version: 66.12
glider: 196
mission: 7
dive: 304
start: 9 8 114 2 34 43
data:
$ID,196
$MISSION,7
$DIVE,304
$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,-6829.457
$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,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
$GPS1,070914,225422,7436.579,-14225.299,181,99.0,181,24.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-45.0
$GPS2,070914,225422,7436.579,-14225.299,181,99.0,181,24.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7500.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,351.6,45040,-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,-145.9,201,2761,436,548,0.0,0.0,0,110,0.00,0.00,-91.78,0.000,16386,0.000,0.000,200,2761,2854,2887,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.69,-145.9,201,2761,2888,2824,5.2,-6.3,9,147,12.10,2.40,-15.23,0.000,18948,0.398,0.085,2666,1371,3857,3921,3794,0,0,0,0,0,0,14.00,14.24,14.57
$GC,371,-0.69,-145.9,2667,1371,3922,3798,84.5,-20.4,61,377,0.00,2.50,0.00,0.000,1030,0.000,0.095,2657,2763,3858,3920,3797,0,0,0,0,0,0,28.83,14.28,28.83
$GC,681,-0.69,-145.9,2657,2764,3922,3797,152.0,-20.2,93,686,0.00,2.35,0.00,0.000,516,0.000,0.063,2657,1376,3859,3921,3797,0,0,0,0,0,0,28.83,14.38,28.83
$GC,777,-0.69,-145.9,2657,1375,3922,3798,169.1,-17.0,112,784,0.00,2.47,0.00,0.000,1030,0.000,0.095,2646,2758,3859,3921,3797,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1082,-0.69,-145.9,2647,2762,3922,3798,225.7,-17.9,143,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2761,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1381,-0.69,-145.9,2647,2762,3922,3798,274.3,-15.6,163,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1682,-0.69,-145.9,2647,2762,3922,3798,318.4,-14.4,173,1686,0.00,1.83,0.00,0.000,260,0.000,0.101,2638,3798,3859,3921,3797,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1761,-0.69,-145.9,2638,3798,3922,3797,331.0,-15.6,189,1767,0.10,1.70,0.00,0.000,3078,0.225,0.054,2664,2770,3859,3921,3797,0,0,0,0,0,0,14.22,14.49,28.83
$GC,2073,-0.69,-145.9,2665,2771,3922,3798,370.4,-12.5,201,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2770,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2372,-0.69,-145.9,2665,2770,3922,3803,408.4,-12.7,211,2377,0.00,2.35,0.00,0.000,516,0.000,0.065,2664,1365,3859,3921,3797,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2412,-0.69,-145.9,2665,1366,3922,3798,413.1,-11.4,219,2417,0.00,2.50,0.00,0.000,1030,0.000,0.097,2662,2773,3859,3921,3797,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2733,-0.69,-145.9,2660,2774,3922,3797,453.1,-12.4,233,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2774,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.69,-145.9,2663,2774,3922,3797,490.2,-12.3,243,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2774,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,-0.69,-145.9,2663,2774,3922,3798,527.0,-12.2,253,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2774,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3632,-0.69,-145.9,2663,2774,3922,3797,563.2,-12.0,263,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2773,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,-0.69,-145.9,2663,2774,3922,3798,598.9,-11.9,273,3937,0.00,1.80,0.00,0.000,260,0.000,0.101,2654,3779,3859,3921,3797,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3977,-0.69,-145.9,2655,3780,3922,3797,604.6,-13.3,282,3982,0.00,1.67,0.00,0.000,1030,0.000,0.053,2654,2760,3859,3921,3797,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4293,-0.69,-145.9,2655,2760,3922,3797,642.9,-12.0,295,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4592,-0.69,-145.9,2655,2761,3922,3798,678.9,-11.9,305,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4892,-0.69,-145.9,2655,2760,3922,3799,715.2,-12.0,315,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2759,3859,3921,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5196,-0.13,0.0,2656,2760,3922,3799,751.2,-12.0,325,5326,0.73,0.00,127.18,2.003,10244,0.216,0.000,2846,2759,3258,3280,3236,0,0,0,0,0,0,14.26,28.83,13.03
$STATE,5327,end apogee,CONTROL_FINISHED_OK
$STATE,5327,begin climb
$GC,5329,0.69,145.9,2848,2760,3275,3233,755.0,0.0,329,5464,0.88,0.00,125.03,1.848,11270,0.117,0.000,3114,2759,2658,2666,2651,0,0,0,0,0,0,13.72,28.83,12.59
$GC,5762,0.69,145.9,3115,2759,2667,2646,710.9,13.1,369,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2758,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,0.69,145.9,3114,2759,2667,2652,671.4,13.3,379,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2758,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6362,0.69,145.9,3115,2760,2667,2646,631.8,13.2,389,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2759,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,0.69,145.9,3115,2758,2667,2644,593.1,12.9,399,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2759,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6962,0.69,145.9,3114,2759,2667,2646,554.6,12.7,409,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2758,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7262,0.69,145.9,3115,2759,2667,2645,516.7,12.5,419,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,0.69,145.9,3115,2759,2667,2645,479.4,12.4,429,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2758,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7862,0.69,145.9,3115,2758,2667,2644,442.1,12.4,439,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2758,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8162,0.69,145.9,3115,2758,2667,2644,405.1,12.3,449,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2758,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8462,0.69,145.9,3115,2759,2666,2645,368.8,12.0,459,8467,0.00,2.35,0.00,0.000,516,0.000,0.064,3125,1351,2654,2665,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8497,0.69,145.9,3126,1352,2667,2645,364.6,11.7,466,8502,0.00,2.42,0.00,0.000,1030,0.000,0.089,3125,2742,2655,2666,2644,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8823,0.69,145.9,3126,2743,2668,2645,325.7,11.9,481,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,0.69,152.1,3127,2744,2662,2645,291.4,11.3,491,9126,0.00,0.00,3.42,1.195,8198,0.000,0.000,3125,2743,2637,2649,2626,0,0,0,0,0,0,28.83,28.83,13.59
$GC,9422,0.71,177.7,3126,2744,2669,2627,259.1,10.3,501,9453,0.00,0.00,25.45,1.321,8198,0.000,0.000,3125,2746,2527,2537,2517,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9752,0.75,237.3,3122,2744,2533,2515,226.1,8.5,528,9808,0.00,2.40,49.97,1.408,8708,0.000,0.064,3133,1350,2283,2285,2282,0,0,0,0,0,0,28.83,14.20,13.59
$GC,9863,0.78,274.4,3133,1350,2284,2279,215.5,9.7,550,9898,0.00,2.47,31.42,1.353,9222,0.000,0.089,3133,2740,2137,2137,2137,0,0,0,0,0,0,28.83,14.21,13.51
$GC,10203,0.79,286.6,3134,2741,2136,2123,177.6,11.0,588,10215,0.00,0.00,10.05,1.253,8198,0.000,0.000,3133,2740,2089,2095,2084,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10514,0.81,322.5,3134,2741,2092,2076,144.6,9.7,619,10546,0.00,0.00,31.40,1.173,8198,0.000,0.000,3132,2740,1942,1943,1942,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10845,0.83,349.9,3133,2740,1938,1928,109.4,10.2,652,10869,0.00,2.45,20.80,1.156,8708,0.000,0.066,3140,1351,1825,1826,1824,0,0,0,0,0,0,28.83,14.27,13.71
$GC,10916,0.87,402.7,3141,1351,1821,1822,102.8,8.8,666,10966,0.10,2.47,43.00,1.169,11270,0.143,0.091,3188,2739,1610,1616,1604,0,0,0,0,0,0,14.24,14.21,13.53
$GC,11264,0.87,402.7,3187,2739,1616,1586,59.1,12.4,706,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2739,1600,1614,1586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11565,0.97,550.2,3194,2739,1616,1582,40.0,3.8,736,11636,0.00,2.38,64.60,0.305,8708,0.000,0.063,3191,1354,1014,1023,1005,0,0,0,0,0,0,28.83,14.16,13.97
$GC,11656,1.04,652.9,3192,1355,1024,1006,34.9,6.2,754,11708,0.12,2.47,47.08,0.304,11270,0.130,0.090,3246,2737,595,563,627,0,0,0,0,0,0,14.19,14.15,13.95
$FREEZE,8.43,-1.274,-1.424,2,2,0
$FREEZE,7.92,-1.275,-1.423,2,2,0
$FREEZE,7.20,-1.274,-1.423,2,2,0
$FREEZE,6.65,-1.275,-1.422,2,2,0
$FREEZE,6.10,-1.274,-1.422,2,2,0
$FREEZE,5.90,-1.274,-1.422,2,2,0
$FREEZE,5.48,-1.274,-1.421,2,2,0
$GC,12006,1.12,760.0,3246,2737,560,627,6.1,5.9,794,12024,0.00,2.42,10.68,0.220,8708,0.000,0.067,3246,1360,499,448,550,0,0,0,0,0,0,28.83,14.21,14.08
$FREEZE,4.85,-1.274,-1.421,2,2,0
$FREEZE,4.58,-1.274,-1.421,2,2,0
$FREEZE,4.15,-1.274,-1.420,2,2,0
$FREEZE,3.91,-1.274,-1.420,2,2,0
$FREEZE,3.71,-1.274,-1.420,2,2,0
$FREEZE,3.20,-1.274,-1.420,2,2,0
$FREEZE,2.78,-1.274,-1.419,2,2,0
$FREEZE,2.38,-1.274,-1.419,2,2,0
$FREEZE,2.00,-1.274,-1.419,2,2,0
$FREEZE,1.66,-1.274,-1.418,2,2,0
$STATE,12072,end climb,SURFACE_DEPTH_REACHED
$STATE,12072,begin surface coast
$FREEZE,1.30,-1.274,-1.418,2,2,0
$FREEZE,0.97,-1.274,-1.418,2,2,0
$FREEZE,0.91,-1.261,-1.412,2,2,0
$FREEZE,0.89,-1.261,-1.412,2,2,0
$FINISH,0.9,1.020834
$STATE,12092,end surface coast,CONTROL_FINISHED_OK
$STATE,12092,begin surface
$SM_CCo,12171,0.00,0.000,0,0,498,677.52
$SM_GC,1.95,9.38,2.58,0.00,0.080,0.093,0.000,205,2766,498,-8.36,-0.40,677.52,0,0,0,0,0,0,14.33,14.26,28.83
$RAFOS_CLK,354
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7350.26,-14228.85,070914,224503
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.92
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,13.20
$XPDR_PINGS,5
$SC_FREEKB,3802432
$24V_AH,12.59,93.823
$10V_AH,12.68,0.000
$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,23.400,46.000,590.075,0.000,0.000,0.000,0.000,122.075,1.250,0.000,181.076,0.000,9972.407,641.853,1951.221,217.984,0.000,1435.507,0.000,1212.198,1488.000,0.539,0.000
$DEVICE_MAMPS,397.800,100.980,2002.770,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12147.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.515,0.000,0.000,0.000
$MEM,189428
$DATA_FILE_SIZE,26738,811
$CAP_FILE_SIZE,128555,0
$CFSIZE,2097872896,2033483776
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13201.08,0x2378b6,7,5
$INTR,1,5193.70,0x2378b6,2,5
$SOUNDSPEED,1448.5
$GPS,080914,055854,7439.570,-14220.606,32,0.8,52,24.0