version: 66.12
glider: 196
mission: 7
dive: 164
start: 8 18 114 14 12 57
data:
$ID,196
$MISSION,7
$DIVE,164
$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,-5218.3276
$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,45
$R_STBD_OVSHOOT,18
$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
$GPS1,180814,140548,7220.598,-14411.278,57,0.9,77,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.9
$GPS2,180814,141238,7220.572,-14411.104,5,0.8,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,156.8,82550,-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,-145.9,150,2753,433,554,0.0,0.0,0,79,0.00,0.00,-62.47,0.000,16386,0.000,0.000,146,2753,2101,2101,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,147,2753,2103,2101,3.5,-4.1,6,130,12.10,2.38,-30.62,0.000,18948,0.393,0.092,2666,1365,3858,3920,3797,0,0,0,0,0,0,14.08,14.33,14.52
$GC,264,-0.69,-145.9,2667,1363,3915,3802,57.1,-25.1,43,271,0.00,2.53,0.00,0.000,1030,0.000,0.099,2657,2756,3858,3914,3802,0,0,0,0,0,0,28.83,14.34,28.83
$GC,570,-0.69,-145.9,2658,2756,3915,3803,126.4,-21.3,74,575,0.00,1.85,0.00,0.000,260,0.000,0.102,2648,3786,3858,3913,3803,0,0,0,0,0,0,28.83,14.41,28.83
$GC,644,-0.69,-145.9,2650,3787,3914,3804,143.0,-22.1,89,651,0.00,1.73,0.00,0.000,1030,0.000,0.057,2649,2751,3858,3913,3803,0,0,0,0,0,0,28.83,14.49,28.83
$GC,950,-0.69,-145.9,2650,2751,3914,3805,201.5,-17.1,120,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2750,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1250,-0.69,-145.9,2649,2750,3914,3803,250.7,-15.5,150,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2750,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1550,-0.69,-145.9,2650,2751,3914,3804,296.4,-14.9,160,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2750,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,-0.69,-145.9,2650,2751,3914,3804,340.3,-14.6,170,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2750,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,-0.69,-145.9,2650,2751,3914,3804,382.7,-14.1,180,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2750,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2450,-0.69,-145.9,2649,2750,3914,3802,425.0,-14.1,190,2455,0.00,2.35,0.00,0.000,516,0.000,0.071,2649,1338,3857,3913,3801,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2474,-0.69,-145.9,2650,1338,3914,3801,428.6,-14.5,195,2481,0.10,2.53,0.00,0.000,3078,0.239,0.101,2664,2753,3857,3913,3802,0,0,0,0,0,0,14.47,14.57,28.83
$GC,2780,-0.69,-145.9,2665,2754,3914,3801,467.6,-12.8,206,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2753,3857,3913,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,-0.69,-145.9,2665,2753,3915,3801,505.7,-12.6,216,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3913,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3380,-0.69,-145.9,2667,2754,3914,3801,542.9,-12.4,226,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.69,-145.9,2666,2754,3914,3802,579.6,-12.2,236,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2753,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3980,-0.69,-145.9,2665,2754,3914,3802,615.2,-11.8,246,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4280,-0.69,-145.9,2671,2754,3920,3802,650.7,-11.9,256,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4580,-0.69,-145.9,2665,2753,3915,3801,686.6,-12.0,266,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2753,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4880,-0.69,-145.9,2665,2754,3915,3801,722.4,-11.9,276,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2753,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5118,begin apogee
$GC,5122,-0.13,0.0,2666,2755,3914,3802,750.7,-11.8,284,5248,0.65,0.00,123.75,1.979,10244,0.223,0.000,2843,2753,3259,3274,3244,0,0,0,0,0,0,14.56,28.83,13.17
$STATE,5249,end apogee,CONTROL_FINISHED_OK
$STATE,5249,begin climb
$GC,5250,0.69,145.9,2844,2754,3271,3241,754.2,0.0,288,5381,0.88,0.00,124.15,1.841,11270,0.134,0.000,3107,2753,2660,2667,2653,0,0,0,0,0,0,13.81,28.83,12.82
$GC,5690,0.69,145.9,3108,2754,2664,2646,707.4,13.2,328,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,0.69,145.9,3108,2754,2660,2645,668.6,12.8,338,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6291,0.69,145.9,3108,2755,2664,2645,630.4,12.7,348,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,0.69,145.9,3108,2753,2665,2644,592.4,12.6,358,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6891,0.69,145.9,3108,2753,2665,2644,555.1,12.4,368,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7190,0.69,145.9,3108,2753,2665,2643,518.6,12.1,378,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7491,0.69,145.9,3108,2753,2665,2643,481.9,12.2,388,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7791,0.69,145.9,3108,2753,2664,2651,445.7,12.2,398,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8091,0.69,145.9,3108,2754,2664,2643,409.8,11.9,408,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8390,0.69,145.9,3108,2754,2664,2644,374.6,11.8,418,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2656,2670,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8690,0.69,145.9,3108,2753,2665,2643,339.2,12.0,428,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8991,0.69,149.2,3108,2753,2665,2643,304.5,11.5,438,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9291,0.70,161.8,3108,2754,2664,2644,271.0,11.0,448,9305,0.00,0.00,13.23,1.337,8198,0.000,0.000,3107,2753,2599,2607,2592,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9590,0.72,187.0,3108,2754,2602,2585,239.1,10.3,464,9613,0.00,0.00,21.75,1.271,8198,0.000,0.000,3107,2753,2495,2499,2491,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9912,0.75,227.8,3108,2754,2495,2481,204.8,9.5,496,9951,0.00,0.00,33.83,1.239,8198,0.000,0.000,3107,2753,2325,2328,2322,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10251,0.77,265.2,3108,2754,2329,2318,171.3,9.6,530,10285,0.12,0.00,32.22,1.245,10246,0.145,0.000,3161,2753,2175,2176,2174,0,0,0,0,0,0,14.45,28.83,13.66
$GC,10580,0.77,265.2,3161,2754,2172,2161,131.0,11.7,563,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2753,2165,2171,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10881,0.78,278.8,3162,2754,2172,2160,97.1,10.9,593,10891,0.00,0.00,4.97,0.467,8198,0.000,0.000,3161,2753,2123,2131,2116,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11191,0.82,335.0,3162,2754,2140,2118,66.9,8.6,624,11222,0.00,0.00,25.62,0.393,8198,0.000,0.000,3161,2753,1892,1891,1893,0,0,0,0,0,0,28.83,28.83,14.17
$GC,11521,0.90,449.3,3161,2753,1896,1890,43.5,5.5,657,11577,0.00,1.85,49.85,0.321,8452,0.000,0.105,3159,3791,1424,1436,1412,0,0,0,0,0,0,28.83,14.36,14.21
$GC,11602,0.92,481.2,3162,3793,1437,1413,37.2,9.9,672,11623,0.00,1.73,14.35,0.323,9222,0.000,0.057,3163,2739,1294,1309,1279,0,0,0,0,0,0,28.83,14.42,14.16
$GC,11921,1.03,633.2,3163,2740,1312,1268,14.2,3.5,706,11994,0.20,2.45,67.03,0.246,10756,0.107,0.073,3246,1344,674,651,697,0,0,0,0,0,0,14.46,14.35,14.21
$FREEZE,8.74,4.340,-1.382,2,1,0
$FREEZE,8.45,4.340,-1.382,2,1,0
$FREEZE,8.23,4.341,-1.382,2,1,0
$FREEZE,7.96,4.341,-1.381,2,1,0
$FREEZE,7.73,4.340,-1.381,2,1,0
$FREEZE,7.37,4.340,-1.381,2,1,0
$FREEZE,7.28,4.338,-1.381,2,1,0
$FREEZE,6.89,4.338,-1.381,2,1,0
$FREEZE,6.61,4.338,-1.381,2,1,0
$FREEZE,6.51,4.338,-1.381,2,1,0
$FREEZE,6.07,4.338,-1.380,2,1,0
$FREEZE,5.75,4.338,-1.380,2,1,0
$GC,12124,1.11,749.2,3247,1345,653,694,6.6,5.5,746,12150,0.00,2.47,19.08,0.222,9222,0.000,0.098,3246,2730,499,457,542,0,0,0,0,0,0,28.83,14.34,14.21
$FREEZE,4.92,4.337,-1.379,2,1,0
$FREEZE,4.20,4.331,-1.379,2,1,0
$FREEZE,3.41,4.340,-1.378,2,1,0
$FREEZE,2.81,4.337,-1.378,2,1,0
$FREEZE,1.81,4.342,-1.377,2,1,0
$STATE,12194,end climb,SURFACE_DEPTH_REACHED
$STATE,12194,begin surface coast
$FREEZE,0.92,4.340,-1.376,2,1,0
$FREEZE,0.64,4.305,-1.378,2,1,0
$FINISH,0.6,1.020086
$STATE,12213,end surface coast,CONTROL_FINISHED_OK
$STATE,12213,begin surface
$SM_CCo,12289,0.00,0.000,0,0,497,677.27
$SM_GC,1.62,9.23,0.03,0.00,0.074,0.342,0.000,204,2765,497,-8.37,-0.79,677.27,0,0,0,0,0,0,14.38,14.40,28.83
$RAFOS_CLK,297
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7146.24,-14408.78,180814,103615
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.55
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.70
$XPDR_PINGS,1
$SC_FREEKB,3865184
$24V_AH,12.82,49.182
$10V_AH,12.88,0.000
$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,23.275,21.875,529.825,0.000,0.000,0.000,0.000,247.625,0.250,0.000,27.077,0.000,10161.331,583.493,1820.778,129.770,0.000,1439.081,0.000,1135.888,1484.000,0.539,0.000
$DEVICE_MAMPS,393.210,341.955,1979.055,0.000,0.000,0.000,0.000,154.530,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.693,0.000,0.000,0.000
$MEM,268648
$DATA_FILE_SIZE,26679,757
$CAP_FILE_SIZE,124668,0
$CFSIZE,2097872896,2059665408
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12718.32,0x2378b6,7,5
$INTR,1,5120.07,0x2378b6,2,5
$SOUNDSPEED,1450.3
$GPS,180814,173912,7218.821,-14410.179,39,0.7,59,22.8