version: 66.12
glider: 196
mission: 7
dive: 103
start: 8 9 114 18 28 50
data:
$ID,196
$MISSION,7
$DIVE,103
$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,-5143.9634
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,090814,182154,7140.784,-14413.430,52,0.7,72,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.4
$GPS2,090814,182832,7140.774,-14413.536,5,0.8,25,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7206.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,339.9,46761,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-145.9,126,2774,423,564,0.0,0.0,0,69,0.00,0.00,-52.30,0.000,16386,0.000,0.000,124,2774,1862,1875,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.69,-145.9,126,2773,1875,1855,3.0,-3.5,5,129,12.12,1.83,-38.22,0.000,18692,0.395,0.128,2655,3781,3855,3914,3796,0,0,0,0,0,0,14.08,14.28,14.52
$GC,353,-0.69,-145.9,2656,3781,3915,3803,79.9,-24.5,62,360,0.00,1.73,0.00,0.000,1030,0.000,0.056,2656,2750,3858,3914,3803,0,0,0,0,0,0,28.83,14.43,28.83
$GC,658,-0.69,-145.9,2657,2751,3915,3804,143.3,-19.1,93,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2750,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.69,-145.9,2657,2751,3915,3804,195.9,-16.1,123,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2748,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.69,-145.9,2656,2751,3914,3804,242.0,-14.8,153,1264,0.00,2.35,0.00,0.000,516,0.000,0.070,2655,1372,3858,3914,3802,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1293,-0.69,-145.9,2656,1372,3915,3803,247.2,-14.4,160,1300,0.00,2.47,0.00,0.000,1030,0.000,0.099,2645,2752,3858,3914,3803,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1619,-0.69,-145.9,2646,2753,3914,3803,296.1,-14.9,173,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2752,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.69,-145.9,2645,2752,3915,3803,339.7,-14.5,183,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2752,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-0.69,-145.9,2646,2753,3914,3803,382.5,-14.2,193,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2752,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2519,-0.69,-145.9,2646,2753,3914,3802,425.0,-14.0,203,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2752,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.69,-145.9,2645,2751,3915,3801,466.7,-13.8,213,2819,0.12,0.00,0.00,0.000,2054,0.294,0.000,2670,2752,3857,3914,3801,0,0,0,0,0,0,14.53,28.83,28.83
$GC,3118,-0.69,-145.9,2670,2753,3910,3801,503.0,-12.0,223,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2752,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,-0.69,-145.9,2671,2752,3915,3800,539.0,-11.9,233,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2752,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-0.69,-145.9,2671,2753,3914,3802,575.0,-12.0,243,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2752,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-0.69,-145.9,2671,2754,3914,3801,611.0,-12.0,253,4024,0.00,2.35,0.00,0.000,516,0.000,0.070,2670,1363,3856,3913,3800,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4068,-0.69,-145.9,2671,1366,3915,3801,616.6,-11.0,263,4074,0.00,2.47,0.00,0.000,1030,0.000,0.099,2662,2762,3857,3914,3800,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4378,-0.69,-145.9,2663,2762,3915,3800,654.9,-12.4,275,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2763,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4678,-0.69,-145.9,2663,2763,3915,3800,691.9,-12.3,285,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4978,-0.69,-145.9,2663,2763,3914,3800,728.5,-12.0,295,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5157,begin apogee
$GC,5160,-0.13,0.0,2663,2763,3915,3799,750.3,-12.0,301,5286,0.68,0.00,123.30,1.939,10244,0.226,0.000,2846,2763,3257,3274,3241,0,0,0,0,0,0,14.59,28.83,13.17
$STATE,5287,end apogee,CONTROL_FINISHED_OK
$STATE,5287,begin climb
$GC,5288,0.69,145.9,2847,2763,3271,3237,753.8,0.0,305,5425,0.88,0.00,123.90,1.889,11270,0.138,0.000,3110,2763,2658,2666,2650,0,0,0,0,0,0,13.81,28.83,12.89
$GC,5739,0.69,145.9,3110,2763,2665,2648,706.4,12.9,345,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,0.69,145.9,3109,2762,2664,2644,667.8,12.8,355,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2762,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6339,0.69,145.9,3110,2763,2665,2645,629.2,12.9,365,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,0.69,145.9,3110,2762,2665,2643,590.6,12.8,375,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2651,2664,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6939,0.69,145.9,3110,2763,2665,2645,553.1,12.4,385,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140809200447.082720,3,103,-9,0098,0150,255,02,02,05,05,-1,-01,-01,1,3,0,0,150,8.9,0.7,-100,2.3,-01,0.0,33,900,0025*0E
$MODEM_MSG,CACST,6,1,20140809201616.074464,3,300,06,0370,0150,217,03,03,03,03,-1,-01,-01,1,3,0,0,150,16.5,5.1,-100,-2.1,-01,0.1,27,900,0025*03
$GC,7239,0.69,145.9,3109,2763,2665,2644,515.9,12.3,395,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7539,0.69,145.9,3109,2762,2666,2643,479.0,12.3,405,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,0.69,145.9,3110,2763,2665,2644,442.0,12.3,415,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,0.69,145.9,3110,2764,2665,2644,405.4,12.1,425,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8439,0.69,145.9,3110,2767,2666,2642,369.3,11.9,435,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2762,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,0.69,145.9,3110,2763,2665,2643,333.8,11.7,445,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2657,2672,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9039,0.69,148.6,3110,2763,2665,2643,299.6,11.5,455,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9339,0.69,152.8,3109,2762,2666,2642,265.9,11.4,465,9344,0.00,0.00,3.60,1.242,8198,0.000,0.000,3109,2762,2635,2646,2624,0,0,0,0,0,0,28.83,28.83,13.75
$GC,9639,0.71,175.4,3110,2763,2662,2628,233.3,10.4,485,9666,0.00,2.40,22.75,1.370,8708,0.000,0.069,3119,1347,2537,2545,2529,0,0,0,0,0,0,28.83,14.43,13.86
$GC,9695,0.72,191.2,3120,1346,2544,2528,227.2,10.8,495,9716,0.00,2.50,13.98,1.470,9222,0.000,0.094,3119,2743,2472,2478,2467,0,0,0,0,0,0,28.83,14.45,13.74
$GC,10021,0.73,202.2,3120,2744,2479,2466,189.3,11.0,530,10032,0.00,0.00,10.35,1.341,8198,0.000,0.000,3119,2743,2431,2438,2425,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10331,0.77,257.1,3120,2744,2435,2420,158.0,8.7,561,10382,0.00,0.00,45.97,1.245,8198,0.000,0.000,3124,2743,2204,2205,2203,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10681,0.80,300.7,3119,2744,2206,2195,123.5,9.3,596,10722,0.10,0.00,36.03,1.234,10246,0.154,0.000,3165,2743,2025,2027,2024,0,0,0,0,0,0,14.38,28.83,13.66
$GC,11020,0.80,309.8,3165,2743,2028,2014,82.6,11.1,630,11024,0.00,0.00,2.88,0.405,8198,0.000,0.000,3165,2743,1994,1999,1989,0,0,0,0,0,0,28.83,28.83,14.12
$GC,11320,0.87,403.3,3166,2744,2012,1990,54.4,6.7,660,11367,0.00,1.85,41.95,0.351,8452,0.000,0.100,3164,3792,1611,1616,1607,0,0,0,0,0,0,28.83,14.31,14.16
$GC,11446,0.88,423.0,3165,3792,1618,1606,43.0,10.6,685,11463,0.00,1.77,8.68,0.317,9222,0.000,0.055,3171,2736,1532,1538,1527,0,0,0,0,0,0,28.83,14.38,14.19
$GC,11762,0.93,493.4,3171,2736,1543,1517,15.2,7.9,718,11794,0.00,0.00,31.12,0.245,8198,0.000,0.000,3171,2736,1244,1252,1237,0,0,0,0,0,0,28.83,28.83,14.28
$FREEZE,8.87,4.818,-1.349,2,1,0
$FREEZE,8.52,4.836,-1.349,2,1,0
$FREEZE,8.11,4.836,-1.349,2,1,0
$FREEZE,7.82,4.856,-1.349,2,1,0
$FREEZE,7.31,4.856,-1.349,2,1,0
$GC,12092,1.09,712.4,3172,2736,1253,1224,9.7,-0.0,751,12181,0.22,0.00,80.40,0.226,10502,0.119,0.000,3246,2736,497,457,538,0,0,0,0,0,0,14.45,28.83,14.25
$FREEZE,6.61,4.843,-1.350,2,1,0
$FREEZE,6.00,4.836,-1.349,2,1,0
$FREEZE,5.33,4.841,-1.349,2,1,0
$FREEZE,4.81,4.848,-1.348,2,1,0
$FREEZE,4.15,4.849,-1.348,2,1,0
$FREEZE,3.43,4.858,-1.347,2,1,0
$FREEZE,2.94,4.865,-1.346,2,1,0
$FREEZE,2.34,4.871,-1.346,2,1,0
$FREEZE,1.92,4.861,-1.346,2,1,0
$STATE,12263,end climb,SURFACE_DEPTH_REACHED
$STATE,12264,begin surface coast
$FREEZE,1.34,4.865,-1.345,2,1,0
$FREEZE,0.92,4.868,-1.345,2,1,0
$FREEZE,0.74,4.872,-1.339,2,1,0
$FINISH,0.7,1.019485
$STATE,12294,end surface coast,CONTROL_FINISHED_OK
$STATE,12294,begin surface
$SM_CCo,12368,0.00,0.000,0,0,492,678.50
$SM_GC,1.87,9.07,0.00,0.00,0.066,0.000,0.000,207,2736,492,-8.35,-0.68,678.50,0,0,0,0,0,0,14.41,28.83,28.83
$RAFOS_CLK,337
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7105.60,-14417.42,090814,145548
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.28
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.70
$XPDR_PINGS,4
$SC_FREEKB,3892512
$24V_AH,12.89,31.423
$10V_AH,12.82,0.000
$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,23.200,21.725,544.900,0.000,0.000,0.000,0.000,247.175,1.000,0.000,26.306,0.000,10213.913,586.650,1859.822,102.082,0.000,1469.639,0.000,1169.340,1498.000,0.541,0.000
$DEVICE_MAMPS,394.740,127.755,1939.275,0.000,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12330.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.934,0.000,0.000,0.000
$MEM,303656
$DATA_FILE_SIZE,26748,779
$CAP_FILE_SIZE,127060,0
$CFSIZE,2097872896,2071625728
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12538.37,0x2378b6,7,5
$INTR,1,5158.32,0x2378b6,2,5
$INTR,2,12296.90,0x2378b6,7,5
$SOUNDSPEED,1450.7
$GPS,090814,215624,7142.397,-14414.372,40,0.9,60,22.6