version: 66.12
glider: 196
mission: 7
dive: 188
start: 8 22 114 3 4 46
data:
$ID,196
$MISSION,7
$DIVE,188
$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,-5248.668
$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,53
$R_STBD_OVSHOOT,20
$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
$GPS1,220814,025649,7243.222,-14418.056,39,0.8,59,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-78.7
$GPS2,220814,030432,7243.163,-14418.153,4,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,285.0,35724,-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,-145.9,203,2736,426,567,0.0,0.0,0,80,0.00,0.00,-62.65,0.000,16386,0.000,0.000,202,2739,2111,2121,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,204,2740,2122,2104,3.4,-3.8,6,132,12.00,1.92,-33.03,0.000,18692,0.396,0.122,2660,3790,3856,3916,3796,0,0,0,0,0,0,14.02,14.24,14.46
$GC,356,-0.69,-145.9,2661,3791,3917,3799,83.5,-23.4,61,363,0.00,1.70,0.00,0.000,1030,0.000,0.052,2660,2764,3859,3917,3802,0,0,0,0,0,0,28.83,14.35,28.83
$GC,661,-0.69,-145.9,2661,2765,3918,3803,147.4,-19.6,92,666,0.00,1.85,0.00,0.000,260,0.000,0.101,2652,3790,3860,3918,3802,0,0,0,0,0,0,28.83,14.32,28.83
$GC,891,-0.69,-145.9,2657,3788,3924,3802,193.0,-19.4,138,896,0.00,1.70,0.00,0.000,1030,0.000,0.054,2652,2763,3857,3917,3797,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1201,-0.69,-145.9,2653,2764,3917,3803,244.8,-15.5,170,1206,0.00,1.85,0.00,0.000,260,0.000,0.103,2644,3793,3859,3917,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1341,-0.69,-145.9,2644,3794,3918,3802,267.9,-16.3,198,1346,0.00,1.70,0.00,0.000,1030,0.000,0.055,2644,2761,3859,3916,3802,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1651,-0.69,-145.9,2644,2760,3917,3801,314.8,-14.9,210,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1951,-0.69,-145.9,2644,2761,3918,3802,358.7,-14.3,220,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2251,-0.69,-145.9,2645,2762,3917,3803,401.1,-14.2,230,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2760,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2551,-0.69,-145.9,2645,2761,3917,3803,442.8,-13.8,240,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2851,-0.69,-145.9,2645,2761,3917,3802,484.4,-13.9,250,2856,0.00,2.30,0.00,0.000,516,0.000,0.067,2644,1371,3858,3916,3801,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2886,-0.69,-145.9,2645,1372,3917,3802,489.0,-12.8,257,2892,0.10,2.47,0.00,0.000,3078,0.227,0.099,2667,2758,3858,3916,3801,0,0,0,0,0,0,14.47,14.56,28.83
$GC,3211,-0.69,-145.9,2668,2759,3917,3802,528.1,-12.0,272,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2758,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3512,-0.69,-145.9,2667,2758,3917,3801,563.8,-11.7,282,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2758,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3811,-0.69,-145.9,2675,2758,3924,3801,599.5,-11.9,292,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2758,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4111,-0.69,-145.9,2667,2758,3917,3801,634.8,-11.6,302,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2762,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.69,-145.9,2668,2759,3917,3802,669.6,-11.5,312,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2764,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4711,-0.69,-145.9,2667,2758,3917,3802,704.3,-11.5,322,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2758,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140822041628.567727,3,816,00,0218,0150,255,03,03,05,03,1,000,000,2,5,1,0,150,21.3,3.5,-100,-0.5,-01,0.1,26,900,0025*22
$GC,5012,-0.69,-145.9,2667,2759,3917,3802,738.3,-11.4,332,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2758,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5129,begin apogee
$GC,5133,-0.13,0.0,2668,2758,3917,3801,752.0,-11.4,336,5261,0.65,0.00,124.97,1.974,10246,0.222,0.000,2843,2759,3255,3271,3239,0,0,0,0,0,0,14.42,28.83,13.12
$STATE,5262,end apogee,CONTROL_FINISHED_OK
$STATE,5262,begin climb
$GC,5264,0.69,145.9,2844,2759,3272,3236,755.7,0.0,340,5392,0.90,0.00,125.20,1.847,10246,0.128,0.000,3110,2759,2660,2665,2655,0,0,0,0,0,0,13.78,28.83,12.73
$GC,5671,0.69,145.9,3111,2759,2665,2645,714.6,13.0,354,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5971,0.69,145.9,3111,2759,2665,2644,675.3,13.1,364,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,0.69,145.9,3111,2759,2664,2646,636.3,13.1,374,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6571,0.69,145.9,3111,2760,2664,2645,597.3,12.9,384,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6871,0.69,145.9,3111,2759,2665,2644,558.9,12.8,394,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2759,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7171,0.69,145.9,3111,2759,2665,2644,520.8,12.5,404,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7471,0.69,145.9,3111,2759,2665,2644,483.4,12.4,414,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2759,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7771,0.69,145.9,3111,2759,2665,2643,446.2,12.4,424,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8071,0.69,145.9,3111,2758,2665,2643,409.6,12.1,434,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8371,0.69,145.9,3111,2759,2665,2643,373.4,11.9,444,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2758,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8671,0.69,147.4,3111,2760,2664,2644,338.4,11.6,454,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2759,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8971,0.70,158.5,3111,2760,2664,2643,304.9,11.0,464,8987,0.00,2.38,11.07,1.376,8708,0.000,0.067,3121,1343,2605,2613,2598,0,0,0,0,0,0,28.83,14.58,13.97
$GC,9016,0.72,185.0,3122,1343,2613,2598,300.2,10.2,473,9042,0.00,2.47,22.08,1.323,9222,0.000,0.093,3121,2762,2503,2508,2499,0,0,0,0,0,0,28.83,14.54,13.88
$GC,9362,0.72,185.0,3122,2764,2504,2490,256.1,12.9,492,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2762,2495,2502,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,0.73,202.3,3122,2762,2504,2489,220.8,10.7,518,9683,0.00,0.00,15.30,1.265,8198,0.000,0.000,3121,2762,2427,2434,2420,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9982,0.75,236.4,3122,2763,2435,2418,187.2,9.8,550,10013,0.00,0.00,28.58,1.199,8198,0.000,0.000,3121,2762,2291,2295,2287,0,0,0,0,0,0,28.83,28.83,13.79
$GC,10313,0.78,270.6,3122,2762,2295,2279,154.2,9.8,583,10344,0.00,0.00,29.33,1.182,8198,0.000,0.000,3121,2762,2153,2157,2149,0,0,0,0,0,0,28.83,28.83,13.72
$GC,10643,0.81,312.0,3122,2763,2153,2136,122.3,9.4,616,10677,0.00,0.00,33.50,1.170,8198,0.000,0.000,3121,2762,1985,1986,1985,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10973,0.84,362.5,3122,2762,1981,1971,91.4,8.9,649,11004,0.12,2.50,21.92,0.467,10756,0.129,0.073,3190,1349,1779,1778,1781,0,0,0,0,0,0,14.33,14.23,13.98
$GC,11029,0.84,362.5,3190,1353,1783,1780,84.8,12.4,660,11035,0.00,2.47,0.00,0.000,1030,0.000,0.096,3190,2732,1781,1782,1780,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11334,0.86,394.7,3190,2737,1784,1778,48.1,9.9,691,11355,0.00,2.40,14.60,0.335,8708,0.000,0.072,3198,1350,1648,1652,1644,0,0,0,0,0,0,28.83,14.29,14.09
$GC,11385,0.90,447.9,3200,1351,1657,1644,43.4,8.8,701,11417,0.00,2.47,24.12,0.318,9222,0.000,0.096,3198,2734,1430,1439,1421,0,0,0,0,0,0,28.83,14.26,14.02
$GC,11715,1.04,639.1,3200,2735,1444,1408,18.8,1.5,737,11806,0.00,0.00,85.60,0.256,8198,0.000,0.000,3198,2736,650,629,672,0,0,0,0,0,0,28.83,28.83,14.07
$FREEZE,8.94,0.965,-1.428,2,1,0
$FREEZE,8.43,1.106,-1.426,2,1,0
$FREEZE,7.75,1.169,-1.425,2,1,0
$FREEZE,7.25,1.192,-1.425,2,1,0
$FREEZE,6.69,1.343,-1.419,2,1,0
$FREEZE,6.20,1.695,-1.406,2,1,0
$FREEZE,5.64,2.141,-1.391,2,1,0
$FREEZE,5.22,3.124,-1.349,2,1,0
$FREEZE,4.75,3.130,-1.348,2,1,0
$FREEZE,4.34,3.301,-1.341,2,1,0
$FREEZE,3.55,3.289,-1.344,2,1,0
$FREEZE,3.06,3.305,-1.349,2,1,0
$FREEZE,2.44,3.094,-1.360,2,1,0
$FREEZE,1.78,3.304,-1.355,2,1,0
$STATE,12033,end climb,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FREEZE,0.99,3.229,-1.372,2,1,0
$FREEZE,0.87,3.133,-0.488,2,1,0
$FREEZE,0.91,3.093,-0.602,2,1,0
$FINISH,0.9,1.008850
$STATE,12064,end surface coast,CONTROL_FINISHED_OK
$STATE,12064,begin surface
$SM_CCo,12079,16.52,0.207,0,0,498,676.54
$SM_GC,2.10,9.12,0.00,16.52,0.074,0.000,0.207,205,2734,498,-8.37,-0.74,676.54,0,0,0,0,0,0,14.33,28.83,14.21
$RAFOS_CLK,435
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7207.11,-14418.51,210814,232653
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.06
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.70
$XPDR_PINGS,3
$SC_FREEKB,3854432
$24V_AH,12.73,56.164
$10V_AH,13.07,0.000
$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,22.900,30.200,536.275,16.525,0.000,0.000,0.000,283.100,0.750,0.000,25.434,0.000,9863.480,652.552,1885.604,149.405,0.000,1534.059,0.000,1154.685,1485.000,0.539,0.000
$DEVICE_MAMPS,395.505,122.400,1974.465,207.315,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12102.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.959,0.000,0.000,0.000
$MEM,254988
$DATA_FILE_SIZE,26647,772
$CAP_FILE_SIZE,127347,0
$CFSIZE,2097872896,2055077888
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12787.35,0x2378b6,7,5
$INTR,1,5131.14,0x2378b6,2,5
$INTR,2,12067.46,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,220814,062748,7244.128,-14421.383,38,0.9,58,22.9