version: 66.12
glider: 196
mission: 7
dive: 226
start: 8 27 114 16 35 31
data:
$ID,196
$MISSION,7
$DIVE,226
$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,-5296.6255
$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,57
$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
$GPS1,270814,162454,7337.065,-14509.744,36,0.8,56,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.8
$GPS2,270814,163516,7337.101,-14509.733,5,0.8,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7400.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,337.0,42410,-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
$MODEM_MSG,CACST,6,1,20140827160523.193771,3,461,-9,0103,0150,255,03,03,06,05,1,000,000,2,5,1,0,150,5.3,2.5,-100,0.5,-01,0.3,36,900,0025*27
$GC,16,-0.69,-145.9,202,2750,428,569,0.0,0.0,0,90,0.00,0.00,-71.88,0.000,16386,0.000,0.000,201,2749,2235,2245,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,201,2749,2247,2224,3.2,-2.6,7,141,12.18,1.85,-30.05,0.000,18692,0.399,0.120,2658,3793,3854,3920,3789,0,0,0,0,0,0,13.96,14.20,14.43
$GC,365,-0.69,-145.9,2659,3794,3921,3794,87.7,-24.5,62,372,0.00,1.73,0.00,0.000,1030,0.000,0.052,2658,2757,3856,3920,3793,0,0,0,0,0,0,28.83,14.32,28.83
$GC,671,-0.69,-145.9,2659,2756,3921,3794,153.3,-20.0,93,676,0.00,1.85,0.00,0.000,260,0.000,0.103,2650,3777,3857,3920,3794,0,0,0,0,0,0,28.83,14.34,28.83
$GC,901,-0.69,-145.9,2651,3778,3920,3795,200.3,-20.4,139,906,0.00,1.70,0.00,0.000,1030,0.000,0.054,2650,2755,3857,3920,3794,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1221,-0.69,-145.9,2651,2755,3920,3794,255.1,-16.0,170,1226,0.00,1.85,0.00,0.000,260,0.000,0.103,2641,3783,3857,3920,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1355,-0.69,-145.9,2642,3784,3920,3795,277.9,-16.9,197,1361,0.08,1.70,0.00,0.000,3078,0.237,0.055,2657,2760,3856,3918,3794,0,0,0,0,0,0,14.30,14.51,28.83
$GC,1672,-0.69,-145.9,2661,2760,3921,3794,322.3,-13.7,210,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2759,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1971,-0.69,-145.9,2662,2760,3920,3795,362.3,-13.0,220,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2271,-0.69,-145.9,2661,2760,3921,3793,401.9,-13.2,230,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2571,-0.69,-145.9,2662,2760,3922,3794,440.8,-12.8,240,2576,0.00,2.33,0.00,0.000,516,0.000,0.067,2661,1362,3857,3920,3794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2631,-0.69,-145.9,2662,1362,3920,3795,448.0,-12.4,252,2636,0.00,2.45,0.00,0.000,1030,0.000,0.097,2652,2755,3857,3920,3794,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2962,-0.69,-145.9,2653,2756,3921,3794,491.0,-12.9,268,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.69,-145.9,2653,2755,3921,3794,530.4,-13.2,278,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,-0.69,-145.9,2653,2755,3921,3794,569.4,-12.9,288,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.69,-145.9,2653,2756,3919,3794,607.9,-12.7,298,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4161,-0.69,-145.9,2653,2756,3920,3795,646.0,-12.7,308,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.69,-145.9,2653,2756,3920,3795,683.6,-12.6,318,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.69,-145.9,2652,2755,3921,3794,721.2,-12.5,328,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4999,begin apogee
$GC,5003,-0.13,0.0,2653,2756,3921,3794,750.9,-12.4,336,5131,0.73,0.00,125.35,2.003,10244,0.229,0.000,2846,2756,3258,3278,3238,0,0,0,0,0,0,14.45,28.83,13.13
$STATE,5132,end apogee,CONTROL_FINISHED_OK
$STATE,5132,begin climb
$GC,5134,0.69,145.9,2847,2757,3273,3235,754.8,0.0,340,5262,0.88,0.00,123.95,1.841,11270,0.125,0.000,3113,2756,2663,2669,2657,0,0,0,0,0,0,13.79,28.83,12.70
$GC,5572,0.69,145.9,3114,2757,2665,2647,708.8,13.3,380,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2756,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5872,0.69,145.9,3115,2757,2664,2646,669.3,13.2,390,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2756,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6172,0.69,145.9,3114,2757,2664,2646,629.8,13.2,400,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2756,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6472,0.69,145.9,3114,2757,2664,2646,590.4,13.2,410,6477,0.00,2.38,0.00,0.000,516,0.000,0.066,3124,1348,2653,2663,2644,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6502,0.69,145.9,3125,1347,2665,2644,586.6,11.9,416,6507,0.00,2.45,0.00,0.000,1030,0.000,0.090,3125,2747,2654,2664,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6833,0.69,145.9,3125,2747,2665,2644,541.4,13.8,432,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7132,0.69,145.9,3125,2747,2665,2644,500.3,13.6,442,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2747,2656,2669,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7432,0.69,145.9,3125,2747,2665,2644,459.7,13.5,452,7437,0.00,1.85,0.00,0.000,260,0.000,0.099,3125,3789,2654,2664,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7467,0.69,145.9,3126,3790,2664,2645,454.4,15.6,459,7472,0.00,1.73,0.00,0.000,1030,0.000,0.050,3132,2734,2654,2664,2644,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7793,0.69,145.9,3133,2733,2665,2644,409.8,13.6,474,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2734,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8092,0.69,145.9,3133,2734,2665,2644,369.7,13.3,484,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2734,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,0.69,145.9,3133,2735,2665,2645,330.0,13.1,494,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2734,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8692,0.69,145.9,3133,2735,2665,2645,292.9,12.0,504,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2734,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,0.70,157.3,3133,2734,2666,2644,259.3,11.0,514,9003,0.00,0.00,10.23,1.333,8198,0.000,0.000,3132,2734,2616,2625,2607,0,0,0,0,0,0,28.83,28.83,13.98
$GC,9292,0.73,202.8,3132,2734,2622,2602,227.7,9.2,538,9334,0.00,2.42,37.92,1.255,8708,0.000,0.067,3143,1347,2426,2431,2421,0,0,0,0,0,0,28.83,14.34,13.78
$GC,9389,0.76,242.8,3143,1346,2427,2421,218.4,9.5,557,9426,0.00,2.47,33.12,1.285,9222,0.000,0.090,3143,2747,2268,2267,2270,0,0,0,0,0,0,28.83,14.35,13.64
$GC,9724,0.76,253.0,3144,2748,2264,2256,179.9,11.1,594,9736,0.00,0.00,9.45,1.278,8198,0.000,0.000,3143,2747,2222,2226,2219,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10034,0.78,278.1,3144,2748,2226,2214,146.4,10.3,625,10057,0.00,0.00,22.15,1.190,8198,0.000,0.000,3143,2747,2122,2127,2118,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10355,0.81,317.0,3144,2748,2122,2106,113.5,9.6,657,10390,0.00,1.85,29.83,1.168,8452,0.000,0.098,3143,3786,1961,1960,1962,0,0,0,0,0,0,28.83,14.21,13.69
$GC,10405,0.82,326.9,3144,3786,1958,1963,108.3,11.1,665,10416,0.00,1.75,3.83,1.147,9222,0.000,0.051,3150,2741,1927,1925,1930,0,0,0,0,0,0,28.83,14.26,13.48
$GC,10716,0.84,367.2,3151,2742,1934,1930,75.4,9.5,697,10741,0.00,2.40,19.10,0.412,8708,0.000,0.068,3161,1351,1759,1759,1759,0,0,0,0,0,0,28.83,14.26,14.00
$GC,10800,0.88,418.5,3162,1351,1765,1759,67.6,8.9,714,10831,0.00,2.47,23.67,0.389,9222,0.000,0.093,3161,2738,1550,1556,1544,0,0,0,0,0,0,28.83,14.24,13.97
$GC,11136,0.95,521.8,3162,2738,1562,1533,41.9,6.1,751,11188,0.12,2.40,46.00,0.311,10756,0.125,0.066,3221,1344,1129,1137,1121,0,0,0,0,0,0,14.33,14.23,14.02
$GC,11237,0.98,560.1,3221,1344,1140,1120,32.8,9.6,771,11260,0.00,2.50,17.67,0.302,9222,0.000,0.091,3221,2741,972,973,972,0,0,0,0,0,0,28.83,14.21,14.00
$FREEZE,8.89,-1.111,-1.432,2,1,0
$FREEZE,8.34,-1.081,-1.431,2,1,0
$FREEZE,7.94,-1.098,-1.429,2,1,0
$FREEZE,7.61,-1.098,-1.429,2,1,0
$FREEZE,7.25,-1.101,-1.428,2,1,0
$FREEZE,6.92,-1.101,-1.428,2,1,0
$FREEZE,6.73,-1.104,-1.426,2,1,0
$FREEZE,6.30,-1.104,-1.426,2,1,0
$FREEZE,6.13,-1.135,-1.424,2,1,0
$FREEZE,5.64,-1.135,-1.423,2,1,0
$FREEZE,5.47,-1.141,-1.422,2,1,0
$GC,11558,1.06,680.6,3221,2741,974,964,7.9,5.2,805,11615,0.00,2.40,52.62,0.215,8708,0.000,0.066,3221,1346,498,447,549,0,0,0,0,0,0,28.83,14.21,14.09
$FREEZE,4.85,-1.210,-1.420,2,1,0
$FREEZE,4.68,-1.210,-1.419,2,1,0
$FREEZE,4.43,-1.217,-1.419,2,1,0
$FREEZE,4.00,-1.217,-1.418,2,1,0
$FREEZE,3.82,-1.216,-1.418,2,1,0
$FREEZE,3.45,-1.216,-1.418,2,1,0
$FREEZE,3.23,-1.228,-1.417,2,1,0
$FREEZE,2.83,-1.228,-1.417,2,1,0
$GC,11654,1.14,789.0,3222,1346,449,551,2.8,5.9,822,11661,0.12,2.45,0.00,0.000,3078,0.135,0.084,3274,2732,498,448,549,0,0,0,0,0,0,14.25,14.23,28.83
$FREEZE,2.67,-1.232,-1.417,2,1,0
$FREEZE,2.54,-1.238,-1.418,2,1,0
$FREEZE,2.43,-1.236,-1.418,2,1,0
$FREEZE,2.49,-1.237,-1.418,2,1,0
$FREEZE,2.51,-1.238,-1.400,2,1,0
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$STATE,12058,end climb,NO_VERTICAL_VELOCITY
$STATE,12058,begin subsurface finish
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$FINISH2,2.5
$STATE,12070,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12070,begin surface
$RAFOS_CLK,584
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$IRIDIUM_FIX,7257.42,-14515.41,270814,092539
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.39
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,13.10
$XPDR_PINGS,3
$SC_FREEKB,3837408
$24V_AH,12.70,68.376
$10V_AH,12.83,0.000
$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,15.325,50.575,554.900,0.000,0.000,0.000,0.000,414.800,0.750,0.000,26.546,0.000,9688.626,610.224,2176.811,207.039,0.000,1731.436,0.000,1304.229,0.000,0.539,0.000
$DEVICE_MAMPS,399.330,120.105,2002.770,0.000,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.796,0.000,0.000,0.000
$MEM,233144
$DATA_FILE_SIZE,30000,874
$CAP_FILE_SIZE,139798,0
$CFSIZE,2097872896,2047967232
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12770.44,0x2378b6,7,5
$INTR,1,5000.36,0x2378b6,2,5
$SOUNDSPEED,1447.4
$GPS,270814,163516,7337.101,-14509.733,5,0.8,25,22.8