version: 66.12
glider: 196
mission: 7
dive: 254
start: 8 31 114 18 0 36
data:
$ID,196
$MISSION,7
$DIVE,254
$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,-5687.7905
$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,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
$GPS1,310814,175248,7342.534,-14459.410,36,0.8,56,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-77.4
$GPS2,310814,180016,7342.555,-14459.414,5,1.0,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.5,7265,-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,14,begin dive
$GC,16,-0.69,-145.9,209,2768,411,579,0.0,0.0,0,89,0.00,0.00,-71.45,0.000,16386,0.000,0.000,208,2767,2256,2265,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,208,2768,2266,2249,3.8,-4.2,7,140,12.10,2.42,-28.17,0.000,18948,0.398,0.085,2665,1375,3856,3916,3796,0,0,0,0,0,0,13.97,14.23,14.47
$GC,360,-0.69,-145.9,2666,1373,3917,3799,81.2,-21.4,61,365,0.00,2.47,0.00,0.000,1030,0.000,0.092,2656,2761,3857,3916,3799,0,0,0,0,0,0,28.83,14.23,28.83
$GC,670,-0.69,-145.9,2657,2761,3918,3799,149.2,-20.1,93,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.69,-145.9,2656,2762,3917,3800,206.7,-17.5,123,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-0.69,-145.9,2657,2762,3917,3800,255.9,-15.5,151,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-0.69,-145.9,2657,2762,3917,3800,300.3,-14.5,161,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1870,-0.69,-145.9,2657,2762,3917,3800,342.5,-13.9,171,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2170,-0.69,-145.9,2657,2762,3917,3799,382.7,-13.2,181,2175,0.00,2.33,0.00,0.000,516,0.000,0.063,2656,1367,3857,3916,3799,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2209,-0.69,-145.9,2657,1368,3917,3799,387.7,-12.5,189,2215,0.00,2.45,0.00,0.000,1030,0.000,0.095,2645,2763,3857,3916,3799,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2531,-0.69,-145.9,2646,2764,3917,3799,431.5,-13.7,203,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.69,-145.9,2646,2764,3918,3799,472.4,-13.6,213,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,-0.69,-145.9,2646,2764,3917,3798,513.1,-13.5,223,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.69,-145.9,2646,2764,3917,3798,553.1,-13.3,233,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3730,-0.69,-145.9,2646,2764,3917,3799,592.7,-13.0,243,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2764,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4030,-0.69,-145.9,2646,2765,3917,3800,631.5,-12.9,253,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.69,-145.9,2646,2765,3917,3800,670.6,-13.1,263,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.69,-145.9,2646,2763,3917,3800,708.4,-12.5,273,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-0.69,-145.9,2646,2764,3917,3800,746.1,-12.6,283,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2764,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4992,-0.13,0.0,2647,2765,3917,3801,753.5,-12.4,285,5121,0.75,0.00,126.20,1.983,10244,0.227,0.000,2842,2764,3257,3276,3238,0,0,0,0,0,0,14.40,28.83,13.12
$STATE,5122,end apogee,CONTROL_FINISHED_OK
$STATE,5122,begin climb
$GC,5124,0.69,145.9,2846,2765,3272,3235,757.0,0.0,289,5257,0.93,1.92,124.07,1.826,10500,0.138,0.103,3114,3787,2658,2663,2654,0,0,0,0,0,0,13.77,13.81,12.70
$GC,5481,0.69,145.9,3114,3787,2663,2647,714.4,16.0,363,5487,0.00,1.80,0.00,0.000,1030,0.000,0.049,3122,2741,2654,2662,2646,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5803,0.69,145.9,3123,2739,2663,2642,669.6,13.8,377,5807,0.00,2.38,0.00,0.000,516,0.000,0.065,3133,1347,2654,2663,2645,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6032,0.69,145.9,3133,1347,2664,2645,640.2,12.7,423,6037,0.00,2.47,0.00,0.000,1030,0.000,0.090,3133,2747,2653,2663,2644,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6342,0.69,145.9,3134,2749,2663,2645,596.4,14.2,435,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2748,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,0.69,145.9,3133,2748,2664,2644,554.5,13.9,445,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2748,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6942,0.69,145.9,3134,2749,2663,2645,513.0,13.8,455,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2748,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7243,0.69,145.9,3133,2748,2663,2644,471.6,13.7,465,7248,0.00,1.80,0.00,0.000,260,0.000,0.097,3132,3786,2650,2657,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7282,0.69,145.9,3133,3786,2664,2644,465.4,16.2,473,7287,0.00,1.73,0.00,0.000,1030,0.000,0.050,3141,2733,2653,2663,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7603,0.69,145.9,3142,2734,2664,2645,420.7,13.9,487,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2733,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7902,0.69,145.9,3141,2730,2664,2644,379.1,13.7,497,7907,0.00,1.90,0.00,0.000,260,0.000,0.097,3141,3787,2653,2663,2644,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7917,0.69,145.9,3142,3788,2664,2645,376.7,14.2,500,7922,0.00,1.73,0.00,0.000,1030,0.000,0.050,3148,2737,2653,2663,2644,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8233,0.69,145.9,3149,2745,2664,2645,333.0,13.6,513,8235,0.12,0.00,0.00,0.000,4102,0.288,0.000,3119,2740,2654,2663,2645,0,0,0,0,0,0,14.26,28.83,28.83
$GC,8532,0.69,145.9,3125,2740,2663,2644,297.3,11.8,523,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2739,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140831200459.049529,3,413,-9,0092,0150,217,04,04,06,04,-1,-01,-01,1,3,0,0,150,12.3,1.7,-100,1.3,-01,-0.2,20,900,0025*17
$GC,8834,0.70,165.5,3124,2740,2665,2644,264.3,10.6,533,8851,0.00,0.00,16.35,1.317,8198,0.000,0.000,3123,2739,2585,2593,2577,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9132,0.73,202.8,3124,2740,2590,2571,232.6,9.6,553,9168,0.00,2.38,32.03,1.268,8708,0.000,0.061,3130,1351,2424,2430,2419,0,0,0,0,0,0,28.83,14.31,13.74
$GC,9199,0.74,223.8,3133,1351,2428,2419,226.2,10.5,566,9225,0.00,2.47,18.02,1.275,9222,0.000,0.090,3132,2747,2338,2339,2338,0,0,0,0,0,0,28.83,14.29,13.65
$GC,9524,0.77,255.2,3133,2749,2340,2333,191.1,10.0,601,9555,0.00,0.00,26.85,1.223,8198,0.000,0.000,3132,2748,2211,2214,2208,0,0,0,0,0,0,28.83,28.83,13.68
$GC,9854,0.80,296.9,3133,2748,2215,2200,157.8,9.4,634,9895,0.00,0.00,35.45,1.194,8198,0.000,0.000,3132,2748,2041,2046,2037,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10194,0.81,320.7,3133,2749,2047,2027,122.5,10.4,668,10219,0.00,2.40,18.75,1.180,8708,0.000,0.066,3141,1353,1944,1948,1941,0,0,0,0,0,0,28.83,14.30,13.73
$GC,10249,0.84,361.8,3148,1351,1954,1941,117.0,9.4,679,10289,0.00,2.47,33.28,1.134,9222,0.000,0.091,3141,2737,1777,1780,1774,0,0,0,0,0,0,28.83,14.23,13.60
$GC,10594,0.86,391.7,3141,2737,1780,1758,80.7,10.0,718,10610,0.00,2.45,12.40,0.427,8708,0.000,0.066,3151,1356,1660,1669,1651,0,0,0,0,0,0,28.83,14.21,13.95
$GC,10640,0.89,426.6,3152,1356,1675,1652,76.2,9.8,726,10661,0.00,2.47,16.65,0.417,9222,0.000,0.093,3152,2737,1517,1528,1506,0,0,0,0,0,0,28.83,14.21,13.92
$GC,10966,0.96,535.4,3153,2738,1536,1498,49.0,5.8,761,11018,0.17,0.00,49.50,0.332,10246,0.106,0.000,3219,2737,1074,1081,1067,0,0,0,0,0,0,14.31,28.83,14.00
$GC,11316,1.04,641.3,3220,2737,1082,1056,16.1,6.0,796,11372,0.00,2.45,48.08,0.245,8708,0.000,0.068,3221,1358,641,618,665,0,0,0,0,0,0,28.83,14.22,14.07
$FREEZE,8.91,-1.060,-1.420,2,1,0
$FREEZE,8.65,-1.077,-1.419,2,1,0
$FREEZE,8.16,-1.077,-1.419,2,1,0
$GC,11441,1.12,759.2,3227,1359,617,666,8.9,5.4,821,11462,0.10,2.50,16.15,0.223,11270,0.158,0.090,3259,2747,498,447,550,0,0,0,0,0,0,14.21,14.21,14.09
$FREEZE,7.20,-1.088,-1.416,2,1,0
$FREEZE,6.47,-1.085,-1.416,2,1,0
$FREEZE,5.80,-1.081,-1.415,2,1,0
$FREEZE,4.90,-1.073,-1.414,2,1,0
$FREEZE,3.98,-1.074,-1.413,2,1,0
$FREEZE,3.19,-1.077,-1.412,2,1,0
$FREEZE,2.44,-1.078,-1.412,2,1,0
$FREEZE,1.62,-1.074,-1.411,2,1,0
$STATE,11535,end climb,SURFACE_DEPTH_REACHED
$STATE,11535,begin surface coast
$FREEZE,0.72,-1.076,-1.410,2,1,0
$FREEZE,0.81,-1.050,-0.116,2,1,0
$FINISH,0.8,1.001477
$STATE,11555,end surface coast,FINISH_DEPTH_REACHED
$STATE,11555,begin surface
$SM_CCo,11632,0.00,0.000,0,0,496,677.52
$SM_GC,1.85,9.40,0.00,0.00,0.081,0.000,0.000,205,2747,496,-8.36,-0.37,677.52,0,0,0,0,0,0,14.32,28.83,28.83
$RAFOS_CLK,220
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14453.57,310814,142409
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.23
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,11
$SC_FREEKB,3824864
$24V_AH,12.70,77.369
$10V_AH,12.81,0.000
$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,23.575,45.000,573.775,0.000,0.000,0.000,0.000,257.450,2.750,0.000,26.895,0.000,9300.244,631.620,1959.305,183.146,0.000,1563.307,0.000,1247.095,1484.000,0.540,0.000
$DEVICE_MAMPS,397.800,102.510,1982.880,0.000,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11607.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.457,0.000,0.000,0.000
$MEM,217836
$DATA_FILE_SIZE,30000,834
$CAP_FILE_SIZE,130098,0
$CFSIZE,2097872896,2042855424
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12707.16,0x2378b6,7,5
$INTR,1,4990.34,0x2378b6,2,5
$INTR,2,11559.79,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,310814,211554,7341.681,-14503.085,39,1.0,59,22.9