version: 66.12
glider: 196
mission: 7
dive: 353
start: 9 15 114 10 56 47
data:
$ID,196
$MISSION,7
$DIVE,353
$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,-8342.5654
$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,20
$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
$GPS1,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.39
$_SM_ANGLEo,-20.0
$GPS2,140914,205534,7427.385,-14040.470,181,99.0,181,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,167.0,221862,-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,18,-0.69,-145.9,2976,2761,1852,1757,0.0,0.0,0,31,0.00,0.00,-12.25,0.000,16386,0.000,0.000,2975,2760,2669,2719,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,2976,2760,2720,2621,22.2,0.0,1,54,0.90,1.90,-15.73,0.000,20740,0.070,0.122,2654,3798,3857,3920,3795,0,0,0,0,0,0,14.28,14.23,14.52
$GC,268,-0.69,-145.9,2655,3797,3922,3800,90.5,-22.8,48,275,0.00,1.73,0.00,0.000,1030,0.000,0.052,2654,2763,3860,3921,3799,0,0,0,0,0,0,28.83,14.30,28.83
$GC,574,-0.69,-145.9,2655,2764,3921,3801,152.8,-19.0,79,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2763,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.69,-145.9,2656,2764,3922,3800,206.9,-17.2,109,879,0.00,2.35,0.00,0.000,516,0.000,0.066,2654,1373,3860,3921,3799,0,0,0,0,0,0,28.83,14.36,28.83
$GC,924,-0.69,-145.9,2655,1373,3922,3801,215.0,-14.9,119,929,0.00,2.47,0.00,0.000,1030,0.000,0.096,2651,2761,3859,3921,3798,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1234,-0.69,-145.9,2645,2761,3922,3800,264.0,-14.9,145,1239,0.00,1.80,0.00,0.000,260,0.000,0.099,2636,3786,3860,3921,3799,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1289,-0.69,-145.9,2637,3786,3922,3800,272.5,-15.8,156,1295,0.08,1.70,0.00,0.000,3078,0.242,0.054,2667,2761,3860,3921,3799,0,0,0,0,0,0,14.13,14.45,28.83
$GC,1595,-0.69,-145.9,2668,2760,3922,3800,311.0,-12.8,167,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2760,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1894,-0.69,-145.9,2668,2761,3921,3800,347.2,-11.8,177,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,-0.69,-145.9,2668,2760,3922,3799,382.3,-11.8,187,2199,0.00,2.33,0.00,0.000,516,0.000,0.065,2667,1370,3860,3921,3799,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2239,-0.69,-145.9,2668,1371,3921,3800,387.4,-10.9,196,2244,0.00,2.47,0.00,0.000,1030,0.000,0.097,2663,2758,3859,3920,3799,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2554,-0.69,-145.9,2663,2758,3922,3799,424.3,-11.8,209,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,-0.69,-145.9,2663,2758,3922,3799,459.3,-11.5,219,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2758,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3154,-0.69,-145.9,2664,2758,3923,3799,493.3,-11.4,229,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3454,-0.69,-145.9,2663,2756,3922,3799,527.0,-11.2,239,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,-0.69,-145.9,2664,2758,3921,3800,560.6,-11.1,249,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-0.69,-145.9,2664,2760,3921,3800,593.5,-10.9,259,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.69,-145.9,2665,2758,3917,3799,626.2,-10.9,269,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3861,3924,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4654,-0.69,-145.9,2663,2758,3922,3800,659.1,-11.1,279,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2758,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4954,-0.69,-145.9,2664,2758,3921,3802,691.7,-10.8,289,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,-0.69,-145.9,2664,2759,3920,3801,724.2,-10.7,299,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5aab0a9c82;,*5C
$MODEM_MSG,CACST,6,0,20140915120413.514696,3,752,-1,0149,0150,250,03,03,05,05,1,005,000,0,5,1,0,150,12.8,3.0,-100,0.0,-01,-0.1,34,900,0025*39
$STATE,5493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5498,-0.13,0.0,2664,2758,3922,3799,750.1,-10.8,307,5629,0.70,0.00,128.15,2.025,10244,0.216,0.000,2847,2758,3254,3272,3237,0,0,0,0,0,0,14.12,28.83,12.93
$STATE,5630,end apogee,CONTROL_FINISHED_OK
$STATE,5630,begin climb
$GC,5632,0.69,145.9,2848,2759,3271,3235,753.8,0.0,311,5768,0.88,0.00,126.53,1.876,11270,0.119,0.000,3111,2759,2658,2663,2653,0,0,0,0,0,0,13.66,28.83,12.55
$GC,6064,0.69,145.9,3112,2759,2663,2648,711.2,13.0,351,6069,0.00,2.45,0.00,0.000,516,0.000,0.064,3122,1351,2655,2663,2647,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6124,0.69,145.9,3122,1351,2663,2648,704.0,11.6,363,6129,0.00,2.53,0.00,0.000,1030,0.000,0.089,3121,2749,2655,2663,2647,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6455,0.69,145.9,3123,2749,2664,2646,660.3,13.3,379,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2749,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6754,0.69,145.9,3119,2749,2664,2646,620.7,13.2,389,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2749,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7054,0.69,145.9,3123,2750,2662,2645,581.4,13.1,399,7058,0.00,1.83,0.00,0.000,260,0.000,0.096,3122,3792,2654,2663,2645,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7084,0.69,145.9,3123,3792,2663,2646,577.0,15.0,405,7089,0.00,1.73,0.00,0.000,1030,0.000,0.050,3129,2741,2654,2663,2645,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7415,0.69,145.9,3129,2741,2664,2645,532.7,13.2,421,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2741,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7714,0.69,145.9,3129,2741,2664,2645,492.9,13.3,431,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2741,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8014,0.69,145.9,3130,2741,2664,2645,453.2,13.2,441,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2741,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8314,0.69,145.9,3129,2741,2664,2645,413.9,13.1,451,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2741,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8614,0.69,145.9,3130,2742,2664,2646,375.4,12.6,461,8619,0.00,1.83,0.00,0.000,260,0.000,0.096,3129,3786,2654,2663,2645,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8644,0.69,145.9,3130,3785,2664,2646,371.2,14.1,467,8649,0.00,1.73,0.00,0.000,1030,0.000,0.050,3137,2737,2654,2663,2645,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8975,0.69,145.9,3138,2737,2664,2645,329.6,12.3,483,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2736,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,0.69,152.1,3137,2736,2664,2645,295.3,11.3,493,9284,0.00,2.35,2.92,1.038,8708,0.000,0.063,3147,1351,2642,2656,2629,0,0,0,0,0,0,28.83,14.56,13.52
$GC,9299,0.70,158.9,3149,1351,2663,2633,292.6,11.3,498,9314,0.12,2.45,10.15,1.384,13318,0.252,0.090,3122,2748,2608,2615,2602,0,0,0,0,0,0,14.27,14.45,13.83
$GC,9634,0.71,173.3,3123,2748,2613,2598,255.9,10.9,515,9649,0.00,0.00,13.27,1.332,8198,0.000,0.000,3123,2748,2550,2556,2544,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9934,0.76,240.9,3123,2748,2553,2537,227.0,8.0,541,9996,0.00,2.38,55.97,1.287,8708,0.000,0.061,3131,1352,2269,2267,2271,0,0,0,0,0,0,28.83,14.20,13.58
$GC,10021,0.79,292.3,3132,1356,2268,2268,219.3,8.9,558,10071,0.00,2.45,43.30,1.306,9222,0.000,0.090,3131,2733,2060,2063,2058,0,0,0,0,0,0,28.83,14.19,13.43
$GC,10376,0.81,311.3,3132,2733,2063,2046,180.3,10.6,599,10398,0.00,1.85,15.90,1.251,8452,0.000,0.093,3131,3785,1983,1992,1975,0,0,0,0,0,0,28.83,14.26,13.65
$GC,10433,0.81,311.3,3132,3790,1990,1977,173.6,12.7,610,10439,0.00,1.75,0.00,0.000,1030,0.000,0.050,3138,2737,1982,1989,1975,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10739,0.81,319.2,3140,2737,1990,1972,139.6,11.2,641,10750,0.00,2.35,7.35,1.261,8708,0.000,0.063,3147,1354,1952,1958,1946,0,0,0,0,0,0,28.83,14.38,13.69
$GC,10770,0.83,347.9,3148,1353,1955,1946,136.1,10.1,647,10802,0.00,2.45,25.25,1.167,9222,0.000,0.091,3147,2738,1835,1838,1833,0,0,0,0,0,0,28.83,14.31,13.66
$GC,11100,0.84,367.3,3148,2738,1839,1823,99.4,10.6,683,11112,0.00,2.45,8.15,0.483,8708,0.000,0.066,3154,1351,1759,1766,1753,0,0,0,0,0,0,28.83,14.26,13.86
$GC,11147,0.87,406.6,3155,1351,1775,1752,94.8,9.5,692,11174,0.00,2.47,19.10,0.481,9222,0.000,0.091,3154,2735,1600,1611,1590,0,0,0,0,0,0,28.83,14.20,13.86
$GC,11472,0.91,462.1,3155,2736,1616,1583,62.3,8.7,727,11504,0.10,0.00,25.55,0.373,10502,0.145,0.000,3199,2735,1374,1390,1358,0,0,0,0,0,0,14.27,28.83,13.92
$GC,11802,0.97,553.2,3200,2736,1393,1349,35.6,6.8,761,11847,0.00,0.00,42.47,0.309,8710,0.000,0.000,3199,2735,1001,1010,992,0,0,0,0,0,0,28.83,28.83,13.96
$GC,12152,1.07,689.1,3200,2736,1010,983,17.8,4.4,797,12214,0.12,2.45,56.83,0.249,10756,0.143,0.064,3255,1354,497,443,551,0,0,0,0,0,0,14.22,14.17,14.00
$FREEZE,8.64,-1.420,-1.433,2,5,0
$STATE,12277,end climb,FINISH_DEPTH_REACHED
$STATE,12277,begin subsurface finish
$FINISH1,8.6,1.021051,359
$GC,12285,0.25,359.3,3256,2737,444,550,8.6,7.1,822,12321,0.95,0.00,-30.75,0.000,20486,0.161,0.000,2980,2738,1795,1848,1743,0,0,0,0,0,0,14.05,28.83,14.41
$FINISH2,8.1
$STATE,12321,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12321,begin surface
$RAFOS_CLK,420
$MODEM,5,1410782653,74.27520,-141.25999,13.515,19599.1
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.72
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,7
$SC_FREEKB,3780480
$24V_AH,12.55,110.350
$10V_AH,12.59,0.000
$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,3.850,59.350,580.900,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,0.000,9999.407,595.254,1677.009,167.124,0.000,1274.316,0.000,1243.139,1482.000,0.540,0.000
$DEVICE_MAMPS,252.450,122.400,2024.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12371.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.547,0.000,0.000,0.000
$MEM,156468
$DATA_FILE_SIZE,30010,826
$CAP_FILE_SIZE,130505,0
$CFSIZE,2097872896,2023981056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5495.02,0x2378b6,2,5
$SOUNDSPEED,1449.1
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5