version: 66.12
glider: 196
mission: 7
dive: 201
start: 8 24 114 1 2 43
data:
$ID,196
$MISSION,7
$DIVE,201
$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,-5266.1836
$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,48
$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
$GPS1,240814,005142,7258.369,-14449.097,37,0.8,57,22.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.4
$GPS2,240814,010224,7258.409,-14448.950,4,0.8,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,326.5,59545,-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,-145.9,183,2744,434,545,0.0,0.0,0,89,0.00,0.00,-71.62,0.000,16386,0.000,0.000,180,2745,2331,2340,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,180,2745,2341,2324,4.2,-5.0,7,135,12.27,2.38,-26.10,0.000,18948,0.402,0.087,2663,1363,3855,3916,3794,0,0,0,0,0,0,14.00,14.23,14.47
$GC,359,-0.69,-145.9,2664,1364,3917,3798,77.7,-20.6,61,365,0.00,2.50,0.00,0.000,1030,0.000,0.097,2654,2761,3856,3915,3797,0,0,0,0,0,0,28.83,14.28,28.83
$GC,669,-0.69,-145.9,2656,2761,3917,3798,145.0,-20.6,93,675,0.00,2.38,0.00,0.000,516,0.000,0.067,2655,1359,3856,3915,3798,0,0,0,0,0,0,28.83,14.40,28.83
$GC,899,-0.69,-145.9,2656,1360,3916,3798,186.8,-17.4,139,905,0.00,2.50,0.00,0.000,1030,0.000,0.098,2643,2764,3856,3916,3797,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1209,-0.69,-145.9,2644,2764,3916,3800,242.5,-17.0,171,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1530,-0.69,-145.9,2645,2764,3916,3798,292.5,-15.2,185,1535,0.00,1.77,0.00,0.000,260,0.000,0.103,2634,3785,3857,3916,3798,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1579,-0.69,-145.9,2636,3789,3916,3799,300.8,-17.0,195,1585,0.12,1.70,0.00,0.000,3078,0.243,0.057,2673,2763,3856,3915,3797,0,0,0,0,0,0,14.34,14.54,28.83
$GC,1890,-0.69,-145.9,2668,2764,3916,3798,342.4,-13.0,207,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2189,-0.69,-145.9,2669,2764,3917,3797,380.6,-12.7,217,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2763,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2489,-0.69,-145.9,2668,2762,3917,3797,418.3,-12.5,227,2495,0.00,2.33,0.00,0.000,516,0.000,0.070,2668,1367,3856,3915,3797,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2544,-0.69,-145.9,2668,1367,3917,3797,424.9,-11.5,238,2551,0.00,2.47,0.00,0.000,1030,0.000,0.100,2662,2769,3856,3915,3797,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2849,-0.69,-145.9,2662,2770,3917,3797,463.7,-12.8,249,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3915,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3149,-0.69,-145.9,2662,2770,3917,3797,501.6,-12.5,259,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2770,3855,3915,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3449,-0.69,-145.9,2663,2771,3916,3798,539.1,-12.4,269,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2770,3856,3915,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3749,-0.69,-145.9,2662,2770,3917,3797,576.2,-12.4,279,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3855,3915,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4049,-0.69,-145.9,2662,2770,3917,3797,612.9,-12.2,289,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3915,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4349,-0.69,-145.9,2662,2770,3917,3797,649.4,-12.2,299,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2769,3856,3915,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4649,-0.69,-145.9,2661,2770,3917,3796,685.3,-11.9,309,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,-0.69,-145.9,2662,2770,3917,3797,720.8,-11.9,319,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3915,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5218,begin apogee
$GC,5222,-0.13,0.0,2663,2771,3916,3798,753.3,-12.0,328,5349,0.68,0.00,124.80,1.981,10244,0.225,0.000,2843,2770,3257,3276,3238,0,0,0,0,0,0,14.49,28.83,13.15
$STATE,5350,end apogee,CONTROL_FINISHED_OK
$STATE,5350,begin climb
$GC,5352,0.69,145.9,2844,2771,3272,3235,756.9,0.0,332,5481,0.88,0.00,122.55,1.817,11270,0.135,0.000,3106,2769,2657,2662,2652,0,0,0,0,0,0,13.80,28.83,12.76
$GC,5790,0.69,145.9,3107,2771,2665,2644,710.7,13.1,372,5796,0.00,1.88,0.00,0.000,260,0.000,0.099,3106,3782,2654,2665,2643,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5820,0.69,145.9,3107,3782,2666,2643,706.2,15.1,378,5826,0.00,1.80,0.00,0.000,1030,0.000,0.054,3112,2735,2654,2665,2643,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6151,0.69,145.9,3113,2736,2665,2642,662.3,13.2,394,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6451,0.69,145.9,3113,2735,2666,2642,623.4,12.9,404,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2732,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6750,0.69,145.9,3113,2735,2666,2642,584.3,13.0,414,6756,0.00,1.88,0.00,0.000,260,0.000,0.101,3112,3780,2653,2664,2642,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6765,0.69,145.9,3113,3781,2666,2642,582.2,13.3,417,6771,0.00,1.73,0.00,0.000,1030,0.000,0.054,3120,2740,2653,2664,2642,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7081,0.69,145.9,3121,2740,2665,2643,540.4,13.4,430,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7380,0.69,145.9,3121,2740,2665,2642,500.6,13.3,440,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7680,0.69,145.9,3121,2740,2666,2641,461.2,13.1,450,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2740,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,0.69,145.9,3121,2740,2666,2641,422.4,12.8,460,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8280,0.69,145.9,3121,2740,2665,2640,384.4,12.5,470,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8580,0.69,145.9,3120,2739,2674,2642,346.4,12.6,480,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8880,0.69,145.9,3121,2740,2665,2642,309.7,11.8,490,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,0.69,150.5,3121,2741,2665,2645,275.1,11.4,500,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2739,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,0.72,192.0,3121,2740,2665,2643,243.7,9.4,514,9527,0.00,2.42,37.62,1.280,8708,0.000,0.070,3131,1346,2469,2473,2465,0,0,0,0,0,0,28.83,14.39,13.87
$GC,9541,0.74,224.2,3131,1344,2473,2464,237.7,9.9,524,9573,0.00,2.47,27.05,1.310,9222,0.000,0.093,3130,2744,2340,2340,2341,0,0,0,0,0,0,28.83,14.39,13.69
$GC,9871,0.75,232.2,3132,2745,2339,2332,198.2,11.2,560,9883,0.00,0.00,7.45,1.314,8198,0.000,0.000,3131,2745,2306,2310,2302,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10181,0.77,265.5,3131,2746,2311,2299,166.0,9.9,591,10213,0.00,0.00,28.50,1.213,8198,0.000,0.000,3131,2745,2171,2174,2168,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10512,0.80,307.8,3132,2746,2174,2160,133.4,9.4,624,10553,0.00,0.00,36.00,1.227,8198,0.000,0.000,3131,2745,1997,2001,1993,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10855,0.83,348.9,3132,2745,2003,1983,99.2,9.4,658,10877,0.00,0.00,17.73,0.495,8198,0.000,0.000,3131,2745,1836,1837,1835,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11176,0.87,404.5,3128,2746,1846,1834,68.6,8.7,690,11207,0.15,0.00,25.77,0.390,10246,0.115,0.000,3190,2745,1609,1612,1606,0,0,0,0,0,0,14.27,28.83,13.95
$GC,11506,0.91,464.9,3191,2745,1618,1602,34.6,8.4,723,11538,0.00,2.50,27.20,0.307,8708,0.000,0.072,3198,1348,1360,1372,1349,0,0,0,0,0,0,28.83,14.19,14.02
$GC,11573,0.95,520.5,3200,1348,1376,1349,29.0,8.7,736,11604,0.00,2.50,25.17,0.291,9222,0.000,0.094,3198,2739,1137,1146,1128,0,0,0,0,0,0,28.83,14.17,14.00
$FREEZE,8.97,0.105,-1.416,2,1,0
$FREEZE,8.61,0.414,-1.413,2,1,0
$FREEZE,8.06,0.414,-1.413,2,1,0
$FREEZE,7.79,0.249,-1.417,2,1,0
$FREEZE,7.23,0.249,-1.417,2,1,0
$FREEZE,6.79,1.536,-1.399,2,1,0
$FREEZE,6.29,1.536,-1.398,2,1,0
$FREEZE,5.87,1.667,-1.401,2,1,0
$GC,11908,1.06,670.6,3200,2739,1148,1116,10.3,3.6,773,11987,0.12,2.50,67.85,0.221,10756,0.136,0.072,3259,1348,523,476,570,0,0,0,0,0,0,14.23,14.14,14.00
$FREEZE,5.01,1.682,-1.404,2,1,0
$FREEZE,4.56,1.682,-1.404,2,1,0
$FREEZE,4.25,1.681,-1.405,2,1,0
$FREEZE,3.98,1.681,-1.404,2,1,0
$FREEZE,3.58,1.681,-1.405,2,1,0
$FREEZE,3.23,1.681,-1.405,2,1,0
$FREEZE,2.91,1.681,-1.405,2,1,0
$FREEZE,2.56,1.681,-1.405,2,1,0
$FREEZE,2.24,1.682,-1.405,2,1,0
$FREEZE,1.87,1.682,-1.404,2,1,0
$STATE,12035,end climb,SURFACE_DEPTH_REACHED
$STATE,12036,begin surface coast
$FREEZE,1.56,1.682,-1.404,2,1,0
$FREEZE,1.13,1.682,-1.404,2,1,0
$FREEZE,1.03,1.482,-1.413,2,1,0
$FREEZE,0.84,1.482,-1.413,2,1,0
$FINISH,0.8,1.020775
$STATE,12055,end surface coast,CONTROL_FINISHED_OK
$STATE,12055,begin surface
$SM_CCo,12073,2.10,0.239,0,0,499,676.78
$SM_GC,2.74,9.38,2.60,2.10,0.074,0.095,0.239,204,2758,499,-8.36,-0.59,676.78,0,0,0,0,0,0,14.23,14.18,14.09
$RAFOS_CLK,75
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7221.25,-14444.83,240814,005428
$TT8_MAMPS,0.04494,0.04494
$HUMID,42.59
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,13.20
$XPDR_PINGS,3
$SC_FREEKB,3848608
$24V_AH,12.76,60.329
$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,23.600,40.300,547.700,2.100,0.000,0.000,0.000,403.025,0.750,0.000,25.750,0.000,9889.408,619.937,2044.195,162.516,0.000,1669.962,0.000,1193.389,1498.000,0.539,0.000
$DEVICE_MAMPS,402.390,103.275,1981.350,238.680,0.000,0.000,0.000,155.295,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12105.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.320,0.000,0.000,0.000
$MEM,247500
$DATA_FILE_SIZE,26694,800
$CAP_FILE_SIZE,132248,0
$CFSIZE,2097872896,2052554752
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12907.28,0x2378b6,7,5
$INTR,1,5219.76,0x2378b6,2,5
$SOUNDSPEED,1449.2
$GPS,240814,042524,7259.864,-14450.168,36,0.8,56,22.8