version: 66.12
glider: 196
mission: 7
dive: 199
start: 8 23 114 17 53 13
data:
$ID,196
$MISSION,7
$DIVE,199
$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,-5263.6636
$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,50
$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
$GPS1,230814,174554,7255.651,-14446.486,27,0.8,47,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-78.7
$GPS2,230814,175254,7255.627,-14446.485,5,0.8,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,326.2,64849,-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,-145.9,203,2747,431,550,0.0,0.0,0,90,0.00,0.00,-72.28,0.000,16386,0.000,0.000,202,2746,2327,2337,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,201,2746,2337,2320,4.0,-4.6,7,136,11.98,2.38,-26.77,0.000,18948,0.396,0.089,2661,1365,3855,3917,3793,0,0,0,0,0,0,14.02,14.26,14.47
$GC,360,-0.69,-145.9,2662,1364,3919,3792,77.3,-20.5,61,366,0.00,2.50,0.00,0.000,1030,0.000,0.097,2653,2762,3856,3917,3796,0,0,0,0,0,0,28.83,14.25,28.83
$GC,670,-0.69,-145.9,2654,2763,3918,3797,145.2,-20.5,93,676,0.00,2.38,0.00,0.000,516,0.000,0.070,2653,1361,3856,3916,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,900,-0.69,-145.9,2653,1362,3918,3797,186.3,-16.6,139,906,0.12,2.47,0.00,0.000,3078,0.286,0.098,2666,2758,3856,3917,3796,0,0,0,0,0,0,14.25,14.36,28.83
$GC,1211,-0.69,-145.9,2667,2759,3918,3798,235.9,-14.9,171,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.69,-145.9,2667,2758,3918,3796,280.0,-13.8,188,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1821,-0.69,-145.9,2667,2759,3918,3797,319.9,-13.1,198,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2759,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,-0.69,-145.9,2667,2759,3918,3797,358.7,-12.9,208,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2421,-0.69,-145.9,2667,2758,3918,3797,397.1,-12.7,218,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,-0.69,-145.9,2667,2759,3917,3797,434.5,-12.4,228,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.69,-145.9,2667,2759,3918,3797,471.3,-12.2,238,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,-0.69,-145.9,2667,2759,3918,3797,507.7,-12.0,248,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.69,-145.9,2667,2759,3918,3797,543.4,-11.9,258,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3921,-0.69,-145.9,2667,2758,3918,3796,578.5,-11.6,268,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2757,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,-0.69,-145.9,2667,2758,3918,3796,613.1,-11.5,278,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2754,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.69,-145.9,2667,2759,3918,3797,647.7,-11.6,288,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4821,-0.69,-145.9,2667,2759,3918,3797,682.3,-11.5,298,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3857,3918,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,-0.69,-145.9,2667,2758,3918,3797,716.7,-11.5,308,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5419,begin apogee
$GC,5423,-0.13,0.0,2667,2759,3918,3797,751.2,-11.5,318,5550,0.65,0.00,124.75,1.984,10246,0.223,0.000,2843,2758,3257,3276,3239,0,0,0,0,0,0,14.51,28.83,13.16
$STATE,5551,end apogee,CONTROL_FINISHED_OK
$STATE,5551,begin climb
$GC,5553,0.69,145.9,2844,2759,3273,3235,754.8,0.0,322,5680,0.93,0.00,123.50,1.803,10246,0.133,0.000,3115,2759,2662,2669,2656,0,0,0,0,0,0,13.81,28.83,12.79
$GC,5960,0.69,145.9,3117,2759,2667,2648,711.8,13.4,336,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2759,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6260,0.69,145.9,3116,2760,2667,2648,671.6,13.4,346,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2759,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6560,0.69,145.9,3116,2760,2667,2647,631.5,13.4,356,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2759,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6861,0.69,145.9,3116,2759,2668,2646,592.0,13.2,366,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2758,2656,2668,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7161,0.69,145.9,3116,2760,2666,2646,552.7,13.0,376,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2759,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7461,0.69,145.9,3116,2758,2667,2645,513.9,12.8,386,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2759,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7761,0.69,145.9,3116,2760,2667,2646,475.7,12.6,396,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2759,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8060,0.69,145.9,3116,2759,2667,2645,437.9,12.5,406,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2759,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8360,0.69,145.9,3116,2759,2668,2645,400.3,12.4,416,8366,0.00,1.85,0.00,0.000,260,0.000,0.101,3115,3788,2655,2666,2645,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8386,0.69,145.9,3117,3788,2668,2645,396.8,14.5,421,8392,0.00,1.75,0.00,0.000,1030,0.000,0.054,3123,2737,2655,2666,2645,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8690,0.69,145.9,3124,2737,2667,2646,358.2,12.6,432,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2737,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8990,0.69,145.9,3124,2739,2667,2646,321.5,12.1,442,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2737,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140823200443.714642,3,125,-9,0092,0150,255,02,02,05,05,1,000,000,2,5,1,0,150,14.9,2.5,-100,0.5,-01,-0.2,29,900,0025*32
$MODEM_MSG,CACST,6,1,20140823201644.646430,3,169,04,0296,0150,217,03,03,03,03,-1,-01,-01,1,3,1,0,150,19.8,0.7,-100,2.3,-01,-0.1,22,900,0025*07
$GC,9290,0.69,145.9,3124,2737,2667,2646,285.8,11.7,452,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2737,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9591,0.70,164.8,3124,2738,2667,2646,253.0,10.6,462,9608,0.00,0.00,16.40,1.303,8198,0.000,0.000,3123,2737,2586,2594,2578,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9891,0.72,194.1,3124,2737,2591,2572,221.6,10.1,490,9922,0.00,1.92,24.77,1.251,8452,0.000,0.103,3123,3789,2461,2467,2456,0,0,0,0,0,0,28.83,14.33,13.81
$GC,9956,0.72,194.1,3124,3790,2465,2457,214.1,12.5,503,9963,0.00,1.77,0.00,0.000,1030,0.000,0.055,3127,2735,2459,2464,2455,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10262,0.77,260.4,3127,2735,2465,2453,185.0,8.1,534,10324,0.00,2.42,55.33,1.264,8708,0.000,0.070,3138,1341,2187,2189,2186,0,0,0,0,0,0,28.83,14.15,13.58
$GC,10358,0.80,302.9,3138,1341,2189,2185,176.2,9.4,551,10399,0.00,2.53,35.70,1.295,9222,0.000,0.094,3138,2744,2019,2021,2018,0,0,0,0,0,0,28.83,14.18,13.49
$GC,10704,0.80,302.9,3138,2745,2019,2003,136.2,11.7,590,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2745,2010,2019,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11004,0.82,325.0,3138,2744,2020,2000,104.2,10.5,620,11026,0.00,0.00,15.95,1.149,8198,0.000,0.000,3138,2745,1926,1929,1924,0,0,0,0,0,0,28.83,28.83,13.78
$GC,11325,0.84,361.4,3139,2746,1928,1918,72.7,9.7,652,11346,0.00,2.42,15.32,0.405,8708,0.000,0.070,3146,1341,1784,1785,1783,0,0,0,0,0,0,28.83,14.29,14.03
$GC,11380,0.87,409.7,3147,1341,1792,1779,67.6,9.1,663,11408,0.00,2.50,22.42,0.389,9222,0.000,0.095,3150,2736,1585,1590,1581,0,0,0,0,0,0,28.83,14.23,14.02
$GC,11705,0.94,501.9,3147,2736,1598,1572,41.1,6.7,698,11748,0.15,0.00,41.25,0.308,10246,0.116,0.000,3207,2735,1211,1219,1203,0,0,0,0,0,0,14.33,28.83,14.06
$GC,12045,1.03,635.2,3208,2737,1222,1190,13.7,4.5,732,12111,0.00,2.45,59.83,0.236,8708,0.000,0.073,3208,1340,667,644,690,0,0,0,0,0,0,28.83,14.22,14.10
$FREEZE,8.92,-0.689,-1.430,2,1,0
$FREEZE,8.42,-0.750,-1.429,2,1,0
$GC,12132,1.12,759.6,3209,1335,646,691,9.4,5.0,745,12155,0.15,2.50,18.85,0.225,11270,0.131,0.094,3263,2730,498,446,550,0,0,0,0,0,0,14.25,14.21,14.10
$FREEZE,7.47,-0.739,-1.427,2,1,0
$FREEZE,6.70,-0.243,-1.418,2,1,0
$FREEZE,5.88,0.508,-1.407,2,1,0
$FREEZE,5.07,0.597,-1.407,2,1,0
$FREEZE,4.24,0.588,-1.409,2,1,0
$FREEZE,3.58,0.599,-1.409,2,1,0
$FREEZE,2.82,0.604,-1.409,2,1,0
$FREEZE,1.86,0.596,-1.409,2,1,0
$STATE,12228,end climb,SURFACE_DEPTH_REACHED
$STATE,12228,begin surface coast
$FREEZE,1.19,0.597,-1.408,2,1,0
$FREEZE,0.91,0.599,-0.359,2,1,0
$FINISH,0.9,1.005203
$STATE,12249,end surface coast,CONTROL_FINISHED_OK
$STATE,12249,begin surface
$SM_CCo,12325,0.00,0.000,0,0,495,677.76
$SM_GC,1.91,9.43,0.00,0.00,0.082,0.000,0.000,197,2730,495,-8.37,-0.82,677.76,0,0,0,0,0,0,14.31,28.83,28.83
$RAFOS_CLK,237
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7221.25,-14449.06,230814,142036
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.23
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.60
$XPDR_PINGS,5
$SC_FREEKB,3849504
$24V_AH,12.79,59.680
$10V_AH,13.10,0.000
$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,23.400,31.850,554.075,0.000,0.000,0.000,0.000,247.475,1.250,0.000,26.420,0.000,10123.186,639.103,1833.343,149.187,0.000,1482.706,0.000,1139.651,1498.000,0.539,0.000
$DEVICE_MAMPS,395.505,102.510,1984.410,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12280.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.171,0.000,0.000,0.000
$MEM,248692
$DATA_FILE_SIZE,26731,759
$CAP_FILE_SIZE,126747,0
$CFSIZE,2097872896,2052947968
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12446.17,0x2378b6,7,5
$INTR,1,5420.75,0x2378b6,2,5
$INTR,2,12252.33,0x2378b6,7,5
$SOUNDSPEED,1448.3
$GPS,230814,211954,7256.970,-14447.732,29,0.9,49,22.8