version: 66.12
glider: 196
mission: 7
dive: 262
start: 9 1 114 22 14 0
data:
$ID,196
$MISSION,7
$DIVE,262
$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,-5879.8999
$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,21
$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
$GPS1,010914,220324,7347.454,-14441.761,39,0.9,59,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.4
$GPS2,010914,221341,7347.518,-14441.663,5,0.9,25,23.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.4,109247,-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,-145.9,156,2744,431,547,0.0,0.0,0,89,0.00,0.00,-71.55,0.000,16386,0.000,0.000,154,2743,2234,2243,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,155,2743,2244,2227,3.7,-4.7,7,140,12.48,1.88,-29.25,0.000,19204,0.402,0.123,2656,3795,3858,3922,3794,0,0,0,0,0,0,13.95,14.21,14.44
$GC,364,-0.69,-145.9,2657,3796,3922,3797,90.5,-25.7,62,371,0.00,1.73,0.00,0.000,1030,0.000,0.053,2656,2762,3859,3922,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,670,-0.69,-145.9,2657,2762,3922,3797,155.2,-20.4,93,675,0.00,1.85,0.00,0.000,260,0.000,0.100,2647,3786,3859,3922,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,900,-0.69,-145.9,2649,3787,3922,3797,202.4,-19.4,139,905,0.00,1.70,0.00,0.000,1030,0.000,0.054,2648,2760,3858,3921,3796,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1210,-0.69,-145.9,2649,2760,3923,3796,255.8,-16.2,169,1215,0.00,1.83,0.00,0.000,260,0.000,0.101,2640,3775,3858,3921,3796,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1390,-0.69,-145.9,2641,3775,3923,3796,286.8,-17.1,205,1395,0.10,1.67,0.00,0.000,3078,0.234,0.056,2666,2764,3858,3921,3796,0,0,0,0,0,0,14.24,14.49,28.83
$GC,1720,-0.69,-145.9,2666,2763,3923,3796,332.1,-13.6,221,1725,0.00,1.83,0.00,0.000,260,0.000,0.103,2660,3782,3858,3921,3796,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1774,-0.69,-145.9,2661,3783,3921,3797,340.0,-14.5,232,1781,0.00,1.70,0.00,0.000,1030,0.000,0.054,2660,2751,3858,3921,3796,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2080,-0.69,-145.9,2661,2750,3922,3796,380.8,-13.1,243,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2750,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.69,-145.9,2661,2751,3922,3797,419.6,-12.8,253,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2750,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.69,-145.9,2661,2751,3923,3797,457.7,-12.6,263,2685,0.00,2.30,0.00,0.000,516,0.000,0.066,2660,1371,3858,3921,3796,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2715,-0.69,-145.9,2661,1370,3923,3796,461.9,-12.1,270,2720,0.00,2.45,0.00,0.000,1030,0.000,0.096,2650,2766,3858,3921,3796,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3041,-0.69,-145.9,2650,2766,3923,3795,504.8,-13.2,285,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2766,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,-0.69,-145.9,2650,2767,3923,3796,544.3,-13.0,295,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2766,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.69,-145.9,2650,2766,3923,3796,583.4,-13.0,305,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2766,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3940,-0.69,-145.9,2650,2767,3922,3797,622.0,-12.9,315,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2766,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4240,-0.69,-145.9,2650,2766,3923,3796,660.4,-12.7,325,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2766,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-0.69,-145.9,2650,2767,3922,3797,698.0,-12.5,335,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2766,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.69,-145.9,2650,2766,3923,3797,735.0,-12.3,345,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2766,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4992,-0.13,0.0,2650,2766,3923,3797,753.4,-12.2,350,5121,0.73,0.00,126.28,2.007,10246,0.223,0.000,2843,2767,3257,3275,3240,0,0,0,0,0,0,14.37,28.83,13.09
$STATE,5122,end apogee,CONTROL_FINISHED_OK
$STATE,5122,begin climb
$GC,5124,0.69,145.9,2844,2767,3272,3236,756.9,0.0,354,5256,0.90,0.00,124.90,1.851,10502,0.130,0.000,3112,2767,2659,2665,2653,0,0,0,0,0,0,13.77,28.83,12.66
$GC,5561,0.69,145.9,3112,2768,2672,2648,709.2,13.4,389,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,0.69,145.9,3113,2768,2665,2647,669.3,13.3,399,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6161,0.69,145.9,3113,2767,2665,2647,629.4,13.3,409,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6462,0.69,145.9,3119,2768,2666,2646,590.2,13.0,419,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6761,0.69,145.9,3113,2767,2666,2646,551.2,12.9,429,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,0.69,145.9,3112,2768,2665,2647,512.9,12.8,439,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7361,0.69,145.9,3113,2768,2665,2645,475.1,12.5,449,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2768,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7661,0.69,145.9,3113,2768,2665,2646,437.8,12.4,459,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7961,0.69,145.9,3113,2767,2666,2645,400.6,12.3,469,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,0.69,145.9,3113,2767,2666,2645,364.1,12.0,479,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8561,0.69,148.6,3113,2767,2665,2645,328.7,11.5,489,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2767,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8861,0.70,161.5,3113,2767,2666,2645,295.4,10.9,499,8881,0.00,2.42,13.77,1.366,8708,0.000,0.065,3123,1353,2594,2600,2588,0,0,0,0,0,0,28.83,14.50,13.89
$GC,8906,0.71,181.0,3124,1353,2600,2588,290.6,10.6,508,8927,0.00,2.42,16.90,1.343,9222,0.000,0.090,3123,2741,2518,2523,2513,0,0,0,0,0,0,28.83,14.47,13.81
$GC,9251,0.71,181.0,3126,2741,2523,2505,247.9,12.0,527,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2741,2512,2518,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9552,0.75,231.8,3124,2740,2519,2506,216.8,8.9,557,9603,0.00,2.45,42.12,1.300,8708,0.000,0.067,3125,1351,2308,2309,2308,0,0,0,0,0,0,28.83,14.27,13.66
$GC,9648,0.78,267.9,3126,1351,2308,2306,207.8,9.7,576,9684,0.00,2.47,30.55,1.342,9222,0.000,0.091,3125,2738,2163,2164,2163,0,0,0,0,0,0,28.83,14.24,13.55
$GC,9983,0.79,291.5,3126,2739,2164,2153,171.6,10.4,613,10005,0.00,0.00,20.83,1.246,8198,0.000,0.000,3125,2738,2068,2073,2064,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10304,0.81,322.5,3126,2739,2068,2052,139.1,10.0,645,10334,0.00,0.00,26.88,1.212,8198,0.000,0.000,3125,2738,1937,1938,1936,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10634,0.84,353.8,3126,2739,1938,1929,104.8,10.0,678,10665,0.12,2.40,24.45,1.183,10756,0.125,0.066,3191,1348,1807,1806,1809,0,0,0,0,0,0,14.34,14.21,13.64
$GC,10690,0.84,353.8,3191,1348,1805,1806,98.2,12.4,688,10696,0.00,2.50,0.00,0.000,1030,0.000,0.092,3190,2741,1805,1805,1805,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10995,0.86,386.1,3192,2742,1806,1801,59.9,9.9,719,11010,0.00,0.00,13.43,0.364,8198,0.000,0.000,3191,2742,1682,1684,1681,0,0,0,0,0,0,28.83,28.83,13.98
$GC,11306,0.93,490.2,3191,2743,1694,1677,38.3,6.1,750,11357,0.00,2.45,46.50,0.299,8708,0.000,0.067,3199,1354,1257,1269,1246,0,0,0,0,0,0,28.83,14.23,14.04
$GC,11387,0.98,563.3,3200,1354,1273,1245,32.8,7.7,766,11428,0.00,2.47,33.40,0.298,9222,0.000,0.093,3200,2734,959,964,955,0,0,0,0,0,0,28.83,14.16,13.99
$FREEZE,8.74,-1.071,-1.419,2,1,0
$GC,11727,1.09,721.3,3200,2736,964,946,12.2,3.2,804,11784,0.15,2.40,51.08,0.228,10756,0.122,0.071,3269,1351,499,448,550,0,0,0,0,0,0,14.29,14.21,14.06
$FREEZE,7.78,-1.071,-1.418,2,1,0
$FREEZE,7.38,-1.071,-1.417,2,1,0
$FREEZE,6.88,-1.072,-1.417,2,1,0
$FREEZE,6.54,-1.072,-1.417,2,1,0
$FREEZE,6.04,-1.072,-1.416,2,1,0
$FREEZE,5.65,-1.072,-1.416,2,1,0
$FREEZE,5.22,-1.073,-1.416,2,1,0
$FREEZE,4.71,-1.073,-1.415,2,1,0
$FREEZE,4.35,-1.075,-1.415,2,1,0
$GC,11829,1.13,777.4,3270,1351,449,547,4.4,8.6,824,11834,0.00,2.47,0.00,0.000,1030,0.000,0.091,3269,2736,499,448,550,0,0,0,0,0,0,28.83,14.21,28.83
$FREEZE,3.45,-1.074,-1.415,2,1,0
$FREEZE,2.35,-1.073,-1.414,2,1,0
$FREEZE,1.64,-1.070,-1.413,2,1,0
$STATE,11857,end climb,SURFACE_DEPTH_REACHED
$STATE,11857,begin surface coast
$FREEZE,0.68,-1.071,-1.412,2,1,0
$FREEZE,0.71,-1.062,-1.412,2,1,0
$FINISH,0.7,1.020831
$STATE,11879,end surface coast,CONTROL_FINISHED_OK
$STATE,11879,begin surface
$SM_CCo,11955,0.00,0.000,0,0,496,677.76
$SM_GC,1.74,9.48,0.00,0.00,0.084,0.000,0.000,197,2737,496,-8.36,-0.68,677.76,0,0,0,0,0,0,14.34,28.83,28.83
$RAFOS_CLK,277
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14444.73,010914,182946
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.09
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,14
$SC_FREEKB,3821248
$24V_AH,12.66,80.006
$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,23.950,43.400,571.075,0.000,0.000,0.000,0.000,419.175,3.500,0.000,26.907,0.000,9630.390,631.118,2105.198,198.833,0.000,1726.925,0.000,1241.832,1431.000,0.539,0.000
$DEVICE_MAMPS,401.625,123.165,2007.360,0.000,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.302,0.000,0.000,0.000
$MEM,213080
$DATA_FILE_SIZE,30069,830
$CAP_FILE_SIZE,130906,0
$CFSIZE,2097872896,2041282560
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13145.41,0x2378b6,7,5
$INTR,1,4990.25,0x2378b6,2,5
$INTR,2,11883.58,0x2378b6,7,5
$SOUNDSPEED,1448.2
$GPS,020914,013442,7348.441,-14437.446,39,0.8,59,23.1