version: 66.12
glider: 196
mission: 7
dive: 364
start: 9 17 114 1 38 36
data:
$ID,196
$MISSION,7
$DIVE,364
$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,-8708.3135
$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,47
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.33
$_SM_ANGLEo,0.9
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,167.0,221862,-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,-145.9,2978,2732,724,718,0.0,0.0,0,33,0.00,0.00,-14.57,0.000,16386,0.000,0.000,2978,2733,1286,1356,1216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.69,-145.9,2978,2733,1352,1222,6.3,0.0,1,103,0.93,2.42,-60.72,0.000,20996,0.080,0.094,2666,1366,3856,3923,3789,0,0,0,0,0,0,14.27,14.25,14.52
$GC,273,-0.69,-145.9,2666,1365,3924,3794,65.6,-22.3,49,278,0.00,2.53,0.00,0.000,1030,0.000,0.098,2663,2762,3858,3923,3794,0,0,0,0,0,0,28.83,14.21,28.83
$GC,583,-0.69,-145.9,2664,2762,3924,3795,130.3,-18.8,81,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-0.69,-145.9,2663,2762,3923,3794,185.2,-16.6,111,888,0.00,2.38,0.00,0.000,516,0.000,0.066,2663,1365,3858,3923,3794,0,0,0,0,0,0,28.83,14.34,28.83
$GC,913,-0.69,-145.9,2664,1366,3924,3795,190.2,-16.2,117,918,0.00,2.53,0.00,0.000,1030,0.000,0.099,2662,2768,3856,3918,3794,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1223,-0.69,-145.9,2663,2768,3924,3794,239.4,-15.2,149,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2768,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,-0.69,-145.9,2664,2768,3924,3794,283.7,-13.4,165,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2768,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1843,-0.69,-145.9,2664,2769,3924,3795,322.2,-12.6,175,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2768,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2143,-0.69,-145.9,2663,2768,3924,3794,360.2,-12.6,185,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2768,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,-0.69,-145.9,2663,2767,3924,3794,395.3,-11.4,195,2448,0.00,2.38,0.00,0.000,516,0.000,0.067,2662,1365,3858,3922,3794,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2483,-0.69,-145.9,2664,1365,3923,3794,399.8,-11.1,203,2488,0.00,2.50,0.00,0.000,1030,0.000,0.099,2663,2763,3858,3922,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2805,-0.69,-145.9,2664,2764,3923,3794,436.2,-11.5,217,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2764,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3103,-0.69,-145.9,2664,2764,3923,3790,470.4,-11.3,227,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2763,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-0.69,-145.9,2664,2765,3923,3794,504.5,-11.2,237,3408,0.00,2.38,0.00,0.000,516,0.000,0.067,2664,1360,3858,3923,3794,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3463,-0.69,-145.9,2664,1360,3923,3794,510.9,-10.3,249,3468,0.00,2.50,0.00,0.000,1030,0.000,0.098,2663,2758,3858,3922,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3794,-0.69,-145.9,2659,2758,3920,3794,547.5,-11.1,265,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4093,-0.69,-145.9,2664,2759,3923,3801,580.2,-10.8,275,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4393,-0.69,-145.9,2663,2757,3924,3794,612.7,-10.7,285,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4693,-0.69,-145.9,2664,2759,3923,3795,645.3,-10.9,295,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4993,-0.69,-145.9,2663,2758,3924,3794,678.6,-11.1,305,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5293,-0.69,-145.9,2664,2758,3924,3794,710.8,-10.7,315,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2758,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5593,-0.69,-145.9,2664,2759,3924,3795,742.6,-10.5,325,5598,0.00,2.35,0.00,0.000,516,0.000,0.066,2662,1363,3858,3923,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5648,-0.69,-145.9,2664,1362,3924,3794,748.2,-10.4,336,5654,0.00,2.47,0.00,0.000,1030,0.000,0.098,2663,2753,3858,3923,3794,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,5681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5681,begin apogee
$GC,5686,-0.13,0.0,2664,2755,3924,3795,751.5,-9.7,338,5815,0.70,0.00,126.82,2.017,10244,0.219,0.000,2847,2755,3258,3280,3237,0,0,0,0,0,0,14.15,28.83,13.00
$STATE,5816,end apogee,CONTROL_FINISHED_OK
$STATE,5816,begin climb
$GC,5818,0.69,145.9,2848,2756,3275,3234,755.2,0.0,342,5950,0.85,0.00,125.57,1.830,11270,0.116,0.000,3107,2755,2660,2667,2654,0,0,0,0,0,0,13.72,28.83,12.58
$GC,6255,0.69,145.9,3108,2756,2665,2645,712.8,12.5,382,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2755,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,0.69,145.9,3108,2755,2666,2643,675.7,12.3,392,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2755,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,0.69,145.9,3108,2756,2665,2643,638.8,12.4,402,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2755,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7155,0.69,145.9,3108,2755,2666,2643,602.3,12.2,412,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2755,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7455,0.69,145.9,3109,2756,2665,2644,565.8,12.3,422,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2755,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7755,0.69,145.9,3108,2754,2666,2643,529.4,12.1,432,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2755,2651,2665,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8055,0.69,145.9,3108,2754,2666,2642,493.3,12.0,442,8060,0.00,2.40,0.00,0.000,516,0.000,0.067,3117,1342,2653,2665,2642,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8085,0.69,148.8,3118,1341,2666,2642,489.8,11.5,448,8090,0.00,2.47,0.00,0.000,1030,0.000,0.092,3117,2744,2653,2665,2642,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8416,0.69,148.8,3119,2745,2665,2643,449.5,12.2,464,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2745,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8717,0.69,148.8,3115,2745,2666,2642,413.5,12.1,474,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2745,2651,2661,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9015,0.69,148.8,3118,2745,2666,2643,377.7,11.9,484,9020,0.00,2.38,0.00,0.000,516,0.000,0.067,3126,1343,2653,2665,2641,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9035,0.69,148.8,3127,1345,2666,2642,375.3,11.6,488,9040,0.00,2.50,0.00,0.000,1030,0.000,0.092,3126,2743,2653,2665,2642,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9345,0.69,148.8,3127,2743,2666,2642,338.0,11.9,500,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2743,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9645,0.69,152.8,3127,2743,2668,2642,303.5,11.4,510,9649,0.00,0.00,3.00,1.064,8198,0.000,0.000,3127,2742,2637,2649,2626,0,0,0,0,0,0,28.83,28.83,13.37
$GC,9945,0.71,170.9,3128,2743,2669,2628,270.3,10.7,520,9970,0.00,0.00,20.23,1.327,8710,0.000,0.000,3127,2743,2555,2565,2545,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10275,0.72,188.7,3127,2743,2566,2541,234.5,10.7,544,10296,0.00,0.00,15.43,1.300,8198,0.000,0.000,3127,2742,2483,2491,2475,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10597,0.78,270.0,3128,2744,2492,2473,206.8,7.3,576,10671,0.00,2.45,67.80,1.261,8708,0.000,0.067,3133,1342,2152,2153,2151,0,0,0,0,0,0,28.83,14.12,13.52
$GC,10711,0.80,308.4,3137,1342,2152,2145,196.7,9.6,599,10747,0.00,2.55,32.62,1.261,9222,0.000,0.092,3137,2753,2001,2004,1998,0,0,0,0,0,0,28.83,14.05,13.46
$GC,11046,0.82,325.4,3137,2753,2000,1978,158.0,10.7,636,11066,0.00,0.00,14.68,1.226,8198,0.000,0.000,3137,2753,1926,1932,1920,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11367,0.84,356.1,3138,2751,1930,1917,124.1,10.0,668,11398,0.00,2.50,26.05,1.166,8708,0.000,0.070,3139,1342,1800,1804,1797,0,0,0,0,0,0,28.83,14.29,13.68
$GC,11458,0.87,402.9,3140,1342,1800,1793,115.5,9.1,686,11504,0.12,2.50,38.40,1.153,11270,0.122,0.093,3193,2736,1609,1617,1601,0,0,0,0,0,0,14.25,14.19,13.54
$GC,11809,0.88,420.0,3194,2736,1616,1583,68.8,10.7,726,11819,0.00,0.00,6.35,0.383,8198,0.000,0.000,3194,2737,1545,1560,1531,0,0,0,0,0,0,28.83,28.83,13.85
$GC,12119,0.96,533.2,3195,2737,1569,1531,44.9,5.6,757,12173,0.00,0.00,52.55,0.322,8454,0.000,0.000,3194,2736,1083,1097,1070,0,0,0,0,0,0,28.83,28.83,13.95
$GC,12468,1.06,673.0,3195,2737,1097,1061,21.5,4.2,793,12540,0.12,2.42,64.50,0.261,10756,0.138,0.069,3246,1349,512,459,565,0,0,0,0,0,0,14.22,14.16,13.96
$FREEZE,8.76,-1.414,-1.439,2,16,0
$STATE,12685,end climb,FINISH_DEPTH_REACHED
$STATE,12685,begin subsurface finish
$FINISH1,8.8,1.021135,355
$GC,12692,0.25,355.0,3246,2740,458,565,8.8,7.2,836,12728,0.93,0.00,-29.67,0.000,20998,0.162,0.000,2981,2741,1811,1870,1753,0,0,0,0,0,0,14.00,28.83,14.43
$FINISH2,9.3
$STATE,12728,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12729,begin surface
$RAFOS_CLK,208
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.99
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,10
$SC_FREEKB,3775552
$24V_AH,12.58,113.841
$10V_AH,12.63,0.000
$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,3.650,49.150,594.000,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,0.000,10357.059,618.659,1704.492,171.772,0.000,1317.152,0.000,1263.422,1482.000,0.539,0.000
$DEVICE_MAMPS,218.790,99.450,2017.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12786.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.715,0.000,0.000,0.000
$MEM,150888
$DATA_FILE_SIZE,30059,841
$CAP_FILE_SIZE,129876,0
$CFSIZE,2097872896,2021982208
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13004.46,0x2378b6,7,5
$INTR,1,5683.38,0x2378b6,2,5
$SOUNDSPEED,1448.7
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5