72.05,0.000,16386,0.000,0.000,170,2739,2314,2323,2305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,171,2740,2324,2306,3.7,-4.3,7,140,11.82,2.40,-28.10,0.000,18948,0.389,0.090,2662,1372,3857,3918,3796,0,0,0,0,0,0,14.08,14.31,14.53
$GC,244,-0.69,-145.9,2663,1371,3917,3800,51.3,-25.2,38,251,0.00,2.53,0.00,0.000,1030,0.000,0.097,2654,2764,3858,3916,3800,0,0,0,0,0,0,28.83,14.33,28.83
$GC,549,-0.69,-145.9,2655,2765,3917,3801,124.5,-21.0,69,555,0.00,2.35,0.00,0.000,516,0.000,0.066,2654,1366,3858,3916,3801,0,0,0,0,0,0,28.83,14.43,28.83
$GC,594,-0.69,-145.9,2655,1367,3917,3802,133.2,-18.6,78,601,0.00,2.50,0.00,0.000,1030,0.000,0.097,2643,2755,3858,3915,3801,0,0,0,0,0,0,28.83,14.41,28.83
$GC,899,-0.69,-145.9,2644,2755,3917,3801,196.0,-19.3,109,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1199,-0.69,-145.9,2644,2756,3916,3801,247.7,-16.2,139,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2755,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-0.69,-145.9,2644,2755,3917,3800,298.5,-15.3,151,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1819,-0.69,-145.9,2644,2756,3925,3802,342.6,-14.7,161,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2119,-0.69,-145.9,2644,2756,3916,3801,386.5,-14.6,171,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2419,-0.69,-145.9,2644,2756,3916,3801,430.0,-14.5,181,2425,0.00,2.35,0.00,0.000,516,0.000,0.067,2643,1372,3857,3915,3800,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2449,-0.69,-145.9,2644,1371,3916,3801,434.1,-14.1,187,2455,0.08,2.45,0.00,0.000,3078,0.245,0.099,2665,2746,3858,3915,3801,0,0,0,0,0,0,14.48,14.56,28.83
$GC,2779,-0.69,-145.9,2666,2748,3916,3801,475.2,-12.3,203,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2746,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3079,-0.69,-145.9,2666,2747,3916,3801,512.1,-12.2,213,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2746,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3379,-0.69,-145.9,2666,2747,3915,3801,548.7,-12.2,223,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2746,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3679,-0.69,-145.9,2666,2747,3916,3801,584.7,-11.8,233,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2746,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3979,-0.69,-145.9,2666,2747,3917,3800,620.2,-11.8,243,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2747,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4279,-0.69,-145.9,2665,2747,3916,3800,656.1,-11.9,253,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2746,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4579,-0.69,-145.9,2665,2747,3917,3800,691.5,-11.7,263,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2746,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4879,-0.69,-145.9,2665,2747,3917,3800,727.0,-11.8,273,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2746,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5088,begin apogee
$GC,5091,-0.13,0.0,2666,2747,3916,3800,752.0,-11.9,280,5219,0.65,0.00,125.78,1.973,10244,0.226,0.000,2843,2746,3257,3274,3241,0,0,0,0,0,0,14.54,28.83,13.18
$STATE,5220,end apogee,CONTROL_FINISHED_OK
$STATE,5221,begin climb
$GC,5222,0.69,145.9,2844,2746,3271,3236,755.6,0.0,284,5351,0.90,0.00,123.68,1.802,11270,0.138,0.000,3113,2746,2660,2666,2655,0,0,0,0,0,0,13.81,28.83,12.86
$GC,5660,0.69,145.9,3113,2746,2666,2645,709.2,13.1,324,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2746,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,0.69,145.9,3113,2747,2665,2645,670.4,12.9,334,5966,0.00,1.88,0.00,0.000,260,0.000,0.099,3113,3782,2655,2665,2645,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6000,0.69,145.9,3114,3783,2665,2646,664.4,14.9,342,6006,0.00,1.73,0.00,0.000,1030,0.000,0.052,3121,2745,2654,2664,2644,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6321,0.69,145.9,3122,2745,2665,2644,622.0,13.2,356,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6620,0.69,145.9,3121,2744,2666,2644,582.8,13.1,366,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,0.69,145.9,3121,2744,2666,2644,543.1,13.3,376,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2745,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,0.69,145.9,3121,2745,2666,2644,503.5,13.2,386,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2744,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,0.69,145.9,3127,2745,2665,2644,464.5,12.9,396,7526,0.00,1.80,0.00,0.000,260,0.000,0.100,3121,3785,2654,2664,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7535,0.69,145.9,3122,3786,2665,2645,462.6,13.1,399,7541,0.00,1.70,0.00,0.000,1030,0.000,0.053,3127,2742,2654,2665,2644,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7850,0.69,145.9,3127,2743,2665,2644,420.6,13.2,412,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8150,0.69,145.9,3131,2743,2665,2644,381.7,12.8,422,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8450,0.69,145.9,3127,2744,2665,2645,343.8,12.7,432,8456,0.00,1.88,0.00,0.000,260,0.000,0.099,3126,3790,2653,2664,2643,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8485,0.69,145.9,3128,3791,2665,2645,338.8,14.9,439,8491,0.00,1.73,0.00,0.000,1030,0.000,0.052,3135,2737,2654,2664,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8811,0.69,145.9,3136,2737,2665,2645,297.7,12.4,454,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2737,2651,2663,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,0.69,145.9,3135,2737,2666,2644,262.0,11.7,464,9116,0.00,2.35,0.00,0.000,516,0.000,0.067,3146,1331,2654,2665,2644,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9135,0.70,163.5,3146,1331,2666,2644,259.4,10.7,469,9156,0.00,2.50,15.15,1.313,9222,0.000,0.093,3146,2738,2586,2593,2580,0,0,0,0,0,0,28.83,14.47,13.87
$GC,9460,0.71,180.0,3146,2738,2594,2576,220.8,10.8,501,9476,0.00,0.00,14.50,1.278,8198,0.000,0.000,3146,2737,2522,2529,2516,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9770,0.74,213.4,3147,2739,2527,2510,188.5,9.9,532,9803,0.00,2.42,28.12,1.229,8708,0.000,0.067,3155,1353,2383,2388,2379,0,0,0,0,0,0,28.83,14.30,13.75
$GC,9883,0.77,254.0,3157,1353,2385,2380,177.6,9.5,554,9925,0.00,2.45,34.80,1.276,9222,0.000,0.093,3156,2739,2215,2215,2216,0,0,0,0,0,0,28.83,14.31,13.58
$GC,10222,0.77,266.0,3156,2740,2216,2209,139.4,11.0,592,10235,0.00,0.00,10.52,1.236,8198,0.000,0.000,3156,2739,2170,2174,2167,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10533,0.80,297.4,3156,2740,2172,2160,106.3,10.0,623,10564,0.00,0.00,24.25,1.147,8198,0.000,0.000,3155,2739,2039,2043,2036,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10863,0.83,350.8,3156,2739,2043,2028,73.2,8.8,656,10888,0.00,0.00,22.52,0.414,8710,0.000,0.000,3155,2739,1828,1825,1831,0,0,0,0,0,0,28.83,28.83,14.12
$GC,11193,0.92,475.8,3156,2740,1831,1826,46.7,5.0,691,11255,0.12,2.38,54.97,0.330,10756,0.133,0.067,3213,1348,1317,1327,1308,0,0,0,0,0,0,14.45,14.34,14.14
$GC,11319,0.95,516.6,3214,1349,1329,1307,36.0,9.5,715,11346,0.00,2.50,18.25,0.316,9222,0.000,0.093,3213,2741,1151,1159,1143,0,0,0,0,0,0,28.83,14.32,14.15
$FREEZE,8.86,1.701,-1.425,2,1,0
$FREEZE,8.46,1.701,-1.425,2,1,0
$FREEZE,8.27,1.698,-1.425,2,1,0
$FREEZE,7.77,1.710,-1.425,2,1,0
$FREEZE,7.27,1.717,-1.424,2,1,0
$FREEZE,7.02,1.717,-1.424,2,1,0
$FREEZE,6.69,1.720,-1.424,2,1,0
$GC,11644,1.04,639.1,3214,2738,1161,1132,9.4,5.1,750,11706,0.00,2.42,54.35,0.221,8964,0.000,0.070,3219,1357,650,626,675,0,0,0,0,0,0,28.83,14.35,14.24
$FREEZE,5.96,1.720,-1.424,2,1,0
$FREEZE,5.65,1.720,-1.424,2,1,0
$FREEZE,5.35,1.720,-1.423,2,1,0
$FREEZE,4.68,1.720,-1.423,2,1,0
$GC,11711,1.12,760.6,3219,1357,627,676,6.0,5.2,759,11736,0.12,2.45,16.67,0.214,11270,0.145,0.094,3265,2744,497,448,546,0,0,0,0,0,0,14.37,14.35,14.22
$FREEZE,3.47,1.713,-1.422,2,1,0
$FREEZE,2.66,1.715,-1.422,2,1,0
$FREEZE,1.65,1.715,-1.421,2,1,0
$STATE,11760,end climb,SURFACE_DEPTH_REACHED
$STATE,11760,begin surface coast
$FREEZE,0.69,1.659,-1.422,2,1,0
$FREEZE,0.71,1.662,-1.419,2,1,0
$FINISH,0.7,1.020847
$STATE,11779,end surface coast,CONTROL_FINISHED_OK
$STATE,11779,begin surface
$SM_CCo,11855,0.00,0.000,0,0,493,678.25
$SM_GC,1.80,9.40,0.00,0.00,0.084,0.000,0.000,200,2746,493,-8.36,-0.37,678.25,0,0,0,0,0,0,14.38,28.83,28.83
$RAFOS_CLK,221
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7207.11,-14225.88,160814,102155
$TT8_MAMPS,0.04494,0.04494
$HUMID,45.55
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,5
$SC_FREEKB,3871456
$24V_AH,12.86,45.127
$10V_AH,12.87,0.000
$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,23.100,44.750,543.575,0.000,0.000,0.000,0.000,235.575,1.250,0.000,26.487,0.000,9674.750,620.809,1824.749,125.999,0.000,1489.825,0.000,1147.570,1494.000,0.539,0.000
$DEVICE_MAMPS,388.620,100.215,1972.935,0.000,0.000,0.000,0.000,155.295,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11817.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.609,0.000,0.000,0.000
$MEM,276704
$DATA_FILE_SIZE,26733,768
$CAP_FILE_SIZE,127057,0
$CFSIZE,2097872896,2062417920
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12557.64,0x2378b6,7,5
$INTR,1,5089.53,0x2378b6,2,5
$INTR,2,11782.96,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,160814,171418,7244.471,-14411.687,39,0.8,59,22.9