version: 66.12
glider: 196
mission: 7
dive: 284
start: 9 5 114 3 51 33
data:
$ID,196
$MISSION,7
$DIVE,284
$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,-5905.3027
$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,26
$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
$GPS1,050914,001647,7410.935,-14331.258,5,0.8,25,23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-0.3
$GPS2,050914,001647,7410.935,-14331.258,5,0.8,25,23.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.6,53814,-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,-145.9,2975,2743,684,684,0.0,0.0,0,60,0.00,0.00,-41.92,0.000,16386,0.000,0.000,2974,2742,1876,1930,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.69,-145.9,2975,2742,1932,1822,3.1,-0.6,4,124,0.90,2.35,-54.75,0.000,20996,0.063,0.092,2656,1369,3855,3922,3789,0,0,0,0,0,0,14.28,14.32,14.55
$GC,184,-0.69,-145.9,2653,1370,3922,3793,34.6,-32.4,29,190,0.00,2.47,0.00,0.000,1030,0.000,0.095,2645,2755,3857,3921,3793,0,0,0,0,0,0,28.83,14.29,28.83
$GC,493,-0.69,-145.9,2646,2756,3922,3794,116.2,-22.5,60,497,0.00,1.83,0.00,0.000,260,0.000,0.099,2636,3788,3857,3921,3793,0,0,0,0,0,0,28.83,14.26,28.83
$GC,517,-0.69,-145.9,2638,3789,3922,3794,122.4,-25.2,65,523,0.10,1.73,0.00,0.000,3078,0.252,0.054,2661,2760,3857,3921,3793,0,0,0,0,0,0,14.09,14.35,28.83
$GC,822,-0.69,-145.9,2664,2760,3923,3793,180.7,-18.2,96,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1122,-0.69,-145.9,2663,2761,3922,3794,231.6,-15.6,126,1127,0.00,2.38,0.00,0.000,516,0.000,0.070,2661,1368,3857,3921,3793,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1182,-0.69,-145.9,2663,1367,3922,3794,240.3,-13.4,138,1187,0.00,2.50,0.00,0.000,1030,0.000,0.097,2653,2760,3857,3921,3793,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1492,-0.69,-145.9,2654,2760,3923,3793,285.4,-14.2,154,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2763,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1792,-0.69,-145.9,2654,2762,3922,3794,326.7,-13.5,164,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2760,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140905040130.205767,3,7506,02,0435,0150,217,04,04,06,04,1,000,000,2,5,1,0,150,8.1,3.8,-100,-0.8,-01,-0.1,24,900,0025*08
$GC,2093,-0.69,-145.9,2654,2761,3922,3794,366.4,-13.1,174,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2392,-0.69,-145.9,2654,2761,3923,3793,405.1,-12.9,184,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,-0.69,-145.9,2653,2761,3922,3793,443.6,-12.8,194,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2992,-0.69,-145.9,2654,2761,3922,3793,481.4,-12.6,204,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3292,-0.69,-145.9,2654,2761,3923,3793,519.2,-12.6,214,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,-0.69,-145.9,2654,2761,3922,3794,556.4,-12.3,224,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3892,-0.69,-145.9,2653,2761,3923,3793,593.3,-12.2,234,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4192,-0.69,-145.9,2654,2761,3923,3793,629.6,-12.0,244,4197,0.00,2.35,0.00,0.000,516,0.000,0.067,2653,1359,3857,3921,3793,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4232,-0.69,-145.9,2653,1359,3922,3794,634.4,-11.4,252,4237,0.00,2.47,0.00,0.000,1030,0.000,0.098,2649,2760,3857,3921,3793,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4553,-0.69,-145.9,2650,2761,3923,3794,673.4,-12.2,266,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4852,-0.69,-145.9,2650,2761,3923,3793,709.8,-12.1,276,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5152,-0.69,-145.9,2650,2762,3922,3795,745.9,-12.0,286,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5210,begin apogee
$GC,5214,-0.13,0.0,2650,2761,3923,3794,753.1,-12.0,288,5384,0.73,0.00,166.88,1.747,10244,0.226,0.000,2843,2761,3258,3280,3236,0,0,0,0,0,0,14.33,28.83,13.11
$STATE,5385,end apogee,CONTROL_FINISHED_OK
$STATE,5385,begin climb
$GC,5387,0.69,145.9,2844,2762,3274,3233,758.3,0.0,293,5522,0.88,2.53,126.57,1.838,10756,0.115,0.064,3110,1344,2661,2665,2657,0,0,0,0,0,0,13.71,13.76,12.60
$GC,5527,0.73,209.0,3111,1345,2657,2648,753.9,8.3,324,5588,0.00,2.67,55.95,1.792,9222,0.000,0.090,3110,2739,2405,2414,2397,0,0,0,0,0,0,28.83,13.31,12.57
$GC,5912,0.73,209.0,3108,2739,2404,2377,697.7,15.1,351,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2739,2390,2403,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6212,0.73,209.0,3111,2740,2404,2378,652.3,15.2,361,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2739,2390,2404,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6513,0.73,209.0,3111,2740,2404,2378,607.3,15.0,371,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2739,2390,2403,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6812,0.73,209.0,3110,2739,2405,2376,562.9,14.7,381,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2739,2390,2403,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7112,0.73,209.0,3110,2739,2405,2377,519.0,14.6,391,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2739,2390,2403,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,0.73,209.0,3111,2739,2405,2375,475.5,14.6,401,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2739,2390,2403,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7713,0.73,209.0,3110,2739,2405,2376,432.3,14.3,411,7717,0.00,1.83,0.00,0.000,260,0.000,0.101,3110,3786,2390,2403,2377,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7732,0.73,209.0,3111,3787,2404,2378,429.1,15.6,415,7737,0.00,1.73,0.00,0.000,1030,0.000,0.054,3118,2739,2389,2403,2376,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8042,0.73,209.0,3115,2739,2399,2378,383.4,14.6,427,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2738,2389,2403,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8342,0.73,209.0,3118,2738,2405,2377,340.4,14.1,437,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2738,2389,2401,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,0.73,209.0,3118,2738,2404,2377,299.1,13.7,447,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2738,2390,2403,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8943,0.73,209.0,3124,2738,2405,2377,260.6,12.3,457,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2739,2390,2404,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9242,0.75,228.8,3124,2738,2405,2376,225.7,10.6,481,9264,0.00,1.90,16.85,1.258,8452,0.000,0.100,3118,3786,2316,2322,2310,0,0,0,0,0,0,28.83,14.45,13.91
$GC,9289,0.75,228.8,3118,3786,2319,2310,220.7,12.0,489,9295,0.00,1.73,0.00,0.000,1030,0.000,0.054,3125,2740,2313,2318,2309,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9594,0.77,260.6,3126,2741,2319,2307,190.0,9.9,520,9625,0.00,0.00,26.98,1.252,8710,0.000,0.000,3125,2740,2187,2190,2185,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9925,0.79,295.3,3126,2741,2188,2177,156.9,9.8,555,9960,0.00,2.40,29.08,1.282,8708,0.000,0.070,3128,1347,2045,2047,2044,0,0,0,0,0,0,28.83,14.30,13.69
$GC,10001,0.82,335.0,3129,1348,2046,2039,149.7,9.5,570,10041,0.00,2.47,34.00,1.337,9222,0.000,0.093,3128,2737,1888,1884,1893,0,0,0,0,0,0,28.83,14.27,13.55
$GC,10345,0.85,369.6,3129,2737,1882,1879,114.3,9.8,609,10378,0.12,2.47,27.67,1.209,10756,0.132,0.070,3190,1349,1744,1744,1744,0,0,0,0,0,0,14.33,14.20,13.64
$GC,10397,0.85,369.6,3191,1349,1740,1737,107.9,12.4,616,10403,0.00,2.50,0.00,0.000,1030,0.000,0.093,3191,2738,1739,1740,1738,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10708,0.85,369.6,3191,2740,1742,1733,66.5,12.0,648,10712,0.00,2.40,0.00,0.000,516,0.000,0.069,3200,1345,1736,1741,1731,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10747,0.86,393.7,3201,1345,1742,1730,62.3,10.3,656,10763,0.00,2.47,9.62,0.366,9222,0.000,0.093,3200,2731,1652,1656,1648,0,0,0,0,0,0,28.83,14.24,13.98
$GC,11069,0.96,527.1,3201,2731,1668,1647,40.0,4.5,690,11134,0.00,1.98,60.28,0.304,8452,0.000,0.101,3201,3793,1107,1118,1096,0,0,0,0,0,0,28.83,14.19,14.03
$GC,11189,1.00,584.3,3201,3793,1119,1096,31.0,8.6,714,11221,0.00,1.80,26.40,0.296,9222,0.000,0.054,3207,2732,873,872,874,0,0,0,0,0,0,28.83,14.25,14.00
$FREEZE,8.86,-1.351,-1.444,2,2,0
$FREEZE,8.42,-1.350,-1.443,2,2,0
$FREEZE,7.81,-1.350,-1.443,2,2,0
$GC,11519,1.09,711.8,3208,2732,875,868,10.6,4.8,750,11565,0.12,0.00,42.20,0.225,10502,0.137,0.000,3260,2730,497,449,546,0,0,0,0,0,0,14.28,28.83,14.04
$FREEZE,6.73,-1.362,-1.441,2,2,0
$FREEZE,5.80,-1.363,-1.441,2,2,0
$FREEZE,4.89,-1.369,-1.440,2,2,0
$FREEZE,3.81,-1.371,-1.439,2,2,0
$FREEZE,2.72,-1.371,-1.438,2,2,0
$FREEZE,1.94,-1.374,-1.438,2,2,0
$STATE,11618,end climb,SURFACE_DEPTH_REACHED
$STATE,11618,begin surface coast
$FREEZE,1.03,-1.378,-1.437,2,2,0
$FREEZE,1.07,-1.379,-1.437,2,2,0
$FINISH,1.1,1.021190
$STATE,11638,end surface coast,CONTROL_FINISHED_OK
$STATE,11638,begin surface
$SM_CCo,11715,0.00,0.000,0,0,496,677.52
$SM_GC,1.91,9.50,0.05,0.00,0.089,0.234,0.000,205,2768,496,-8.36,-0.71,677.52,0,0,0,0,0,0,14.31,14.32,28.83
$RAFOS_CLK,561
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7327.28,-14340.95,040914,203754
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.07
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3811392
$24V_AH,12.57,87.251
$10V_AH,12.73,0.000
$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,12.350,49.000,622.475,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,0.000,9476.590,647.353,1570.252,138.587,0.000,1295.722,0.000,1150.355,1490.000,0.540,0.000
$DEVICE_MAMPS,252.450,234.090,1837.530,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11693.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.048,0.000,0.000,0.000
$MEM,200312
$DATA_FILE_SIZE,26732,766
$CAP_FILE_SIZE,121571,0
$CFSIZE,2097872896,2037055488
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12865.50,0x2378b6,7,5
$INTR,1,5212.02,0x2378b6,2,5
$SOUNDSPEED,1448.3
$GPS,050914,070812,7413.364,-14324.530,36,0.7,56,23.6