version: 66.12
glider: 196
mission: 7
dive: 399
start: 9 22 114 4 54 48
data:
$ID,196
$MISSION,7
$DIVE,399
$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,190
$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,-10722.749
$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,60
$R_STBD_OVSHOOT,28
$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
$GPS1,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-45.4
$GPS2,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,7317.610,-14114.188
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.9,20000,-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,18,-0.69,-145.9,200,2785,432,549,0.0,0.0,0,91,0.00,0.00,-71.97,0.000,16386,0.000,0.000,199,2785,2292,2305,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.69,-145.9,200,2785,2307,2281,3.5,-2.8,7,143,12.27,2.45,-28.60,0.000,18948,0.396,0.087,2665,1382,3856,3922,3791,0,0,0,0,0,0,13.89,14.19,14.53
$GC,328,-0.69,-145.9,2667,1380,3922,3797,69.8,-22.5,54,334,0.00,2.47,0.00,0.000,1030,0.000,0.094,2657,2754,3858,3922,3795,0,0,0,0,0,0,28.83,14.17,28.83
$GC,633,-0.69,-145.9,2658,2754,3923,3795,132.8,-18.5,85,638,0.00,2.35,0.00,0.000,516,0.000,0.062,2657,1375,3857,3921,3794,0,0,0,0,0,0,28.83,14.28,28.83
$GC,673,-0.69,-145.9,2658,1373,3923,3795,139.9,-16.6,93,678,0.00,2.50,0.00,0.000,1030,0.000,0.093,2643,2768,3857,3921,3794,0,0,0,0,0,0,28.83,14.25,28.83
$GC,983,-0.69,-145.9,2647,2769,3923,3795,196.2,-17.8,125,988,0.00,2.38,0.00,0.000,516,0.000,0.060,2646,1372,3862,3929,3795,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1018,-0.69,-145.9,2647,1372,3922,3796,202.4,-17.1,132,1024,0.15,2.50,0.00,0.000,3078,0.256,0.094,2672,2763,3858,3922,3794,0,0,0,0,0,0,14.00,14.19,28.83
$GC,1323,-0.69,-145.9,2668,2765,3922,3796,247.2,-13.1,163,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2763,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1623,-0.69,-145.9,2667,2763,3923,3795,287.0,-13.4,175,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3856,3917,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1923,-0.69,-145.9,2667,2764,3922,3796,322.9,-11.6,185,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,-0.69,-145.9,2667,2764,3923,3794,357.5,-11.4,195,2228,0.00,1.80,0.00,0.000,260,0.000,0.100,2660,3786,3857,3921,3794,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2248,-0.69,-145.9,2666,3787,3923,3795,360.5,-13.2,200,2254,0.00,1.70,0.00,0.000,1030,0.000,0.053,2661,2761,3857,3921,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2553,-0.69,-145.9,2661,2762,3923,3794,396.3,-11.7,211,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2853,-0.69,-145.9,2661,2762,3923,3794,431.4,-11.7,221,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2762,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3153,-0.69,-145.9,2661,2762,3922,3795,465.8,-11.5,231,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2762,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3453,-0.69,-145.9,2662,2761,3922,3796,500.3,-11.4,241,3458,0.00,2.33,0.00,0.000,516,0.000,0.063,2661,1374,3858,3922,3794,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3513,-0.69,-145.9,2662,1374,3922,3795,506.9,-11.0,253,3518,0.00,2.47,0.00,0.000,1030,0.000,0.094,2650,2758,3858,3921,3795,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3845,-0.69,-145.9,2651,2759,3922,3796,546.0,-11.9,269,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2758,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4143,-0.69,-145.9,2651,2758,3923,3795,581.2,-11.7,279,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2758,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4443,-0.69,-145.9,2651,2758,3923,3795,616.4,-11.8,289,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4743,-0.69,-145.9,2651,2759,3922,3796,651.2,-11.5,299,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2758,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5043,-0.69,-145.9,2651,2759,3922,3796,686.2,-11.8,309,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2758,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5343,-0.69,-145.9,2651,2759,3922,3795,721.4,-11.6,319,5348,0.00,2.33,0.00,0.000,516,0.000,0.062,2650,1374,3862,3930,3795,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5378,-0.69,-145.9,2651,1373,3923,3795,725.4,-11.5,326,5383,0.12,2.47,0.00,0.000,3078,0.250,0.093,2667,2758,3858,3922,3795,0,0,0,0,0,0,14.10,14.21,28.83
$STATE,5643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5643,begin apogee
$GC,5648,-0.13,0.0,2668,2758,3917,3796,753.0,-10.3,339,5778,0.65,0.00,127.72,1.997,10244,0.202,0.000,2843,2758,3257,3279,3236,0,0,0,0,0,0,14.09,28.83,12.96
$STATE,5779,end apogee,CONTROL_FINISHED_OK
$STATE,5779,begin climb
$GC,5781,0.69,145.9,2844,2760,3274,3233,756.9,0.0,343,5917,0.88,0.00,125.65,1.851,11270,0.112,0.000,3113,2758,2656,2664,2649,0,0,0,0,0,0,13.72,28.83,12.52
$GC,6213,0.69,145.9,3114,2760,2665,2644,715.0,12.6,383,6218,0.00,2.45,0.00,0.000,516,0.000,0.062,3124,1357,2653,2664,2642,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6248,0.69,145.9,3125,1352,2665,2644,710.8,11.8,390,6253,0.00,2.55,0.00,0.000,1030,0.000,0.088,3124,2750,2653,2664,2643,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6575,0.69,145.9,3125,2749,2665,2642,668.1,13.3,405,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6873,0.69,145.9,3125,2749,2665,2642,628.2,13.4,415,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7173,0.69,145.9,3127,2750,2666,2643,587.8,13.5,425,7178,0.00,1.83,0.00,0.000,260,0.000,0.096,3124,3786,2653,2664,2642,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7198,0.69,145.9,3125,3787,2664,2643,584.2,14.6,430,7204,0.00,1.67,0.00,0.000,1030,0.000,0.049,3131,2735,2653,2664,2642,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7503,0.69,145.9,3132,2734,2665,2642,542.6,13.5,441,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,0.69,145.9,3132,2735,2666,2642,502.4,13.3,451,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,0.69,145.9,3128,2735,2664,2642,463.1,13.1,461,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8403,0.69,145.9,3131,2735,2665,2642,424.2,12.9,471,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8703,0.69,145.9,3132,2736,2665,2643,385.6,12.8,481,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9003,0.69,145.9,3131,2735,2665,2642,348.4,12.2,491,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9304,0.69,146.1,3132,2736,2665,2643,312.9,11.6,501,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9603,0.70,154.1,3132,2736,2665,2643,278.6,11.2,511,9609,0.00,0.00,4.53,1.336,8198,0.000,0.000,3131,2735,2632,2643,2622,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9903,0.72,191.0,3132,2736,2658,2623,247.7,9.7,521,9944,0.00,0.00,34.60,1.282,8454,0.000,0.000,3131,2735,2475,2486,2465,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10245,0.76,242.5,3132,2736,2480,2460,214.0,8.9,557,10294,0.00,0.00,43.08,1.254,8454,0.000,0.000,3131,2735,2262,2266,2258,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10593,0.79,292.6,3132,2736,2267,2251,179.7,9.0,594,10637,0.00,0.00,42.05,1.226,8198,0.000,0.000,3131,2735,2065,2070,2060,0,0,0,0,0,0,28.83,28.83,13.58
$GC,10935,0.81,316.2,3132,2735,2066,2043,144.4,10.4,628,10957,0.00,0.00,20.30,1.206,8198,0.000,0.000,3131,2735,1966,1971,1962,0,0,0,0,0,0,28.83,28.83,13.63
$GC,11258,0.83,352.1,3132,2736,1965,1951,111.3,9.7,660,11293,0.00,2.42,28.62,1.159,8708,0.000,0.066,3140,1359,1814,1819,1810,0,0,0,0,0,0,28.83,14.17,13.62
$GC,11340,0.87,404.6,3141,1359,1817,1806,103.8,8.8,676,11390,0.10,2.50,42.90,1.156,11270,0.135,0.090,3189,2744,1604,1615,1593,0,0,0,0,0,0,14.12,14.07,13.43
$GC,11689,0.90,440.0,3190,2745,1612,1574,60.1,9.7,716,11710,0.00,2.42,14.62,0.365,8708,0.000,0.065,3198,1352,1464,1483,1445,0,0,0,0,0,0,28.83,14.06,13.83
$GC,11800,0.94,506.5,3199,1352,1488,1444,50.3,8.1,738,11835,0.00,2.50,31.38,0.337,9222,0.000,0.090,3198,2740,1193,1212,1174,0,0,0,0,0,0,28.83,14.07,13.85
$GC,12141,1.05,659.9,3199,2740,1214,1167,24.0,3.5,776,12222,0.10,2.47,71.47,0.271,10756,0.150,0.066,3246,1356,565,525,606,0,0,0,0,0,0,14.09,14.09,13.89
$GC,12268,1.10,735.0,3247,1356,526,606,16.7,7.6,800,12284,0.00,2.50,7.78,0.254,9222,0.000,0.088,3246,2743,499,446,553,0,0,0,0,0,0,28.83,14.06,13.86
$FREEZE,8.12,-1.435,-1.430,2,16,0
$STATE,12373,end climb,FINISH_DEPTH_REACHED
$STATE,12373,begin subsurface finish
$FINISH1,8.1,1.021014,361
$GC,12379,0.25,361.3,3247,2743,448,553,8.1,8.2,812,12414,0.93,0.00,-30.38,0.000,20486,0.153,0.000,2978,2743,1788,1849,1728,0,0,0,0,0,0,13.97,28.83,14.33
$FINISH2,8.6
$STATE,12415,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12415,begin surface
$RAFOS_CLK,70
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7250.09,-14059.14,190914,234921
$TT8_MAMPS,0.081641,0.081641
$HUMID,42.24
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,9
$SC_FREEKB,3759872
$24V_AH,12.52,125.089
$10V_AH,12.58,0.000
$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,15.200,51.075,594.700,0.000,0.000,0.000,0.000,121.025,2.250,0.000,181.876,0.000,10147.545,671.376,1959.479,407.429,0.000,1480.334,0.000,1227.698,1490.000,0.539,0.000
$DEVICE_MAMPS,395.505,100.215,1997.415,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12467.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.060,0.000,0.000,0.000
$MEM,132456
$DATA_FILE_SIZE,26664,816
$CAP_FILE_SIZE,133457,0
$CFSIZE,2097872896,2015232000
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13641.88,0x2378b6,7,5
$INTR,1,5645.01,0x2378b6,2,5
$INTR,2,12375.72,0x2378b6,5,5
$SOUNDSPEED,1448.7
$GPS,200914,000154,7328.246,-14107.666,181,99.0,181,24.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376