version: 66.12
glider: 196
mission: 7
dive: 273
start: 9 3 114 12 54 27
data:
$ID,196
$MISSION,7
$DIVE,273
$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,-5893.8589
$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,20
$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
$GPS1,030914,124712,7359.229,-14406.021,39,0.9,59,23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-78.8
$GPS2,030914,125407,7359.259,-14406.064,5,1.0,25,23.3
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,12.2,81353,-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,-145.9,201,2741,440,546,0.0,0.0,0,90,0.00,0.00,-72.15,0.000,16386,0.000,0.000,200,2742,2239,2246,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,202,2743,2247,2235,3.4,-3.0,7,141,12.15,1.90,-29.60,0.000,18692,0.397,0.121,2660,3787,3856,3919,3794,0,0,0,0,0,0,13.97,14.21,14.47
$GC,366,-0.69,-145.9,2661,3786,3921,3796,87.9,-24.1,62,372,0.00,1.73,0.00,0.000,1030,0.000,0.050,2660,2751,3857,3919,3796,0,0,0,0,0,0,28.83,14.30,28.83
$GC,671,-0.69,-145.9,2661,2752,3920,3797,151.7,-19.9,93,676,0.00,1.85,0.00,0.000,260,0.000,0.099,2652,3779,3858,3920,3796,0,0,0,0,0,0,28.83,14.27,28.83
$GC,901,-0.69,-145.9,2653,3780,3918,3796,198.4,-19.3,139,906,0.00,1.67,0.00,0.000,1030,0.000,0.054,2652,2768,3857,3919,3795,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1211,-0.69,-145.9,2652,2768,3921,3796,251.3,-16.3,171,1216,0.00,1.83,0.00,0.000,260,0.000,0.101,2644,3780,3857,3919,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1261,-0.69,-145.9,2645,3781,3920,3797,259.9,-16.6,181,1266,0.00,1.70,0.00,0.000,1030,0.000,0.054,2644,2756,3858,3920,3796,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1571,-0.69,-145.9,2645,2756,3920,3797,307.1,-14.9,193,1576,0.00,1.85,0.00,0.000,260,0.000,0.102,2636,3783,3857,3919,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1611,-0.69,-145.9,2637,3784,3919,3798,313.6,-16.2,201,1616,0.10,1.70,0.00,0.000,3078,0.229,0.053,2662,2757,3858,3920,3796,0,0,0,0,0,0,14.25,14.50,28.83
$GC,1932,-0.69,-145.9,2664,2757,3921,3796,355.6,-12.7,215,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.69,-145.9,2664,2758,3920,3797,393.1,-12.4,225,2236,0.00,2.33,0.00,0.000,516,0.000,0.065,2663,1366,3857,3919,3796,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2261,-0.69,-145.9,2664,1367,3920,3797,396.8,-12.3,231,2266,0.00,2.47,0.00,0.000,1030,0.000,0.096,2654,2765,3857,3919,3796,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2592,-0.69,-145.9,2654,2765,3920,3796,439.8,-13.0,247,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.69,-145.9,2655,2766,3921,3796,478.3,-12.7,257,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.69,-145.9,2655,2766,3919,3797,516.1,-12.6,267,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3491,-0.69,-145.9,2655,2766,3920,3797,553.5,-12.6,277,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3791,-0.69,-145.9,2654,2765,3921,3797,590.7,-12.4,287,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4091,-0.69,-145.9,2655,2766,3920,3797,627.7,-12.4,297,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4391,-0.69,-145.9,2655,2766,3920,3796,664.5,-12.2,307,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2763,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,-0.69,-145.9,2655,2766,3920,3797,700.7,-12.0,317,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2765,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4991,-0.69,-145.9,2655,2766,3920,3805,736.2,-11.8,327,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2766,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5109,begin apogee
$GC,5113,-0.13,0.0,2655,2766,3920,3797,750.2,-11.7,331,5242,0.70,0.00,125.80,1.995,10244,0.220,0.000,2843,2765,3260,3278,3242,0,0,0,0,0,0,14.38,28.83,13.12
$STATE,5243,end apogee,CONTROL_FINISHED_OK
$STATE,5243,begin climb
$GC,5245,0.69,145.9,2844,2766,3274,3238,753.5,0.0,335,5378,0.88,0.00,125.72,1.844,11270,0.122,0.000,3110,2766,2659,2665,2653,0,0,0,0,0,0,13.78,28.83,12.65
$GC,5682,0.69,145.9,3111,2767,2664,2646,707.1,13.3,375,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2767,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5982,0.69,145.9,3111,2767,2665,2644,667.4,13.1,385,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2766,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6282,0.69,145.9,3110,2766,2664,2645,628.3,13.0,395,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2766,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6583,0.69,145.9,3111,2766,2665,2644,589.9,12.7,405,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6882,0.69,145.9,3111,2766,2665,2645,551.6,12.8,415,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2767,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7182,0.69,145.9,3111,2767,2664,2645,513.8,12.5,425,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2766,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7482,0.69,145.9,3110,2766,2665,2644,476.6,12.4,435,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7783,0.69,145.9,3111,2766,2665,2645,440.0,12.2,445,7788,0.00,2.38,0.00,0.000,516,0.000,0.064,3121,1346,2654,2664,2644,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7807,0.69,152.3,3122,1346,2665,2645,437.1,11.3,450,7815,0.00,2.42,3.33,1.229,9222,0.000,0.090,3121,2738,2637,2647,2628,0,0,0,0,0,0,28.83,14.51,13.58
$GC,8114,0.69,152.3,3122,2738,2665,2628,399.2,12.3,461,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2645,2663,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,0.69,152.3,3122,2738,2665,2628,362.2,12.2,471,8415,0.00,0.00,1.23,0.360,8198,0.000,0.000,3121,2738,2637,2651,2623,0,0,0,0,0,0,28.83,28.83,14.00
$GC,8712,0.70,153.5,3122,2738,2667,2627,326.6,11.6,481,8717,0.00,0.00,2.97,1.085,8198,0.000,0.000,3121,2738,2632,2646,2618,0,0,0,0,0,0,28.83,28.83,13.59
$GC,9012,0.70,160.1,3123,2738,2662,2623,292.1,11.3,491,9024,0.00,0.00,9.98,1.367,8198,0.000,0.000,3121,2738,2604,2616,2592,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9313,0.71,175.8,3122,2738,2612,2589,259.1,10.8,501,9328,0.00,0.00,14.10,1.320,8198,0.000,0.000,3121,2737,2540,2549,2531,0,0,0,0,0,0,28.83,28.83,13.86
$GC,9612,0.74,214.5,3123,2737,2546,2524,227.7,9.6,525,9647,0.00,0.00,32.83,1.287,8198,0.000,0.000,3121,2737,2382,2388,2377,0,0,0,0,0,0,28.83,28.83,13.71
$GC,9944,0.77,259.2,3122,2738,2383,2368,194.6,9.2,558,9984,0.00,0.00,37.90,1.328,8198,0.000,0.000,3121,2738,2198,2203,2194,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10284,0.80,299.4,3122,2744,2202,2185,161.9,9.5,592,10324,0.00,2.40,34.65,1.278,8708,0.000,0.064,3125,1348,2029,2035,2024,0,0,0,0,0,0,28.83,14.21,13.60
$GC,10355,0.83,346.3,3126,1348,2032,2022,155.1,9.1,604,10400,0.12,2.47,40.22,1.276,11270,0.124,0.091,3183,2738,1846,1844,1848,0,0,0,0,0,0,14.26,14.21,13.50
$GC,10705,0.83,346.3,3183,2737,1839,1823,105.5,13.3,644,10710,0.00,2.40,0.00,0.000,516,0.000,0.066,3193,1345,1832,1838,1827,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10735,0.83,346.3,3194,1344,1838,1826,101.6,12.6,650,10740,0.12,2.47,0.00,0.000,5126,0.238,0.091,3168,2727,1830,1835,1826,0,0,0,0,0,0,14.11,14.22,28.83
$GC,11046,0.85,374.0,3168,2728,1839,1824,67.9,10.2,682,11059,0.00,0.00,11.07,0.389,8198,0.000,0.000,3168,2727,1732,1736,1729,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11358,0.95,521.5,3169,2727,1747,1728,44.4,3.8,713,11429,0.00,2.47,66.30,0.320,8708,0.000,0.067,3176,1341,1132,1146,1119,0,0,0,0,0,0,28.83,14.15,13.93
$GC,11474,1.01,604.0,3177,1340,1148,1118,37.7,7.2,736,11521,0.15,2.50,37.70,0.298,11270,0.115,0.091,3240,2728,793,787,800,0,0,0,0,0,0,14.17,14.12,13.91
$FREEZE,8.60,-1.257,-1.430,2,1,0
$FREEZE,7.95,-1.266,-1.428,2,1,0
$FREEZE,7.78,-1.266,-1.428,2,1,0
$FREEZE,7.30,-1.279,-1.425,2,1,0
$FREEZE,6.90,-1.279,-1.425,2,1,0
$FREEZE,6.52,-1.283,-1.424,2,1,0
$FREEZE,5.92,-1.283,-1.423,2,1,0
$GC,11819,1.08,698.0,3241,2729,786,794,8.0,6.6,775,11857,0.00,1.95,33.03,0.217,8452,0.000,0.099,3240,3781,500,454,547,0,0,0,0,0,0,28.83,14.12,14.03
$FREEZE,4.94,-1.287,-1.422,2,1,0
$FREEZE,4.55,-1.296,-1.420,2,1,0
$FREEZE,4.14,-1.296,-1.420,2,1,0
$GC,11873,1.12,766.5,3241,3782,451,547,4.1,8.0,784,11879,0.00,1.75,0.03,2.769,9222,0.000,0.050,3244,2722,497,448,547,0,0,0,0,0,0,28.83,14.20,13.09
$FREEZE,3.02,-1.313,-1.416,2,1,0
$FREEZE,2.35,-1.312,-1.415,2,1,0
$FREEZE,1.63,-1.311,-1.414,2,1,0
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FREEZE,0.91,-1.308,-1.414,2,1,0
$FREEZE,0.62,-1.299,-0.681,2,1,0
$FINISH,0.6,1.009979
$STATE,11927,end surface coast,FINISH_DEPTH_REACHED
$STATE,11927,begin surface
$SM_CCo,12004,0.00,0.000,0,0,497,677.27
$SM_GC,1.83,9.35,0.08,0.00,0.076,0.186,0.000,201,2767,497,-8.36,-0.65,677.27,0,0,0,0,0,0,14.25,14.21,28.83
$RAFOS_CLK,49
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14402.37,030914,091141
$TT8_MAMPS,0.080892,0.080892
$HUMID,43.22
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,7
$SC_FREEKB,3816320
$24V_AH,12.65,83.637
$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,23.575,42.325,576.850,0.000,0.000,0.000,0.000,228.025,1.750,0.000,26.550,0.000,9738.206,634.624,1857.272,183.160,0.000,1512.286,0.000,1178.573,1490.000,0.540,0.000
$DEVICE_MAMPS,397.035,185.895,2769.300,0.000,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11975.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.909,0.000,0.000,0.000
$MEM,206552
$DATA_FILE_SIZE,26723,790
$CAP_FILE_SIZE,128814,0
$CFSIZE,2097872896,2039119872
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13058.32,0x2378b6,7,5
$INTR,1,5111.26,0x2378b6,2,5
$SOUNDSPEED,1448.3
$GPS,030914,161531,7400.211,-14402.424,13,0.7,33,23.3