version: 66.12
glider: 196
mission: 7
dive: 320
start: 9 10 114 12 39 24
data:
$ID,196
$MISSION,7
$DIVE,320
$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,-7577.0723
$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,55
$R_STBD_OVSHOOT,22
$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
$GPS1,100914,121724,7440.043,-14211.493,34,0.8,54,24.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-78.8
$GPS2,100914,123905,7440.088,-14211.437,5,0.7,26,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,55.5,50244,-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,6,1,20140910120047.093459,3,147,-2,0181,0150,255,02,02,04,04,-1,-01,-01,1,3,0,0,150,19.9,0.8,-100,2.2,-01,0.2,27,900,0025*38
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5abf9aa178;,*59
$MODEM_MSG,CACST,6,0,20140910120440.264607,3,340,-4,0237,0150,255,03,03,05,05,1,005,000,0,5,1,0,150,8.8,5.4,-100,-2.4,-01,-0.3,32,900,0025*2E
$GC,17,-0.69,-145.9,203,2739,425,553,0.0,0.0,0,90,0.00,0.00,-71.30,0.000,16386,0.000,0.000,202,2739,2237,2247,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.69,-145.9,203,2740,2248,2228,3.3,-2.4,7,143,12.30,2.38,-29.33,0.000,18948,0.399,0.088,2669,1369,3856,3922,3791,0,0,0,0,0,0,13.90,14.19,14.43
$GC,337,-0.69,-145.9,2664,1368,3922,3795,75.2,-21.1,56,344,0.00,2.50,0.00,0.000,1030,0.000,0.094,2655,2761,3858,3922,3794,0,0,0,0,0,0,28.83,14.21,28.83
$GC,642,-0.69,-145.9,2660,2762,3923,3794,140.6,-20.5,87,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-0.69,-145.9,2656,2762,3923,3795,197.4,-18.0,117,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-0.69,-145.9,2662,2762,3923,3795,247.7,-15.9,147,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3862,3929,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1562,-0.69,-145.9,2653,2763,3926,3796,294.0,-13.9,159,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1862,-0.69,-145.9,2656,2762,3923,3795,334.3,-13.4,169,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2163,-0.69,-145.9,2656,2763,3922,3796,373.3,-12.9,179,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.69,-145.9,2656,2763,3922,3796,412.2,-12.9,189,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-0.69,-145.9,2656,2763,3922,3796,450.2,-12.6,199,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,-0.69,-145.9,2656,2762,3923,3795,487.8,-12.5,209,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-0.69,-145.9,2654,2763,3918,3796,524.8,-12.3,219,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3662,-0.69,-145.9,2657,2763,3922,3796,561.6,-12.3,229,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3962,-0.69,-145.9,2656,2763,3923,3795,598.4,-12.4,239,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4262,-0.69,-145.9,2656,2763,3922,3795,634.8,-12.1,249,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4563,-0.69,-145.9,2655,2763,3922,3797,670.6,-11.9,259,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2762,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4862,-0.69,-145.9,2656,2763,3923,3796,706.3,-11.8,269,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5162,-0.69,-145.9,2656,2763,3923,3798,741.6,-11.7,279,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5250,begin apogee
$GC,5255,-0.13,0.0,2655,2762,3923,3796,752.0,-11.5,282,5385,0.73,0.00,127.32,1.994,10244,0.218,0.000,2848,2763,3257,3278,3237,0,0,0,0,0,0,14.27,28.83,13.07
$STATE,5386,end apogee,CONTROL_FINISHED_OK
$STATE,5386,begin climb
$GC,5388,0.69,145.9,2849,2762,3274,3233,755.7,0.0,286,5526,0.90,1.92,125.78,1.833,10500,0.135,0.101,3108,3787,2660,2663,2658,0,0,0,0,0,0,13.75,13.77,12.63
$GC,5750,0.69,145.9,3109,3788,2664,2646,715.7,15.3,361,5755,0.00,1.77,0.00,0.000,1030,0.000,0.048,3116,2746,2652,2663,2641,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6066,0.69,145.9,3114,2746,2659,2645,674.3,13.1,374,6070,0.00,2.38,0.00,0.000,516,0.000,0.064,3125,1347,2654,2664,2644,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6295,0.69,145.9,3126,1347,2664,2644,646.8,11.9,420,6301,0.00,2.47,0.00,0.000,1030,0.000,0.090,3125,2749,2653,2663,2643,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6606,0.69,145.9,3127,2751,2663,2644,605.7,13.3,432,6610,0.00,2.35,0.00,0.000,516,0.000,0.063,3135,1351,2652,2663,2642,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6722,0.69,148.9,3135,1351,2664,2643,591.6,11.5,455,6728,0.00,2.45,0.00,0.000,1030,0.000,0.090,3134,2741,2653,2663,2643,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7026,0.69,148.9,3136,2743,2663,2643,550.1,13.8,466,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7326,0.69,148.9,3136,2743,2664,2644,509.0,13.7,476,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7626,0.69,148.9,3135,2742,2664,2643,467.6,13.8,486,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7926,0.69,148.9,3136,2742,2664,2643,426.4,13.7,496,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8226,0.69,148.9,3136,2742,2664,2643,386.4,13.1,506,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,0.69,148.9,3136,2742,2664,2643,348.0,12.6,516,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8826,0.69,148.9,3135,2742,2665,2643,310.7,12.3,526,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9126,0.70,156.5,3136,2742,2665,2643,276.0,11.2,536,9141,0.00,2.33,9.38,1.363,8708,0.000,0.064,3145,1350,2615,2625,2606,0,0,0,0,0,0,28.83,14.57,13.88
$GC,9180,0.71,175.9,3146,1351,2625,2607,269.9,10.6,547,9205,0.00,2.42,17.00,1.322,9222,0.000,0.090,3145,2737,2535,2543,2528,0,0,0,0,0,0,28.83,14.45,13.83
$GC,9506,0.72,192.3,3146,2738,2545,2523,231.9,10.8,573,9526,0.00,0.00,14.73,1.299,8198,0.000,0.000,3145,2738,2467,2475,2460,0,0,0,0,0,0,28.83,28.83,13.78
$GC,9827,0.76,249.7,3146,2736,2477,2457,200.5,8.6,605,9877,0.00,0.00,48.25,1.297,8198,0.000,0.000,3145,2738,2237,2241,2234,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10177,0.77,256.9,3146,2738,2239,2223,163.8,11.2,640,10187,0.00,0.00,3.80,1.244,8198,0.000,0.000,3145,2736,2214,2225,2203,0,0,0,0,0,0,28.83,28.83,13.45
$GC,10486,0.80,299.9,3146,2738,2234,2204,132.1,9.3,671,10531,0.00,2.40,40.12,1.214,8708,0.000,0.067,3154,1348,2029,2039,2019,0,0,0,0,0,0,28.83,14.26,13.64
$GC,10563,0.81,324.1,3155,1349,2035,2020,124.3,10.3,686,10588,0.00,2.47,20.62,1.284,9222,0.000,0.091,3150,2735,1933,1936,1930,0,0,0,0,0,0,28.83,14.23,13.57
$GC,10886,0.84,353.6,3155,2736,1934,1917,89.4,10.1,721,10900,0.00,0.00,12.35,0.456,8710,0.000,0.000,3154,2735,1815,1819,1812,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11198,0.87,403.2,3156,2736,1831,1811,60.3,9.0,753,11228,0.00,2.42,22.67,0.367,8708,0.000,0.067,3163,1358,1614,1627,1602,0,0,0,0,0,0,28.83,14.21,13.96
$GC,11312,0.93,492.0,3164,1359,1628,1604,51.4,6.9,776,11359,0.00,2.45,40.78,0.342,9222,0.000,0.093,3163,2726,1250,1269,1231,0,0,0,0,0,0,28.83,14.19,13.95
$GC,11658,1.02,616.0,3164,2727,1271,1219,32.5,5.0,815,11720,0.15,2.45,55.90,0.282,10756,0.122,0.067,3234,1351,744,734,755,0,0,0,0,0,0,14.26,14.16,13.99
$GC,11790,1.08,697.8,3235,1352,736,756,21.7,7.3,841,11825,0.00,2.47,28.38,0.267,9222,0.000,0.090,3234,2728,497,446,549,0,0,0,0,0,0,28.83,14.11,13.97
$FREEZE,8.77,-1.245,-1.421,2,1,0
$FREEZE,8.05,-1.250,-1.421,2,1,0
$FREEZE,7.32,-1.251,-1.420,2,1,0
$FREEZE,6.78,-1.253,-1.420,2,1,0
$FREEZE,6.07,-1.255,-1.419,2,1,0
$FREEZE,5.51,-1.256,-1.419,2,1,0
$FREEZE,4.77,-1.254,-1.418,2,1,0
$FREEZE,4.15,-1.252,-1.418,2,1,0
$FREEZE,3.50,-1.256,-1.417,2,1,0
$FREEZE,2.89,-1.259,-1.417,2,1,0
$FREEZE,2.18,-1.256,-1.416,2,1,0
$FREEZE,1.54,-1.257,-1.416,2,1,0
$STATE,12101,end climb,SURFACE_DEPTH_REACHED
$STATE,12101,begin surface coast
$FREEZE,0.98,-1.262,-1.415,2,1,0
$FREEZE,0.93,-1.314,-0.059,2,1,0
$FINISH,0.9,1.000598
$STATE,12122,end surface coast,FINISH_DEPTH_REACHED
$STATE,12122,begin surface
$SM_CCo,12200,0.00,0.000,0,0,493,678.01
$SM_GC,2.05,9.45,0.05,0.00,0.086,0.247,0.000,203,2763,493,-8.37,-0.71,678.01,0,0,0,0,0,0,14.25,14.26,28.83
$RAFOS_CLK,16
$MODEM,5,1410350680,74.34100,-140.75200,40.265,58339.1
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14254.75,100914,122137
$TT8_MAMPS,0.080892,0.080892
$HUMID,45.47
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,15
$SC_FREEKB,3795264
$24V_AH,12.63,99.283
$10V_AH,12.71,0.000
$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,23.525,37.700,567.075,0.000,0.000,0.000,0.000,969.475,3.750,0.000,27.907,0.000,9861.399,606.598,2658.258,369.234,0.000,2287.225,0.000,1312.319,1498.000,0.539,0.000
$DEVICE_MAMPS,398.565,247.095,1993.590,0.000,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.781,0.000,0.000,0.000
$MEM,178620
$DATA_FILE_SIZE,30011,878
$CAP_FILE_SIZE,142241,0
$CFSIZE,2097872896,2030338048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13769.12,0x2378b6,7,5
$INTR,1,5252.55,0x2378b6,2,5
$SOUNDSPEED,1449.4
$GPS,100914,160354,7440.263,-14205.775,22,0.7,42,24.1