version: 66.12
glider: 196
mission: 7
dive: 251
start: 8 31 114 7 32 0
data:
$ID,196
$MISSION,7
$DIVE,251
$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,-5684.0068
$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,58
$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
$GPS1,310814,072424,7345.929,-14448.610,38,0.7,58,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.1
$GPS2,310814,073144,7345.946,-14448.695,5,0.8,26,23.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,202.2,15633,-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,16,-0.69,-145.9,202,2761,438,549,0.0,0.0,0,89,0.00,0.00,-71.75,0.000,16386,0.000,0.000,201,2762,2248,2257,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,203,2761,2258,2242,3.5,-3.3,7,140,11.98,2.42,-29.02,0.000,18948,0.392,0.089,2666,1379,3856,3920,3793,0,0,0,0,0,0,13.99,14.24,14.46
$GC,190,-0.69,-145.9,2667,1379,3921,3795,38.3,-30.3,27,195,0.00,2.47,0.00,0.000,1030,0.000,0.094,2658,2762,3857,3920,3795,0,0,0,0,0,0,28.83,14.21,28.83
$GC,500,-0.69,-145.9,2658,2762,3921,3795,118.3,-21.4,59,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2762,3855,3916,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.69,-145.9,2658,2763,3920,3797,179.3,-19.7,89,805,0.00,2.35,0.00,0.000,516,0.000,0.063,2658,1370,3857,3919,3796,0,0,0,0,0,0,28.83,14.36,28.83
$GC,844,-0.69,-145.9,2658,1370,3920,3797,187.6,-17.3,98,851,0.00,2.47,0.00,0.000,1030,0.000,0.096,2647,2762,3857,3919,3796,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1150,-0.69,-145.9,2647,2762,3921,3796,242.9,-16.3,129,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-0.69,-145.9,2647,2763,3920,3797,292.3,-15.1,143,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1771,-0.69,-145.9,2647,2762,3921,3796,336.2,-14.4,153,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2070,-0.69,-145.9,2647,2762,3920,3795,378.1,-13.8,163,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2762,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,-0.69,-145.9,2647,2763,3920,3797,419.2,-13.6,173,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2670,-0.69,-145.9,2647,2762,3921,3796,459.7,-13.5,183,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.69,-145.9,2647,2762,3921,3796,500.2,-13.4,193,2975,0.00,1.83,0.00,0.000,260,0.000,0.101,2638,3779,3856,3918,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2994,-0.69,-145.9,2639,3780,3920,3797,503.8,-15.6,198,3001,0.10,1.70,0.00,0.000,3078,0.224,0.054,2665,2759,3857,3919,3795,0,0,0,0,0,0,14.22,14.44,28.83
$GC,3301,-0.69,-145.9,2666,2758,3920,3796,540.8,-11.8,209,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3600,-0.69,-145.9,2666,2757,3921,3796,576.0,-11.8,219,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3855,3916,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,-0.69,-145.9,2666,2757,3921,3796,611.0,-11.7,229,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-0.69,-145.9,2666,2757,3921,3796,645.8,-11.7,239,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4500,-0.69,-145.9,2666,2758,3920,3797,680.4,-11.5,249,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4800,-0.69,-145.9,2666,2757,3921,3796,714.8,-11.5,259,4805,0.00,2.30,0.00,0.000,516,0.000,0.065,2665,1368,3857,3919,3796,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4840,-0.69,-145.9,2666,1368,3921,3796,719.2,-10.4,267,4845,0.00,2.45,0.00,0.000,1030,0.000,0.096,2662,2761,3857,3919,3796,0,0,0,0,0,0,28.83,14.53,28.83
$STATE,5128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5128,begin apogee
$GC,5132,-0.13,0.0,2664,2764,3920,3797,752.5,-11.5,280,5261,0.68,0.00,125.80,2.000,10244,0.217,0.000,2844,2763,3258,3278,3238,0,0,0,0,0,0,14.43,28.83,13.12
$STATE,5262,end apogee,CONTROL_FINISHED_OK
$STATE,5262,begin climb
$GC,5264,0.69,145.9,2845,2763,3275,3234,756.3,0.0,284,5396,0.88,0.00,124.62,1.818,11270,0.118,0.000,3113,2763,2657,2663,2651,0,0,0,0,0,0,13.78,28.83,12.67
$GC,5701,0.69,145.9,3113,2763,2665,2645,709.8,13.4,324,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2763,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,0.69,145.9,3113,2764,2665,2645,670.3,13.1,334,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,0.69,145.9,3113,2764,2665,2644,630.9,13.2,344,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6601,0.69,145.9,3113,2763,2665,2644,591.3,13.1,354,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2763,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6901,0.69,145.9,3114,2764,2665,2645,551.9,13.2,364,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7201,0.69,145.9,3113,2764,2665,2643,513.1,13.0,374,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7501,0.69,145.9,3114,2764,2665,2643,475.1,12.5,384,7506,0.00,1.83,0.00,0.000,260,0.000,0.098,3113,3790,2653,2664,2643,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7521,0.69,145.9,3114,3791,2665,2645,472.3,13.8,388,7526,0.00,1.73,0.00,0.000,1030,0.000,0.050,3121,2732,2653,2664,2643,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7831,0.69,145.9,3122,2732,2665,2644,431.9,13.0,400,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2732,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8131,0.69,145.9,3122,2732,2665,2644,393.3,12.7,410,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2731,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,0.69,145.9,3121,2731,2665,2644,355.2,12.5,420,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2730,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8731,0.69,145.9,3122,2729,2665,2644,318.3,12.2,430,8736,0.00,1.88,0.00,0.000,260,0.000,0.098,3121,3785,2653,2664,2643,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8746,0.69,145.9,3122,3787,2665,2644,316.3,12.4,433,8751,0.00,1.70,0.00,0.000,1030,0.000,0.050,3127,2740,2654,2665,2643,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9062,0.69,149.6,3128,2740,2665,2644,279.1,11.4,446,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2739,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9362,0.71,175.5,3128,2740,2666,2644,247.3,10.3,456,9393,0.00,1.85,24.60,1.297,8452,0.000,0.099,3127,3792,2536,2543,2530,0,0,0,0,0,0,28.83,14.42,13.90
$GC,9462,0.71,175.5,3128,3793,2542,2531,235.1,13.4,476,9467,0.00,1.73,0.00,0.000,1030,0.000,0.049,3135,2737,2535,2541,2529,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9772,0.76,242.5,3136,2738,2542,2529,205.7,8.1,508,9834,0.00,2.38,55.53,1.300,8708,0.000,0.063,3146,1351,2262,2263,2261,0,0,0,0,0,0,28.83,14.20,13.60
$GC,9874,0.79,283.4,3147,1351,2262,2259,196.1,9.5,528,9915,0.00,2.50,34.33,1.304,9222,0.000,0.090,3146,2754,2098,2099,2097,0,0,0,0,0,0,28.83,14.22,13.53
$GC,10214,0.79,283.4,3146,2755,2099,2085,155.0,11.7,566,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2755,2092,2098,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,0.80,307.4,3147,2756,2099,2085,122.0,10.4,596,10536,0.00,0.00,19.08,1.185,8198,0.000,0.000,3146,2755,2004,2012,1996,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10835,0.83,345.3,3147,2756,2004,1985,88.6,9.6,628,10856,0.00,2.47,16.08,0.457,8708,0.000,0.066,3155,1351,1850,1851,1849,0,0,0,0,0,0,28.83,14.29,13.98
$GC,10917,0.86,392.7,3156,1352,1858,1850,81.0,9.1,644,10947,0.00,2.47,22.30,0.433,9222,0.000,0.092,3155,2740,1656,1661,1652,0,0,0,0,0,0,28.83,14.26,13.95
$GC,11246,0.94,497.1,3156,2739,1667,1638,51.8,6.1,680,11298,0.12,2.45,46.88,0.340,10756,0.119,0.067,3218,1360,1230,1243,1217,0,0,0,0,0,0,14.33,14.22,13.99
$GC,11332,0.97,540.9,3219,1360,1244,1216,43.9,9.3,697,11360,0.00,2.47,20.17,0.320,9222,0.000,0.090,3219,2742,1049,1056,1043,0,0,0,0,0,0,28.83,14.20,13.99
$GC,11658,1.05,663.4,3220,2743,1057,1036,15.1,5.1,732,11719,0.00,2.38,55.42,0.240,8708,0.000,0.064,3221,1361,552,513,591,0,0,0,0,0,0,28.83,14.21,14.05
$FREEZE,8.90,-1.021,-1.425,2,1,0
$FREEZE,8.61,-1.036,-1.424,2,1,0
$FREEZE,8.37,-1.036,-1.424,2,1,0
$GC,11769,1.12,766.1,3221,1360,513,591,8.6,6.2,754,11782,0.12,2.45,5.95,0.232,11270,0.134,0.090,3271,2736,498,447,549,0,0,0,0,0,0,14.23,14.20,14.04
$FREEZE,7.14,-1.106,-1.421,2,1,0
$FREEZE,6.31,-1.122,-1.419,2,1,0
$FREEZE,5.42,-1.117,-1.418,2,1,0
$FREEZE,4.65,-1.102,-1.417,2,1,0
$FREEZE,3.65,-1.132,-1.414,2,1,0
$FREEZE,2.77,-1.167,-1.413,2,1,0
$FREEZE,1.82,-1.164,-1.412,2,1,0
$STATE,11847,end climb,SURFACE_DEPTH_REACHED
$STATE,11848,begin surface coast
$FREEZE,0.95,-1.173,-1.412,2,1,0
$FREEZE,0.70,-1.169,-0.699,2,1,0
$FINISH,0.7,1.010264
$STATE,11868,end surface coast,FINISH_DEPTH_REACHED
$STATE,11868,begin surface
$SM_CCo,11944,0.00,0.000,0,0,497,677.27
$SM_GC,1.88,9.40,0.00,0.00,0.077,0.000,0.000,202,2737,497,-8.37,-0.68,677.27,0,0,0,0,0,0,14.31,28.83,28.83
$RAFOS_CLK,513
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14508.05,310814,035717
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.76
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.40
$XPDR_PINGS,12
$SC_FREEKB,3826208
$24V_AH,12.67,76.390
$10V_AH,12.80,0.000
$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,23.275,48.275,550.750,0.000,0.000,0.000,0.000,257.000,3.000,0.000,27.449,0.000,9753.921,608.332,1841.665,172.058,0.000,1510.836,0.000,1145.825,1472.000,0.540,0.000
$DEVICE_MAMPS,392.445,100.980,2000.475,0.000,0.000,0.000,0.000,162.180,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11916.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.740,0.000,0.000,0.000
$MEM,219588
$DATA_FILE_SIZE,26746,765
$CAP_FILE_SIZE,128058,0
$CFSIZE,2097872896,2043412480
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12555.18,0x2378b6,7,5
$INTR,1,5130.44,0x2378b6,2,5
$INTR,2,11872.64,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,310814,105225,7344.743,-14451.985,34,0.9,54,23.0