version: 66.12
glider: 196
mission: 7
dive: 299
start: 9 7 114 8 44 9
data:
$ID,196
$MISSION,7
$DIVE,299
$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,-6461.7705
$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,56
$R_STBD_OVSHOOT,18
$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
$GPS1,070914,052127,7429.410,-14238.319,3,0.9,24,23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.85
$_SM_ANGLEo,-19.4
$GPS2,070914,052127,7429.410,-14238.319,3,0.9,24,23.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,357.7,11135,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,2975,2768,1859,1748,0.0,0.0,0,30,0.00,0.00,-11.73,0.000,16386,0.000,0.000,2974,2768,2572,2625,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2975,2768,2626,2522,19.4,0.0,1,56,0.90,1.80,-18.10,0.000,20740,0.065,0.122,2649,3789,3852,3916,3788,0,0,0,0,0,0,14.26,14.22,14.54
$GC,281,-0.69,-145.9,2650,3790,3922,3798,94.8,-24.8,51,286,0.00,1.70,0.00,0.000,1030,0.000,0.050,2649,2766,3853,3915,3792,0,0,0,0,0,0,28.83,14.35,28.83
$GC,591,-0.69,-145.9,2652,2764,3922,3792,158.8,-19.6,83,596,0.00,1.85,0.00,0.000,260,0.000,0.099,2641,3792,3856,3921,3792,0,0,0,0,0,0,28.83,14.26,28.83
$GC,666,-0.69,-145.9,2642,3792,3922,3792,174.4,-21.0,98,672,0.10,1.70,0.00,0.000,3078,0.237,0.053,2666,2763,3856,3921,3792,0,0,0,0,0,0,14.10,14.40,28.83
$GC,971,-0.69,-145.9,2667,2763,3921,3794,225.7,-16.2,129,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2763,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.69,-145.9,2667,2764,3920,3793,271.1,-13.7,151,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2763,3856,3920,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.69,-145.9,2667,2763,3922,3791,310.3,-12.6,161,1596,0.00,2.35,0.00,0.000,516,0.000,0.066,2666,1364,3856,3921,3792,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1616,-0.69,-145.9,2667,1365,3921,3793,313.4,-12.5,166,1622,0.00,2.47,0.00,0.000,1030,0.000,0.098,2663,2759,3856,3921,3792,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1921,-0.69,-145.9,2663,2763,3922,3792,351.0,-12.3,177,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,-0.69,-145.9,2664,2763,3921,3793,387.5,-12.1,187,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2521,-0.69,-145.9,2664,2763,3921,3793,423.6,-12.0,197,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.69,-145.9,2664,2763,3921,3794,459.6,-11.9,207,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-0.69,-145.9,2664,2767,3921,3793,495.0,-11.7,217,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-0.69,-145.9,2663,2763,3922,3793,529.6,-11.4,227,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.69,-145.9,2663,2762,3922,3792,564.2,-11.6,237,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-0.69,-145.9,2664,2763,3921,3793,598.6,-11.5,247,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3856,3920,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,-0.69,-145.9,2664,2763,3921,3793,632.8,-11.3,257,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.69,-145.9,2664,2763,3921,3793,666.8,-11.3,267,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3920,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4921,-0.69,-145.9,2663,2763,3922,3792,700.5,-11.2,277,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2763,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-0.69,-145.9,2664,2763,3921,3793,734.0,-11.0,287,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5369,begin apogee
$GC,5374,-0.13,0.0,2664,2763,3921,3793,750.5,-11.0,292,5502,0.68,0.00,125.97,1.997,10246,0.217,0.000,2843,2763,3256,3276,3237,0,0,0,0,0,0,14.32,28.83,13.09
$STATE,5503,end apogee,CONTROL_FINISHED_OK
$STATE,5503,begin climb
$GC,5505,0.69,145.9,2844,2763,3273,3233,754.1,0.0,296,5635,0.90,0.00,126.22,1.838,10758,0.122,0.000,3113,2763,2660,2664,2656,0,0,0,0,0,0,13.78,28.83,12.64
$GC,5911,0.69,145.9,3114,2764,2663,2649,713.7,13.1,315,5916,0.00,2.47,0.00,0.000,516,0.000,0.063,3124,1348,2654,2662,2647,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5951,0.69,145.9,3125,1348,2664,2647,708.7,12.8,323,5956,0.00,2.55,0.00,0.000,1030,0.000,0.089,3124,2746,2654,2662,2647,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6272,0.69,145.9,3125,2746,2664,2646,665.5,13.6,337,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2745,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6571,0.69,145.9,3126,2747,2665,2647,625.0,13.4,347,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2746,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6871,0.69,145.9,3125,2746,2663,2646,585.1,13.3,357,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7171,0.69,145.9,3125,2745,2665,2645,545.4,13.3,367,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2746,2653,2661,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7471,0.69,145.9,3125,2747,2663,2646,505.5,13.4,377,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2746,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7771,0.69,145.9,3125,2746,2664,2645,465.8,13.2,387,7776,0.00,1.83,0.00,0.000,260,0.000,0.097,3123,3792,2654,2663,2645,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7801,0.69,145.9,3125,3793,2663,2646,461.4,15.0,393,7806,0.00,1.73,0.00,0.000,1030,0.000,0.050,3132,2738,2656,2662,2650,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8132,0.69,145.9,3133,2737,2663,2645,417.3,13.2,409,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2736,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,0.69,145.9,3133,2737,2664,2645,378.2,13.0,419,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2737,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8731,0.69,145.9,3133,2737,2664,2645,340.3,12.4,429,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2737,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9031,0.69,145.9,3133,2737,2663,2645,304.4,11.8,439,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2737,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9331,0.70,160.6,3132,2737,2664,2645,271.0,10.8,449,9345,0.00,0.00,13.00,1.348,8198,0.000,0.000,3132,2737,2602,2608,2597,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9631,0.73,202.3,3132,2737,2605,2589,240.0,9.4,465,9672,0.00,0.00,35.10,1.313,8710,0.000,0.000,3132,2736,2426,2430,2423,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9972,0.76,247.1,3133,2737,2431,2420,206.4,9.2,502,10017,0.00,2.42,37.65,1.336,8708,0.000,0.065,3142,1353,2243,2244,2242,0,0,0,0,0,0,28.83,14.23,13.60
$GC,10076,0.78,279.4,3143,1352,2242,2240,196.1,9.9,523,10113,0.00,2.47,27.67,1.339,9222,0.000,0.090,3143,2743,2112,2114,2111,0,0,0,0,0,0,28.83,14.23,13.54
$GC,10412,0.80,299.1,3144,2744,2115,2104,158.8,10.6,560,10433,0.00,0.00,17.17,1.230,8198,0.000,0.000,3142,2742,2032,2037,2027,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10733,0.82,335.9,3143,2743,2038,2019,125.0,9.7,592,10773,0.00,2.45,30.92,1.200,8708,0.000,0.065,3151,1354,1880,1881,1879,0,0,0,0,0,0,28.83,14.26,13.66
$GC,10794,0.86,391.9,3152,1355,1880,1878,119.1,8.6,604,10844,0.00,2.47,45.72,1.248,9222,0.000,0.091,3151,2743,1659,1665,1653,0,0,0,0,0,0,28.83,14.24,13.51
$GC,11143,0.86,391.9,3151,2743,1662,1629,79.4,11.7,644,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2743,1645,1661,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11443,0.93,487.6,3152,2743,1662,1625,51.6,6.5,674,11489,0.12,2.40,41.47,0.341,10756,0.126,0.062,3212,1354,1269,1285,1254,0,0,0,0,0,0,14.30,14.23,13.96
$GC,11544,0.98,565.6,3213,1353,1288,1253,44.0,7.5,694,11585,0.00,2.47,35.78,0.319,9222,0.000,0.091,3213,2737,951,956,947,0,0,0,0,0,0,28.83,14.20,13.97
$GC,11887,1.07,682.0,3213,2737,956,940,17.8,5.4,732,11942,0.00,2.38,51.15,0.250,8708,0.000,0.062,3213,1357,497,450,545,0,0,0,0,0,0,28.83,14.15,13.97
$FREEZE,8.46,-1.388,-1.436,2,2,0
$STATE,12016,end climb,FINISH_DEPTH_REACHED
$STATE,12016,begin subsurface finish
$FINISH1,8.5,1.021098,357
$GC,12023,0.25,356.9,3214,2744,449,546,8.5,8.6,758,12063,0.75,2.40,-34.25,0.000,20996,0.120,0.080,2980,1349,1805,1860,1751,0,0,0,0,0,0,14.11,14.16,14.38
$FINISH2,5.7
$STATE,12064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12064,begin surface
$RAFOS_CLK,21
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7342.54,-14235.68,070914,013848
$TT8_MAMPS,0.081641,0.081641
$HUMID,43.93
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.30
$XPDR_PINGS,5
$SC_FREEKB,3804672
$24V_AH,12.64,92.166
$10V_AH,12.76,0.000
$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,3.450,45.050,587.850,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,0.000,9871.781,605.181,1561.659,138.678,0.000,1226.623,0.000,1150.185,1490.000,0.540,0.000
$DEVICE_MAMPS,237.150,121.635,1997.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12113.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.164,0.000,0.000,0.000
$MEM,192220
$DATA_FILE_SIZE,26692,766
$CAP_FILE_SIZE,119651,0
$CFSIZE,2097872896,2034368512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5370.97,0x2378b6,2,5
$SOUNDSPEED,1448.3
$GPS,070914,052127,7429.410,-14238.319,3,0.9,24,23.9