version: 66.12
glider: 196
mission: 7
dive: 46
start: 8 1 114 15 33 24
data:
$ID,196
$MISSION,7
$DIVE,46
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,681.01007
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-4731.9766
$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,46
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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,400
$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
$GPS1,010814,152642,7129.494,-14407.108,147,0.8,167,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.9
$GPS2,010814,153306,7129.515,-14407.083,6,0.9,26,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,330.4,12130,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.69,-145.9,196,2775,470,534,0.0,0.0,0,69,0.00,0.00,-53.55,0.000,16386,0.000,0.000,195,2776,2007,2016,1998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.69,-145.9,197,2776,2017,2000,4.6,-7.4,5,119,11.82,2.47,-31.75,0.000,19204,0.398,0.092,2663,1363,3857,3918,3796,0,0,0,0,0,0,14.11,14.31,14.51
$GC,343,-0.69,-145.9,2664,1364,3919,3804,64.3,-19.1,57,350,0.00,2.53,0.00,0.000,1030,0.000,0.097,2654,2758,3860,3918,3803,0,0,0,0,0,0,28.83,14.38,28.83
$GC,654,-0.69,-145.9,2655,2759,3919,3804,126.3,-18.8,89,661,0.00,2.40,0.00,0.000,516,0.000,0.071,2654,1365,3860,3917,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,725,-0.69,-145.9,2655,1366,3918,3804,138.6,-16.7,103,734,0.00,2.53,0.00,0.000,1030,0.000,0.099,2643,2764,3860,3918,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1038,-0.69,-145.9,2643,2764,3919,3804,192.7,-16.2,135,1046,0.12,1.85,0.00,0.000,2308,0.313,0.107,2661,3784,3860,3918,3803,0,0,0,0,0,0,14.40,14.47,28.83
$GC,1140,-0.69,-145.9,2661,3785,3914,3803,209.0,-14.7,155,1149,0.00,1.70,0.00,0.000,1030,0.000,0.062,2661,2770,3860,3918,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1473,-0.69,-145.9,2662,2771,3918,3803,254.5,-13.2,187,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3860,3917,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1773,-0.69,-145.9,2662,2770,3917,3803,293.3,-12.7,197,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2073,-0.69,-145.9,2661,2770,3916,3803,330.7,-12.4,207,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2373,-0.69,-145.9,2661,2770,3915,3801,367.5,-12.3,217,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2770,3860,3915,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2673,-0.69,-145.9,2661,2770,3915,3802,403.9,-12.0,227,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2771,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2973,-0.69,-145.9,2662,2771,3915,3802,439.6,-11.9,237,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140801160437.622783,3,28,-3,0107,0150,255,02,02,03,04,-1,-01,-01,1,3,0,0,150,15.7,1.0,-100,2.0,-01,-0.3,32,900,0025*25
$GC,3273,-0.69,-145.9,2662,2771,3915,3802,475.0,-11.7,247,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3573,-0.69,-145.9,2662,2771,3915,3802,510.2,-11.7,257,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3874,-0.69,-145.9,2661,2770,3915,3801,544.7,-11.5,267,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,-0.69,-145.9,2662,2771,3916,3801,579.2,-11.4,277,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-0.69,-145.9,2661,2771,3914,3801,613.4,-11.4,287,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.69,-145.9,2661,2770,3915,3798,646.9,-11.1,297,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.69,-145.9,2662,2771,3915,3800,680.4,-11.3,307,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5373,-0.69,-145.9,2661,2770,3915,3798,713.7,-11.1,317,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5673,-0.69,-145.9,2662,2771,3915,3795,746.7,-11.0,327,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2770,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5702,begin apogee
$GC,5705,-0.13,0.0,2662,2770,3915,3798,750.2,-11.1,328,5831,0.70,0.00,123.47,1.940,10244,0.236,0.000,2848,2770,3258,3279,3237,0,0,0,0,0,0,14.59,28.83,13.14
$STATE,5832,end apogee,CONTROL_FINISHED_OK
$STATE,5832,begin climb
$GC,5833,0.69,145.9,2849,2770,3276,3234,753.0,0.0,332,5965,0.88,0.00,124.70,1.912,11270,0.146,0.000,3108,2770,2658,2669,2647,0,0,0,0,0,0,13.78,28.83,12.93
$GC,6279,0.69,145.9,3108,2769,2671,2640,701.7,13.4,366,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2770,2654,2669,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6580,0.69,145.9,3109,2771,2670,2640,661.7,13.2,376,6586,0.00,2.45,0.00,0.000,516,0.000,0.075,3118,1346,2654,2669,2639,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6615,0.69,145.9,3119,1345,2671,2639,657.0,12.9,383,6624,0.00,2.53,0.00,0.000,1030,0.000,0.097,3119,2740,2654,2669,2639,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6943,0.69,145.9,3119,2741,2670,2640,611.4,13.9,398,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2740,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7243,0.69,145.9,3119,2740,2670,2638,570.1,13.8,408,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2740,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7543,0.69,145.9,3119,2740,2671,2640,528.8,13.7,418,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2740,2652,2669,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7843,0.69,145.9,3120,2741,2670,2639,487.7,13.7,428,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2740,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8143,0.69,145.9,3120,2737,2670,2635,447.0,13.5,438,8149,0.00,2.40,0.00,0.000,516,0.000,0.076,3127,1345,2654,2669,2639,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8168,0.69,145.9,3127,1345,2670,2639,443.8,12.0,443,8178,0.00,2.47,0.00,0.000,1030,0.000,0.099,3126,2736,2653,2669,2638,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8473,0.69,145.9,3127,2736,2670,2638,401.3,14.1,454,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2736,2654,2670,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,0.69,145.9,3127,2736,2670,2638,359.8,13.7,464,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2736,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,0.69,145.9,3127,2736,2670,2638,319.3,13.5,474,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2736,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9374,0.69,145.9,3128,2737,2670,2639,279.6,13.2,484,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2736,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,0.69,145.9,3128,2736,2670,2638,240.9,12.5,498,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2736,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9974,0.69,145.9,3127,2736,2670,2638,204.9,11.7,528,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2736,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,0.71,169.7,3127,2737,2670,2638,173.4,10.4,558,10295,0.00,0.00,19.83,1.307,8710,0.000,0.000,3127,2736,2564,2575,2553,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10600,0.75,232.1,3128,2737,2572,2546,143.1,8.3,591,10653,0.00,0.00,51.75,1.271,8710,0.000,0.000,3126,2736,2311,2315,2307,0,0,0,0,0,0,28.83,28.83,13.72
$GC,10949,0.78,270.4,3126,2736,2311,2292,109.4,9.6,627,10983,0.00,0.00,29.52,1.258,8198,0.000,0.000,3127,2736,2149,2155,2144,0,0,0,0,0,0,28.83,28.83,13.71
$GC,11280,0.81,323.3,3127,2735,2155,2136,77.8,8.8,660,11305,0.00,0.00,22.33,0.420,8710,0.000,0.000,3126,2736,1940,1938,1942,0,0,0,0,0,0,28.83,28.83,14.12
$GC,11600,0.86,394.7,3128,2737,1946,1941,49.6,7.8,693,11633,0.15,0.00,31.83,0.333,10758,0.120,0.000,3190,2736,1648,1645,1651,0,0,0,0,0,0,14.42,28.83,14.20
$GC,11937,0.89,433.3,3191,2737,1650,1642,15.9,9.6,729,11959,0.00,2.47,16.88,0.246,8708,0.000,0.078,3194,1343,1489,1491,1488,0,0,0,0,0,0,28.83,14.40,14.31
$GC,12183,1.04,639.1,3195,1343,1493,1481,11.8,0.7,777,12225,0.08,2.53,37.22,0.232,11266,0.107,0.099,3234,2740,1143,1145,1142,0,0,0,0,0,0,14.42,14.42,28.83
$FREEZE,11.55,4.777,-1.393,0,1,0
$STATE,12226,end climb,NO_VERTICAL_VELOCITY
$STATE,12226,begin surface
$SM_CCo,12228,70.10,0.231,0,0,499,676.54
$SM_CCo,12520,-0.32,0.000,0,0,501,676.54
$SM_CCo,12522,0.00,0.000,0,0,501,676.54
$SM_CCo,12524,0.05,1.758,0,0,498,676.54
$SM_GC,1.87,9.10,0.00,0.05,0.073,0.000,1.758,203,2740,498,-8.37,-0.57,676.54,0,0,0,0,0,0,14.43,28.83,14.01
$RAFOS_CLK,542
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14411.26,010814,115539
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.73
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,13.20
$XPDR_PINGS,6
$SC_FREEKB,3917536
$24V_AH,12.93,15.745
$10V_AH,12.78,0.000
$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,22.850,28.325,457.525,70.150,0.000,0.000,0.000,239.350,6.000,0.000,27.325,0.000,10214.224,627.478,1978.259,85.149,0.000,1474.109,0.000,1170.170,1475.000,38.063,0.000
$DEVICE_MAMPS,397.800,107.100,1940.040,1757.970,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.802,0.000,0.000,0.000
$MEM,294388
$DATA_FILE_SIZE,26705,783
$CAP_FILE_SIZE,131867,0
$CFSIZE,2097872896,2082144256
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12764.34,0x2378b6,7,5
$INTR,1,5703.49,0x2378b6,2,5
$INTR,2,12509.14,0x2378b6,7,5
$INTR,3,12523.35,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,12665,4291.127441,-8647.582031,11.538978,-0.039584,0.032557,-0.007603,0.000302,0.003000,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.015,326.90,1
$GPS,010814,190426,7131.204,-14407.733,90,6.1,111,22.6