version: 66.12
glider: 196
mission: 7
dive: 231
start: 8 28 114 9 43 10
data:
$ID,196
$MISSION,7
$DIVE,231
$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,-5301.666
$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,57
$R_STBD_OVSHOOT,22
$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
$GPS1,280814,093548,7343.490,-14457.763,38,0.7,58,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.1
$GPS2,280814,094255,7343.506,-14457.701,5,0.7,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.4,119928,-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,-145.9,201,2742,436,550,0.0,0.0,0,90,0.00,0.00,-71.82,0.000,16386,0.000,0.000,200,2742,2218,2223,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,202,2743,2223,2216,3.2,-2.6,7,141,12.18,2.35,-30.77,0.000,19204,0.402,0.087,2665,1373,3856,3919,3794,0,0,0,0,0,0,14.00,14.23,14.47
$GC,145,-0.69,-145.9,2666,1373,3920,3795,21.5,-40.0,18,152,0.00,2.47,0.00,0.000,1030,0.000,0.084,2657,2755,3857,3918,3796,0,0,0,0,0,0,28.83,14.21,28.83
$GC,451,-0.69,-145.9,2658,2755,3919,3798,106.7,-22.1,49,456,0.00,1.85,0.00,0.000,260,0.000,0.099,2648,3783,3857,3918,3797,0,0,0,0,0,0,28.83,14.24,28.83
$GC,681,-0.69,-145.9,2649,3784,3919,3798,158.7,-21.7,95,686,0.00,1.70,0.00,0.000,1030,0.000,0.054,2648,2758,3857,3918,3797,0,0,0,0,0,0,28.83,14.45,28.83
$GC,991,-0.69,-145.9,2650,2757,3920,3797,218.9,-17.7,127,996,0.00,1.85,0.00,0.000,260,0.000,0.103,2640,3785,3857,3918,3797,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1221,-0.69,-145.9,2641,3785,3919,3798,260.6,-16.8,173,1226,0.10,1.70,0.00,0.000,3078,0.245,0.055,2665,2763,3858,3918,3798,0,0,0,0,0,0,14.26,14.50,28.83
$GC,1532,-0.69,-145.9,2665,2763,3919,3798,303.3,-13.5,185,1536,0.00,1.80,0.00,0.000,260,0.000,0.103,2660,3793,3857,3918,3797,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1686,-0.69,-145.9,2660,3793,3919,3798,326.0,-14.8,216,1691,0.00,1.70,0.00,0.000,1030,0.000,0.055,2660,2757,3857,3918,3797,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2012,-0.69,-145.9,2660,2757,3920,3797,370.6,-13.6,231,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2311,-0.69,-145.9,2661,2758,3919,3798,409.8,-12.9,241,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2757,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2611,-0.69,-145.9,2660,2757,3920,3797,448.2,-12.7,251,2616,0.00,2.33,0.00,0.000,516,0.000,0.067,2660,1361,3857,3918,3796,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2636,-0.69,-145.9,2660,1362,3919,3798,451.4,-12.6,256,2642,0.00,2.45,0.00,0.000,1030,0.000,0.098,2649,2757,3856,3918,3795,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2941,-0.69,-145.9,2650,2759,3918,3798,491.5,-13.3,267,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3241,-0.69,-145.9,2649,2759,3927,3798,531.0,-13.1,277,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,-0.69,-145.9,2650,2759,3919,3798,569.8,-12.9,287,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2758,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3841,-0.69,-145.9,2650,2758,3919,3798,608.2,-12.7,297,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4141,-0.69,-145.9,2649,2762,3920,3798,646.1,-12.6,307,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4441,-0.69,-145.9,2649,2758,3920,3798,684.2,-12.8,317,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4741,-0.69,-145.9,2650,2758,3918,3797,722.1,-12.6,327,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4979,begin apogee
$GC,4983,-0.13,0.0,2649,2758,3920,3798,752.5,-12.6,335,5111,0.73,0.00,125.35,2.009,10244,0.229,0.000,2843,2758,3257,3274,3241,0,0,0,0,0,0,14.45,28.83,13.12
$STATE,5112,end apogee,CONTROL_FINISHED_OK
$STATE,5112,begin climb
$GC,5114,0.69,145.9,2844,2759,3273,3237,756.0,0.0,339,5243,0.88,0.00,123.72,1.841,11270,0.133,0.000,3107,2758,2663,2669,2657,0,0,0,0,0,0,13.78,28.83,12.69
$GC,5552,0.69,145.9,3108,2759,2666,2648,709.8,13.2,379,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2758,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5852,0.69,145.9,3107,2758,2667,2646,671.0,12.9,389,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2758,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6152,0.69,145.9,3106,2759,2666,2643,631.9,13.1,399,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2758,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6453,0.69,145.9,3107,2758,2667,2645,592.9,13.1,409,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2758,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6752,0.69,145.9,3107,2758,2667,2645,554.3,12.8,419,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2758,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7052,0.69,145.9,3107,2758,2667,2645,516.2,12.7,429,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2758,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7352,0.69,145.9,3107,2759,2666,2646,478.4,12.5,439,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2757,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7652,0.69,145.9,3107,2757,2667,2645,441.2,12.3,449,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2759,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7952,0.69,145.9,3107,2758,2668,2645,404.8,12.2,459,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2758,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8253,0.69,145.9,3108,2759,2666,2646,368.6,12.0,469,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2759,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8552,0.69,148.3,3107,2758,2667,2645,333.3,11.5,479,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8852,0.70,157.2,3106,2758,2667,2645,299.8,11.2,489,8867,0.00,0.00,10.23,1.373,8710,0.000,0.000,3106,2758,2613,2623,2604,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9183,0.71,178.3,3105,2758,2624,2602,264.8,10.5,505,9208,0.00,2.45,18.23,1.304,8708,0.000,0.067,3117,1351,2526,2534,2518,0,0,0,0,0,0,28.83,14.35,13.78
$GC,9232,0.73,198.4,3118,1351,2533,2519,259.6,10.6,515,9258,0.00,2.47,17.70,1.283,9222,0.000,0.090,3117,2747,2443,2449,2438,0,0,0,0,0,0,28.83,14.32,13.71
$GC,9563,0.74,217.9,3117,2748,2450,2435,221.9,10.6,548,9585,0.00,2.47,16.88,1.251,8708,0.000,0.065,3125,1344,2363,2368,2358,0,0,0,0,0,0,28.83,14.26,13.69
$GC,9609,0.76,246.3,3126,1345,2367,2359,217.1,10.1,556,9640,0.00,2.47,24.50,1.219,9222,0.000,0.091,3125,2737,2248,2250,2246,0,0,0,0,0,0,28.83,14.24,13.62
$GC,9945,0.78,271.1,3126,2738,2251,2239,180.8,10.3,593,9971,0.00,1.88,21.15,1.203,8452,0.000,0.096,3125,3786,2146,2151,2142,0,0,0,0,0,0,28.83,14.23,13.70
$GC,9995,0.78,271.1,3126,3787,2149,2143,175.1,12.2,603,10000,0.00,1.75,0.00,0.000,1030,0.000,0.050,3130,2738,2144,2148,2141,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10306,0.80,304.3,3131,2739,2149,2139,142.6,9.9,635,10337,0.00,0.00,28.00,1.167,8710,0.000,0.000,3130,2738,2015,2021,2009,0,0,0,0,0,0,28.83,28.83,13.72
$GC,10637,0.82,335.3,3131,2739,2016,1999,109.3,10.0,669,10667,0.00,2.40,23.50,1.155,8708,0.000,0.069,3141,1352,1885,1886,1884,0,0,0,0,0,0,28.83,14.24,13.71
$GC,10741,0.85,378.1,3142,1352,1882,1883,98.9,9.4,690,10768,0.00,2.50,18.98,0.494,9222,0.000,0.093,3141,2726,1716,1718,1714,0,0,0,0,0,0,28.83,14.21,13.91
$GC,11068,0.88,423.8,3141,2726,1725,1709,66.0,9.2,725,11091,0.12,0.00,21.00,0.385,10246,0.127,0.000,3192,2726,1529,1535,1524,0,0,0,0,0,0,14.33,28.83,13.98
$GC,11388,0.94,501.0,3193,2726,1543,1515,37.8,7.5,757,11429,0.00,2.35,34.75,0.301,8708,0.000,0.066,3202,1353,1213,1224,1202,0,0,0,0,0,0,28.83,14.26,14.05
$GC,11459,0.98,567.0,3203,1354,1226,1202,32.2,8.1,771,11494,0.00,2.45,30.02,0.300,9222,0.000,0.091,3202,2728,946,946,946,0,0,0,0,0,0,28.83,14.23,14.03
$FREEZE,8.94,-1.263,-1.429,2,1,0
$FREEZE,8.56,-1.277,-1.429,2,1,0
$FREEZE,8.14,-1.277,-1.428,2,1,0
$FREEZE,7.76,-1.284,-1.428,2,1,0
$FREEZE,7.25,-1.284,-1.427,2,1,0
$FREEZE,6.76,-1.276,-1.427,2,1,0
$FREEZE,6.32,-1.276,-1.427,2,1,0
$FREEZE,5.76,-1.284,-1.426,2,1,0
$GC,11799,1.08,702.3,3203,2729,946,936,9.2,4.4,809,11856,0.12,2.42,49.62,0.219,10756,0.137,0.069,3258,1356,498,446,551,0,0,0,0,0,0,14.26,14.22,14.09
$FREEZE,4.74,-1.287,-1.425,2,1,0
$FREEZE,4.31,-1.287,-1.425,2,1,0
$FREEZE,3.80,-1.289,-1.424,2,1,0
$FREEZE,3.45,-1.289,-1.424,2,1,0
$FREEZE,3.02,-1.292,-1.424,2,1,0
$FREEZE,2.48,-1.292,-1.423,2,1,0
$FREEZE,2.11,-1.296,-1.423,2,1,0
$FREEZE,1.71,-1.296,-1.422,2,1,0
$STATE,11895,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FREEZE,1.33,-1.318,-1.422,2,1,0
$FINISH,1.3,1.020967
$STATE,11901,end surface coast,CONTROL_FINISHED_OK
$STATE,11901,begin surface
$SM_CCo,11980,0.00,0.000,0,0,495,677.76
$SM_GC,1.92,9.23,2.58,0.00,0.065,0.098,0.000,203,2756,495,-8.36,-0.76,677.76,0,0,0,0,0,0,14.33,14.27,28.83
$RAFOS_CLK,188
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14459.85,280814,061247
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.72
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3835168
$24V_AH,12.69,69.978
$10V_AH,12.83,0.000
$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,23.350,48.400,563.625,0.000,0.000,0.000,0.000,250.100,1.500,0.000,26.582,0.000,9676.039,623.063,1937.120,165.575,0.000,1552.804,0.000,1237.759,1489.000,0.539,0.000
$DEVICE_MAMPS,401.625,103.275,2008.890,0.000,0.000,0.000,0.000,158.355,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11947.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.696,0.000,0.000,0.000
$MEM,230468
$DATA_FILE_SIZE,26730,827
$CAP_FILE_SIZE,129891,0
$CFSIZE,2097872896,2047049728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12339.32,0x2378b6,7,5
$INTR,1,4980.69,0x2378b6,2,5
$SOUNDSPEED,1448.4
$GPS,280814,130418,7344.409,-14454.437,40,0.8,60,23.0