version: 66.12
glider: 196
mission: 7
dive: 318
start: 9 10 114 5 13 8
data:
$ID,196
$MISSION,7
$DIVE,318
$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,1
$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,-7575.812
$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,60
$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
$GPS1,100914,013409,7439.456,-14229.791,5,0.8,25,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,0.4
$GPS2,100914,013409,7439.456,-14229.791,5,0.8,25,24.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,56.0,59251,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,3287,2772,448,544,0.0,0.0,0,101,0.00,0.00,-81.80,0.000,16386,0.000,0.000,3286,2772,2624,2683,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.69,-145.9,3287,2773,2684,2568,3.5,-3.9,8,141,1.92,0.00,-32.50,0.000,20742,0.125,0.000,2675,2772,3855,3923,3787,0,0,0,0,0,0,14.30,28.83,14.59
$GC,440,-0.69,-145.9,2676,2773,3923,3794,94.8,-22.2,44,445,0.00,2.35,0.00,0.000,516,0.000,0.063,2675,1378,3858,3923,3793,0,0,0,0,0,0,28.83,14.32,28.83
$GC,484,-0.69,-145.9,2675,1378,3924,3793,103.7,-18.7,53,491,0.00,2.45,0.00,0.000,1030,0.000,0.095,2665,2753,3858,3923,3793,0,0,0,0,0,0,28.83,14.28,28.83
$GC,790,-0.69,-145.9,2666,2755,3924,3794,163.3,-18.6,84,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1090,-0.69,-145.9,2665,2754,3924,3793,215.1,-15.7,114,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3857,3923,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1390,-0.69,-145.9,2665,2759,3924,3793,259.8,-14.5,140,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.69,-145.9,2666,2755,3924,3794,300.3,-13.0,150,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.69,-145.9,2665,2754,3919,3793,337.5,-12.2,160,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.69,-145.9,2665,2753,3924,3793,374.8,-12.5,170,2295,0.00,1.88,0.00,0.000,260,0.000,0.104,2663,3790,3858,3923,3793,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2324,-0.69,-145.9,2663,3790,3924,3793,379.4,-13.4,177,2330,0.00,1.67,0.00,0.000,1030,0.000,0.054,2663,2770,3858,3923,3793,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2651,-0.69,-145.9,2661,2770,3931,3793,418.9,-12.0,192,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2770,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-0.69,-145.9,2664,2771,3924,3794,454.4,-11.9,202,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2768,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,-0.69,-145.9,2664,2771,3923,3793,489.8,-11.7,212,3255,0.00,2.33,0.00,0.000,516,0.000,0.064,2663,1372,3858,3923,3793,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3300,-0.69,-145.9,2664,1371,3924,3793,495.5,-11.0,222,3305,0.00,2.45,0.00,0.000,1030,0.000,0.097,2663,2761,3857,3923,3792,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3610,-0.69,-145.9,2663,2762,3924,3793,531.4,-11.7,234,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3857,3922,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-0.69,-145.9,2663,2762,3923,3793,566.4,-11.6,244,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3861,3930,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-0.69,-145.9,2663,2762,3924,3792,600.6,-11.4,254,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.69,-145.9,2664,2763,3923,3794,634.2,-11.1,264,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3855,3922,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.69,-145.9,2663,2763,3923,3794,667.7,-11.1,274,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2762,3857,3922,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5110,-0.69,-145.9,2663,2763,3924,3792,700.9,-11.1,284,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-0.69,-145.9,2663,2763,3924,3795,734.3,-11.2,294,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2762,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5558,begin apogee
$GC,5562,-0.13,0.0,2663,2762,3924,3794,750.9,-11.1,299,5691,0.68,0.00,126.50,1.989,10246,0.216,0.000,2843,2761,3257,3278,3237,0,0,0,0,0,0,14.21,28.83,13.06
$STATE,5692,end apogee,CONTROL_FINISHED_OK
$STATE,5692,begin climb
$GC,5694,0.69,145.9,2844,2763,3273,3234,754.6,0.0,303,5823,0.90,0.00,126.00,1.838,10758,0.119,0.000,3111,2762,2662,2668,2657,0,0,0,0,0,0,13.77,28.83,12.62
$GC,6100,0.69,145.9,3111,2762,2665,2645,715.5,12.8,327,6105,0.00,2.47,0.00,0.000,516,0.000,0.063,3122,1345,2654,2664,2644,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6140,0.69,146.2,3122,1346,2664,2645,710.6,11.6,335,6145,0.00,2.53,0.00,0.000,1030,0.000,0.088,3121,2741,2654,2664,2644,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6461,0.69,146.2,3123,2743,2664,2645,668.4,13.3,349,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2651,2659,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,0.69,146.2,3122,2742,2665,2644,628.4,13.3,359,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,0.69,146.2,3123,2742,2673,2642,588.5,13.3,369,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,0.69,146.2,3122,2742,2665,2643,548.8,13.2,379,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2650,2658,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7660,0.69,146.2,3123,2742,2664,2644,509.2,13.2,389,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,0.69,146.2,3123,2743,2664,2642,470.2,13.0,399,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,0.69,146.2,3122,2742,2665,2639,432.0,12.6,409,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,0.69,146.2,3123,2743,2664,2644,394.6,12.4,419,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,0.69,146.2,3122,2742,2665,2643,358.2,12.1,429,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,0.69,146.2,3123,2743,2665,2644,322.5,11.9,439,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,0.70,160.2,3123,2743,2665,2644,288.6,10.9,449,9474,0.00,0.00,12.85,1.366,8198,0.000,0.000,3122,2742,2603,2611,2596,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9760,0.71,179.3,3123,2741,2607,2589,256.3,10.6,459,9780,0.00,2.42,16.50,1.325,8708,0.000,0.063,3129,1343,2520,2527,2513,0,0,0,0,0,0,28.83,14.47,13.82
$GC,9820,0.73,210.1,3130,1342,2526,2514,250.4,10.0,471,9852,0.00,2.47,26.10,1.315,9222,0.000,0.090,3130,2747,2397,2400,2395,0,0,0,0,0,0,28.83,14.39,13.69
$GC,10153,0.75,235.9,3130,2747,2399,2388,214.7,10.3,507,10176,0.00,0.00,22.50,1.310,8710,0.000,0.000,3129,2748,2295,2298,2292,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10474,0.79,284.2,3130,2747,2295,2281,183.3,9.1,540,10524,0.00,2.47,40.55,1.320,8708,0.000,0.063,3137,1353,2093,2095,2092,0,0,0,0,0,0,28.83,14.14,13.53
$GC,10563,0.81,319.3,3138,1353,2095,2090,174.4,9.8,558,10599,0.00,2.50,30.25,1.364,9222,0.000,0.091,3137,2740,1954,1952,1956,0,0,0,0,0,0,28.83,14.12,13.45
$GC,10904,0.81,323.2,3138,2741,1950,1946,136.0,11.4,596,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2740,1946,1949,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11204,0.84,356.3,3138,2741,1950,1943,104.6,9.9,626,11239,0.00,2.45,29.02,1.162,8708,0.000,0.066,3145,1355,1799,1800,1799,0,0,0,0,0,0,28.83,14.14,13.61
$GC,11276,0.87,402.1,3145,1354,1797,1796,97.9,9.2,640,11301,0.00,2.50,20.67,0.495,9222,0.000,0.090,3145,2744,1617,1623,1612,0,0,0,0,0,0,28.83,14.12,13.80
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b57ca7dd6;,*52
$MODEM_MSG,CACST,6,0,20140910080045.468437,3,294,06,0354,0150,255,02,02,03,03,1,004,000,0,5,1,0,150,23.9,12.8,-100,-9.8,-01,0.2,30,900,0025*1E
$GC,11606,0.91,464.9,3146,2744,1631,1602,65.4,8.3,676,11641,0.12,2.45,28.77,0.386,10756,0.122,0.064,3208,1349,1361,1375,1347,0,0,0,0,0,0,14.23,14.18,13.91
$GC,11673,0.91,464.9,3208,1353,1378,1346,58.2,11.7,689,11678,0.00,2.47,0.00,0.000,1030,0.000,0.090,3208,2736,1361,1377,1346,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11977,0.99,572.1,3209,2737,1379,1336,33.9,5.9,720,12028,0.00,0.00,49.35,0.303,8198,0.000,0.000,3208,2736,923,927,920,0,0,0,0,0,0,28.83,28.83,14.00
$GC,12328,1.08,707.7,3209,2737,927,912,13.4,4.4,755,12382,0.12,2.40,48.00,0.233,10756,0.135,0.067,3272,1354,497,443,551,0,0,0,0,0,0,14.26,14.20,14.04
$FREEZE,8.62,-1.248,-1.421,2,2,0
$FREEZE,8.15,-1.252,-1.421,2,2,0
$FREEZE,7.86,-1.252,-1.421,2,2,0
$FREEZE,7.39,-1.253,-1.420,2,2,0
$FREEZE,6.91,-1.253,-1.420,2,2,0
$FREEZE,6.61,-1.251,-1.420,2,2,0
$FREEZE,6.10,-1.251,-1.419,2,2,0
$FREEZE,5.60,-1.255,-1.419,2,2,0
$FREEZE,5.19,-1.255,-1.419,2,2,0
$FREEZE,4.85,-1.268,-1.418,2,2,0
$FREEZE,4.32,-1.268,-1.418,2,2,0
$FREEZE,4.05,-1.263,-1.417,2,2,0
$FREEZE,3.51,-1.263,-1.417,2,2,0
$FREEZE,3.19,-1.275,-1.417,2,2,0
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$STATE,12835,end climb,NO_VERTICAL_VELOCITY
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$STATE,12849,end subsurface finish,NO_VERTICAL_VELOCITY
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$10V_AH,12.94,0.000
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$FG_AHR_10Vo,0.000
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$MEM,180704
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