version: 66.12
glider: 196
mission: 7
dive: 337
start: 9 13 114 1 46 12
data:
$ID,196
$MISSION,7
$DIVE,337
$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,1
$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,-7597.4336
$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,57
$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
$GPS1,130914,013724,7443.629,-14038.926,26,0.8,46,24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-67.4
$GPS2,130914,014553,7443.580,-14038.923,6,0.8,26,24.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,34.2,5080,-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,17,-0.69,-145.9,199,2761,441,547,0.0,0.0,0,90,0.00,0.00,-71.10,0.000,16386,0.000,0.000,197,2761,2260,2266,2255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.69,-145.9,199,2762,2267,2257,3.6,-3.4,7,141,12.20,2.38,-29.08,0.000,18948,0.394,0.088,2665,1375,3857,3918,3796,0,0,0,0,0,0,13.90,14.21,14.45
$GC,366,-0.69,-145.9,2665,1374,3919,3800,80.6,-21.2,62,373,0.00,2.50,0.00,0.000,1030,0.000,0.093,2656,2761,3859,3919,3800,0,0,0,0,0,0,28.83,14.21,28.83
$GC,671,-0.69,-145.9,2657,2762,3919,3800,144.4,-19.4,93,676,0.00,2.35,0.00,0.000,516,0.000,0.061,2656,1373,3859,3918,3800,0,0,0,0,0,0,28.83,14.31,28.83
$GC,886,-0.69,-145.9,2657,1372,3919,3801,180.7,-16.7,136,892,0.00,2.47,0.00,0.000,1030,0.000,0.094,2645,2762,3859,3918,3800,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1191,-0.69,-145.9,2646,2763,3920,3801,235.2,-17.4,167,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2766,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-0.69,-145.9,2645,2763,3919,3800,283.8,-15.5,184,1506,0.00,1.80,0.00,0.000,260,0.000,0.100,2637,3786,3859,3918,3800,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1561,-0.69,-145.9,2637,3786,3919,3800,293.7,-16.6,196,1566,0.10,1.70,0.00,0.000,3078,0.235,0.054,2674,2760,3859,3918,3800,0,0,0,0,0,0,14.06,14.36,28.83
$GC,1891,-0.69,-145.9,2675,2760,3919,3800,335.1,-12.4,212,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2760,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.69,-145.9,2675,2760,3919,3800,370.2,-11.4,222,2196,0.00,2.33,0.00,0.000,516,0.000,0.063,2674,1370,3859,3918,3800,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2231,-0.69,-145.9,2675,1370,3918,3801,374.7,-11.1,230,2236,0.00,2.50,0.00,0.000,1030,0.000,0.096,2666,2768,3858,3918,3799,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2553,-0.69,-145.9,2666,2768,3918,3801,413.4,-12.2,244,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.69,-145.9,2667,2768,3919,3799,449.3,-11.9,254,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.69,-145.9,2666,2768,3928,3800,484.3,-11.7,264,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3451,-0.69,-145.9,2666,2769,3919,3801,518.7,-11.4,274,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2767,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3751,-0.69,-145.9,2666,2768,3919,3800,553.1,-11.4,284,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.69,-145.9,2662,2769,3924,3801,587.4,-11.5,294,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4351,-0.69,-145.9,2666,2769,3919,3801,621.4,-11.3,304,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4651,-0.69,-145.9,2667,2769,3918,3801,655.2,-11.2,314,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4951,-0.69,-145.9,2666,2768,3919,3800,688.3,-11.0,324,4956,0.00,2.35,0.00,0.000,516,0.000,0.063,2665,1366,3859,3918,3800,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5001,-0.69,-145.9,2666,1365,3919,3800,693.6,-10.2,334,5006,0.00,2.47,0.00,0.000,1030,0.000,0.096,2662,2761,3859,3918,3801,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5313,-0.69,-145.9,2663,2763,3919,3801,727.4,-10.9,346,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2763,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5549,begin apogee
$GC,5554,-0.13,0.0,2664,2763,3919,3801,753.2,-10.8,354,5684,0.68,0.00,127.22,2.018,10244,0.215,0.000,2843,2763,3257,3275,3239,0,0,0,0,0,0,14.22,28.83,13.03
$STATE,5685,end apogee,CONTROL_FINISHED_OK
$STATE,5685,begin climb
$GC,5687,0.69,145.9,2844,2764,3272,3236,756.6,0.0,358,5824,0.93,1.92,125.55,1.843,10500,0.134,0.101,3111,3786,2657,2662,2652,0,0,0,0,0,0,13.74,13.75,12.60
$GC,6049,0.69,145.9,3113,3786,2663,2648,715.5,15.8,433,6054,0.00,1.77,0.00,0.000,1030,0.000,0.048,3120,2742,2654,2662,2646,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6366,0.69,145.9,3121,2742,2664,2644,672.7,13.5,446,6370,0.00,2.38,0.00,0.000,516,0.000,0.063,3131,1346,2653,2662,2644,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6595,0.69,145.9,3132,1346,2664,2645,644.2,12.3,492,6600,0.00,2.47,0.00,0.000,1030,0.000,0.090,3131,2746,2653,2662,2644,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6905,0.69,145.9,3132,2747,2663,2645,601.5,13.7,504,6910,0.00,2.35,0.00,0.000,516,0.000,0.063,3139,1351,2653,2662,2644,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6975,0.69,145.9,3140,1352,2663,2645,592.5,12.3,518,6980,0.00,2.45,0.00,0.000,1030,0.000,0.089,3139,2747,2653,2663,2644,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7297,0.69,145.9,3140,2748,2663,2644,547.6,14.1,532,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7595,0.69,145.9,3140,2747,2664,2644,505.9,13.8,542,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7895,0.69,145.9,3140,2748,2663,2645,464.8,13.7,552,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,0.69,145.9,3140,2748,2663,2645,424.4,13.4,562,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8495,0.69,145.9,3141,2749,2664,2645,384.6,13.1,572,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8795,0.69,145.9,3140,2748,2663,2644,345.9,12.8,582,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9095,0.69,145.9,3140,2753,2664,2651,308.0,12.5,592,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9395,0.69,145.9,3140,2746,2664,2645,272.4,11.6,602,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9697,0.73,203.1,3140,2747,2664,2644,242.9,8.6,616,9751,0.00,1.88,47.22,1.314,8452,0.000,0.096,3139,3779,2424,2427,2421,0,0,0,0,0,0,28.83,14.21,13.62
$GC,9786,0.73,203.1,3140,3778,2425,2420,232.8,13.3,634,9791,0.00,1.73,0.00,0.000,1030,0.000,0.049,3146,2744,2421,2423,2420,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10097,0.75,236.5,3147,2744,2425,2417,198.7,9.9,666,10127,0.00,0.00,28.67,1.306,8198,0.000,0.000,3147,2744,2292,2295,2289,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10427,0.77,266.3,3147,2745,2290,2278,164.3,10.0,699,10458,0.00,2.42,25.27,1.269,8708,0.000,0.064,3158,1353,2165,2169,2161,0,0,0,0,0,0,28.83,14.28,13.64
$GC,10513,0.79,295.9,3158,1353,2168,2160,155.5,10.1,716,10544,0.00,2.50,25.67,1.287,9222,0.000,0.090,3157,2751,2048,2052,2044,0,0,0,0,0,0,28.83,14.24,13.52
$GC,10848,0.81,312.1,3158,2751,2050,2032,118.0,10.8,753,10861,0.00,0.00,10.90,1.230,8198,0.000,0.000,3158,2751,1986,1995,1977,0,0,0,0,0,0,28.83,28.83,13.70
$GC,11160,0.83,339.8,3159,2752,1985,1971,87.1,10.2,784,11173,0.00,0.00,12.00,0.451,8198,0.000,0.000,3158,2751,1871,1874,1869,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11469,0.88,420.2,3158,2751,1885,1869,60.2,7.4,815,11509,0.00,0.00,36.62,0.369,8710,0.000,0.000,3158,2751,1545,1557,1534,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11810,1.00,586.5,3159,2752,1559,1524,40.8,2.8,850,11891,0.15,2.47,74.57,0.309,10756,0.114,0.065,3233,1357,868,869,867,0,0,0,0,0,0,14.26,14.17,13.95
$GC,11992,1.05,658.2,3235,1358,869,864,27.3,7.8,886,12033,0.00,2.53,33.45,0.288,9222,0.000,0.090,3234,2761,572,540,605,0,0,0,0,0,0,28.83,14.15,13.92
$FREEZE,8.37,-1.290,-1.440,2,1,0
$FREEZE,7.55,-1.290,-1.439,2,1,0
$FREEZE,6.93,-1.291,-1.439,2,1,0
$FREEZE,6.16,-1.291,-1.438,2,1,0
$FREEZE,5.58,-1.291,-1.437,2,1,0
$FREEZE,4.85,-1.291,-1.437,2,1,0
$FREEZE,4.02,-1.291,-1.436,2,1,0
$FREEZE,3.25,-1.290,-1.436,2,1,0
$FREEZE,2.58,-1.291,-1.435,2,1,0
$FREEZE,2.12,-1.291,-1.435,2,1,0
$GC,12332,1.10,734.0,3234,2761,537,605,2.6,7.6,924,12345,0.00,2.50,8.15,0.213,8708,0.000,0.065,3233,1357,497,447,547,0,0,0,0,0,0,28.83,14.21,14.04
$FREEZE,1.12,-1.292,-1.434,2,1,0
$STATE,12347,end climb,SURFACE_DEPTH_REACHED
$STATE,12347,begin surface coast
$FREEZE,0.82,-1.291,-1.434,2,1,0
$FREEZE,0.95,-1.291,-1.434,2,1,0
$FREEZE,0.94,-1.275,-1.004,2,1,0
$FINISH,0.9,1.014823
$STATE,12364,end surface coast,FINISH_DEPTH_REACHED
$STATE,12364,begin surface
$SM_CCo,12444,0.00,0.000,0,0,497,677.03
$SM_GC,2.01,9.32,2.58,0.00,0.077,0.093,0.000,203,2764,497,-8.36,-0.54,677.03,0,0,0,0,0,0,14.33,14.27,28.83
$RAFOS_CLK,219
$RAFOS_FIX,7442.325684,-14113.402344,120914,000045,2,255,0.43
$IRIDIUM_FIX,7358.04,-14042.06,120914,220432
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.84
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.60
$XPDR_PINGS,6
$SC_FREEKB,3787648
$24V_AH,12.60,105.001
$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,23.375,54.800,555.325,0.000,0.000,0.000,0.000,301.950,1.500,0.000,27.523,0.000,9925.704,613.836,2167.853,237.762,0.000,1660.171,0.000,1385.920,1485.000,0.539,0.000
$DEVICE_MAMPS,393.975,100.980,2018.070,0.000,0.000,0.000,0.000,156.060,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.417,0.000,0.000,0.000
$MEM,164796
$DATA_FILE_SIZE,33332,930
$CAP_FILE_SIZE,139545,0
$CFSIZE,2097872896,2026962944
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12924.25,0x2378b6,7,5
$INTR,1,5551.41,0x2378b6,2,5
$SOUNDSPEED,1449.6
$GPS,130914,051454,7444.250,-14034.251,30,0.8,50,24.6