version: 66.12
glider: 196
mission: 7
dive: 308
start: 9 8 114 17 5 38
data:
$ID,196
$MISSION,7
$DIVE,308
$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,-7199.9878
$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,58
$R_STBD_OVSHOOT,27
$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
$GPS1,080914,165318,7443.752,-14215.329,36,0.8,56,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.8
$GPS2,080914,170518,7443.691,-14215.135,5,0.9,26,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7500.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,349.4,31064,-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,17,-0.69,-145.9,205,2770,433,548,0.0,0.0,0,90,0.00,0.00,-71.38,0.000,16386,0.000,0.000,205,2770,2240,2254,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,205,2770,2256,2230,3.4,-3.2,7,141,12.20,2.40,-29.35,0.000,18948,0.398,0.084,2662,1366,3855,3921,3790,0,0,0,0,0,0,13.90,14.21,14.44
$GC,366,-0.69,-145.9,2663,1365,3923,3794,82.7,-22.1,62,373,0.00,2.53,0.00,0.000,1030,0.000,0.089,2653,2756,3857,3921,3794,0,0,0,0,0,0,28.83,14.22,28.83
$GC,671,-0.69,-145.9,2654,2757,3921,3795,148.3,-19.7,93,676,0.00,2.33,0.00,0.000,516,0.000,0.060,2653,1375,3857,3921,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,901,-0.69,-145.9,2654,1375,3922,3795,188.8,-16.8,139,906,0.00,2.47,0.00,0.000,1030,0.000,0.092,2643,2768,3857,3921,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1211,-0.69,-145.9,2643,2768,3923,3794,243.4,-16.1,171,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1532,-0.69,-145.9,2643,2769,3922,3795,293.6,-15.2,185,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1831,-0.69,-145.9,2644,2769,3922,3795,337.7,-14.4,195,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,-0.69,-145.9,2643,2768,3922,3794,379.0,-13.5,205,2132,0.10,0.00,0.00,0.000,2054,0.304,0.000,2665,2768,3857,3921,3794,0,0,0,0,0,0,14.31,28.83,28.83
$GC,2431,-0.69,-145.9,2666,2769,3921,3795,415.2,-12.1,215,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2731,-0.69,-145.9,2665,2769,3920,3794,451.4,-12.0,225,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3031,-0.69,-145.9,2667,2769,3921,3795,487.4,-12.0,235,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3331,-0.69,-145.9,2666,2767,3922,3794,523.0,-11.8,245,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3631,-0.69,-145.9,2666,2768,3922,3794,557.8,-11.5,255,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,-0.69,-145.9,2666,2769,3922,3795,592.3,-11.4,265,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4231,-0.69,-145.9,2666,2769,3922,3796,626.4,-11.4,275,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4531,-0.69,-145.9,2666,2768,3922,3795,660.3,-11.3,285,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4831,-0.69,-145.9,2666,2768,3922,3795,694.0,-11.2,295,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2768,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,-0.69,-145.9,2666,2769,3922,3796,727.7,-11.2,305,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2768,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5339,begin apogee
$GC,5344,-0.13,0.0,2666,2769,3922,3796,751.1,-11.1,312,5473,0.65,0.00,126.57,1.997,10246,0.212,0.000,2843,2769,3257,3279,3236,0,0,0,0,0,0,14.31,28.83,13.07
$STATE,5474,end apogee,CONTROL_FINISHED_OK
$STATE,5474,begin climb
$GC,5476,0.69,145.9,2844,2770,3274,3232,755.1,0.0,316,5605,0.88,0.00,125.80,1.826,10758,0.120,0.000,3108,2769,2661,2668,2654,0,0,0,0,0,0,13.76,28.83,12.64
$GC,5881,0.69,145.9,3109,2769,2666,2644,716.0,12.7,335,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2769,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6181,0.69,145.9,3109,2766,2666,2643,678.4,12.5,345,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2769,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6481,0.69,145.9,3109,2769,2666,2643,640.6,12.6,355,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2770,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,0.69,145.9,3110,2770,2665,2643,603.1,12.5,365,6786,0.00,2.38,0.00,0.000,516,0.000,0.064,3119,1356,2653,2664,2642,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6811,0.69,145.9,3120,1355,2666,2642,599.5,11.7,371,6817,0.00,2.45,0.00,0.000,1030,0.000,0.089,3119,2750,2653,2664,2642,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7143,0.69,145.9,3121,2751,2665,2643,557.2,12.8,387,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2750,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7441,0.69,145.9,3121,2751,2665,2643,517.8,13.2,397,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2750,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7741,0.69,145.9,3121,2751,2665,2643,478.9,12.9,407,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2750,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,0.69,145.9,3120,2747,2666,2642,440.5,12.8,417,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2750,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8341,0.69,145.9,3120,2750,2666,2642,402.8,12.4,427,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2750,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8641,0.69,145.9,3121,2751,2666,2643,366.3,12.0,437,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2750,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8941,0.69,148.5,3120,2750,2666,2642,331.1,11.5,447,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2750,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9242,0.70,162.6,3120,2750,2666,2642,297.5,10.9,457,9262,0.00,2.35,14.60,1.364,8708,0.000,0.064,3128,1353,2588,2597,2580,0,0,0,0,0,0,28.83,14.55,13.88
$GC,9311,0.73,202.4,3128,1352,2596,2580,290.4,9.5,471,9352,0.00,2.42,32.92,1.349,9222,0.000,0.090,3128,2736,2432,2433,2431,0,0,0,0,0,0,28.83,14.44,13.71
$GC,9662,0.73,203.0,3129,2736,2433,2420,248.3,11.6,491,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2735,2425,2431,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9962,0.75,234.2,3129,2736,2433,2420,216.8,10.0,521,9993,0.00,0.00,27.30,1.310,8198,0.000,0.000,3128,2735,2297,2302,2293,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10293,0.77,261.5,3129,2736,2303,2288,181.9,10.2,554,10323,0.00,0.00,23.35,1.303,8710,0.000,0.000,3128,2736,2186,2191,2182,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10626,0.80,299.0,3128,2736,2193,2175,147.0,9.6,589,10667,0.00,2.45,32.33,1.282,8708,0.000,0.064,3137,1356,2031,2036,2027,0,0,0,0,0,0,28.83,14.15,13.58
$GC,10708,0.83,344.0,3139,1353,2035,2025,139.4,9.2,605,10752,0.00,2.45,38.72,1.327,9222,0.000,0.091,3138,2725,1855,1859,1852,0,0,0,0,0,0,28.83,14.11,13.47
$GC,11057,0.85,371.4,3138,2725,1851,1834,101.9,10.2,645,11079,0.00,0.00,20.55,1.154,8710,0.000,0.000,3137,2725,1743,1750,1736,0,0,0,0,0,0,28.83,28.83,13.61
$GC,11378,0.89,424.7,3138,2726,1745,1722,71.2,8.8,678,11409,0.12,2.40,23.33,0.401,10756,0.122,0.067,3202,1353,1525,1536,1515,0,0,0,0,0,0,14.21,14.16,13.89
$GC,11469,0.90,443.8,3203,1353,1540,1516,61.0,10.6,695,11484,0.00,2.47,9.18,0.368,9222,0.000,0.090,3202,2727,1446,1462,1431,0,0,0,0,0,0,28.83,14.09,13.84
$GC,11791,1.00,594.6,3203,2728,1469,1425,35.6,3.6,729,11861,0.00,0.00,68.62,0.294,8454,0.000,0.000,3202,2727,833,831,835,0,0,0,0,0,0,28.83,28.83,13.93
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b8cea7998;,*07
$MODEM_MSG,CACST,6,0,20140908200057.041582,3,187,04,0359,0150,179,01,01,03,04,1,004,000,0,5,1,0,150,11.4,11.2,-100,-8.2,-01,-0.1,19,900,0025*35
$GC,12159,1.10,730.3,3203,2728,829,827,16.4,4.4,770,12201,0.15,1.95,37.65,0.249,10500,0.123,0.096,3263,3785,498,447,549,0,0,0,0,0,0,14.26,14.18,14.02
$GC,12223,1.14,785.0,3264,3786,449,550,11.9,8.7,782,12227,0.00,1.73,0.00,0.000,1030,0.000,0.048,3266,2725,499,449,549,0,0,0,0,0,0,28.83,14.26,28.83
$FREEZE,8.25,-1.210,-1.422,2,1,0
$FREEZE,7.32,-1.213,-1.421,2,1,0
$FREEZE,6.40,-1.210,-1.420,2,1,0
$FREEZE,5.34,-1.208,-1.419,2,1,0
$FREEZE,4.60,-1.208,-1.419,2,1,0
$FREEZE,3.85,-1.206,-1.418,2,1,0
$FREEZE,3.04,-1.203,-1.418,2,1,0
$FREEZE,2.32,-1.201,-1.417,2,1,0
$FREEZE,1.35,-1.206,-1.416,2,1,0
$STATE,12340,end climb,SURFACE_DEPTH_REACHED
$STATE,12340,begin surface coast
$FREEZE,0.99,-1.187,-1.416,2,1,0
$FREEZE,0.90,-1.172,-0.978,2,1,0
$FINISH,0.9,1.014431
$STATE,12360,end surface coast,FINISH_DEPTH_REACHED
$STATE,12361,begin surface
$SM_CCo,12438,0.00,0.000,0,0,495,677.76
$SM_GC,1.94,9.32,0.08,0.00,0.074,0.183,0.000,206,2779,495,-8.35,-0.54,677.76,0,0,0,0,0,0,14.31,14.31,28.83
$RAFOS_CLK,101
$MODEM,4,1410206457,74.99800,-144.83521,57.042,82616.9
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14230.35,080914,094321
$TT8_MAMPS,0.044191,0.044191
$HUMID,43.93
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3800640
$24V_AH,12.64,95.211
$10V_AH,12.74,0.000
$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,23.425,32.850,580.925,0.000,0.000,0.000,0.000,485.250,1.000,0.000,27.642,0.000,10140.697,641.143,2117.290,252.410,0.000,1767.075,0.000,1193.089,1493.000,0.540,0.000
$DEVICE_MAMPS,397.800,182.835,1997.415,0.000,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.994,0.000,0.000,0.000
$MEM,187068
$DATA_FILE_SIZE,26747,797
$CAP_FILE_SIZE,131872,0
$CFSIZE,2097872896,2032664576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13268.99,0x2378b6,7,5
$INTR,1,5341.42,0x2378b6,2,5
$SOUNDSPEED,1447.9
$GPS,080914,203423,7445.008,-14213.855,38,0.8,58,24.1