version: 66.12
glider: 196
mission: 7
dive: 355
start: 9 15 114 17 50 39
data:
$ID,196
$MISSION,7
$DIVE,355
$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,56
$R_STBD_OVSHOOT,19
$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,18.89
$_SM_ANGLEo,-18.5
$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,17,-0.69,-145.9,2976,2760,1856,1750,0.0,0.0,0,31,0.00,0.00,-12.48,0.000,16386,0.000,0.000,2975,2760,2678,2732,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2760,2733,2626,22.0,0.0,1,54,0.90,1.88,-15.70,0.000,20740,0.068,0.119,2653,3787,3856,3921,3792,0,0,0,0,0,0,14.27,14.23,14.52
$GC,278,-0.69,-145.9,2654,3791,3922,3797,92.0,-22.6,50,285,0.00,1.73,0.00,0.000,1030,0.000,0.051,2653,2755,3858,3921,3796,0,0,0,0,0,0,28.83,14.30,28.83
$GC,584,-0.69,-145.9,2654,2756,3922,3797,155.6,-20.0,81,588,0.00,1.83,0.00,0.000,260,0.000,0.099,2645,3788,3858,3921,3796,0,0,0,0,0,0,28.83,14.28,28.83
$GC,703,-0.69,-145.9,2646,3788,3922,3797,181.1,-20.3,105,708,0.00,1.70,0.00,0.000,1030,0.000,0.052,2645,2763,3858,3921,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1014,-0.69,-145.9,2646,2762,3922,3796,235.4,-16.0,137,1019,0.00,2.35,0.00,0.000,516,0.000,0.065,2645,1373,3862,3921,3803,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1064,-0.69,-145.9,2646,1373,3922,3796,243.2,-14.8,147,1069,0.15,2.50,0.00,0.000,3078,0.265,0.096,2667,2763,3858,3921,3796,0,0,0,0,0,0,14.13,14.31,28.83
$GC,1384,-0.69,-145.9,2667,2764,3922,3795,286.9,-13.2,162,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1684,-0.69,-145.9,2668,2764,3922,3796,321.9,-11.7,172,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,-0.69,-145.9,2668,2765,3922,3797,358.0,-12.0,182,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2284,-0.69,-145.9,2668,2764,3922,3797,392.1,-11.3,192,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2584,-0.69,-145.9,2667,2764,3923,3795,425.6,-11.2,202,2589,0.00,2.35,0.00,0.000,516,0.000,0.063,2667,1369,3858,3921,3796,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2619,-0.69,-145.9,2668,1369,3922,3796,429.5,-10.9,209,2624,0.00,2.47,0.00,0.000,1030,0.000,0.096,2663,2759,3858,3921,3795,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2946,-0.69,-145.9,2664,2760,3922,3796,466.1,-11.1,224,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3244,-0.69,-145.9,2663,2759,3922,3795,499.6,-11.1,234,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-0.69,-145.9,2664,2760,3921,3797,532.9,-11.0,244,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3844,-0.69,-145.9,2664,2760,3922,3796,566.0,-11.1,254,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4144,-0.69,-145.9,2663,2759,3922,3796,599.4,-11.2,264,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4444,-0.69,-145.9,2664,2759,3922,3796,632.4,-11.1,274,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4744,-0.69,-145.9,2663,2759,3922,3796,665.3,-11.0,284,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5044,-0.69,-145.9,2663,2759,3922,3796,698.1,-10.8,294,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.69,-145.9,2663,2759,3922,3796,730.8,-11.0,304,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5522,begin apogee
$GC,5527,-0.13,0.0,2664,2760,3921,3797,750.6,-11.0,310,5656,0.70,0.00,126.60,2.000,10244,0.217,0.000,2847,2759,3258,3276,3241,0,0,0,0,0,0,14.16,28.83,13.00
$STATE,5657,end apogee,CONTROL_FINISHED_OK
$STATE,5657,begin climb
$GC,5659,0.69,145.9,2849,2760,3272,3238,754.5,0.0,314,5791,0.88,0.00,126.35,1.877,11270,0.118,0.000,3115,2759,2662,2669,2656,0,0,0,0,0,0,13.74,28.83,12.57
$GC,6096,0.69,145.9,3116,2760,2665,2646,711.2,13.0,354,6101,0.00,2.45,0.00,0.000,516,0.000,0.063,3125,1350,2655,2665,2645,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6141,0.69,145.9,3126,1348,2666,2645,705.7,12.1,363,6146,0.00,2.53,0.00,0.000,1030,0.000,0.089,3125,2742,2655,2665,2645,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6458,0.69,145.9,3123,2741,2673,2645,663.3,13.5,376,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2742,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6756,0.69,145.9,3126,2742,2666,2644,623.4,13.2,386,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2742,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7056,0.69,145.9,3126,2742,2666,2644,584.0,13.1,396,7061,0.00,1.85,0.00,0.000,260,0.000,0.096,3126,3793,2654,2665,2644,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7071,0.69,145.9,3127,3794,2665,2645,581.9,13.6,399,7076,0.00,1.73,0.00,0.000,1030,0.000,0.050,3133,2739,2654,2665,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7386,0.69,145.9,3134,2740,2666,2644,539.4,13.4,412,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2740,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7686,0.69,145.9,3134,2740,2666,2645,499.4,13.3,422,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2740,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,0.69,145.9,3138,2740,2666,2644,459.9,13.1,432,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2740,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,0.69,145.9,3134,2745,2666,2644,420.6,13.0,442,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2739,2657,2671,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8586,0.69,145.9,3134,2740,2666,2644,381.9,12.9,452,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2739,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8886,0.69,145.9,3134,2740,2666,2644,343.6,12.5,462,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2739,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9186,0.69,152.0,3134,2740,2665,2645,308.2,11.3,472,9190,0.00,0.00,2.83,0.994,8198,0.000,0.000,3133,2740,2642,2649,2635,0,0,0,0,0,0,28.83,28.83,13.40
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5aba7a9a47;,*55
$MODEM_MSG,CACST,6,0,20140915200417.712210,3,241,00,0205,0150,217,04,04,04,04,1,005,000,0,5,1,0,150,17.7,4.6,-100,-1.6,-01,0.3,21,900,0025*2E
$GC,9486,0.70,162.0,3134,2740,2669,2631,274.6,11.1,482,9506,0.00,1.88,13.35,1.349,8452,0.000,0.099,3133,3781,2591,2599,2583,0,0,0,0,0,0,28.83,14.41,13.76
$GC,9531,0.70,162.0,3134,3782,2599,2583,269.1,13.0,491,9536,0.00,1.73,0.00,0.000,1030,0.000,0.050,3141,2736,2591,2599,2583,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9836,0.71,174.4,3142,2737,2599,2583,235.0,11.0,511,9849,0.00,0.00,11.35,1.317,8710,0.000,0.000,3141,2737,2545,2551,2539,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10148,0.78,272.6,3142,2737,2547,2532,208.3,6.4,543,10237,0.00,2.42,80.78,1.230,8708,0.000,0.065,3152,1361,2139,2140,2139,0,0,0,0,0,0,28.83,14.09,13.52
$GC,10294,0.79,283.4,3152,1362,2139,2135,194.4,11.1,572,10310,0.00,2.50,9.55,1.272,9222,0.000,0.091,3152,2743,2096,2100,2093,0,0,0,0,0,0,28.83,14.12,13.57
$GC,10611,0.80,300.0,3152,2744,2100,2087,157.9,10.7,605,10630,0.00,2.38,14.70,1.210,8708,0.000,0.063,3161,1356,2027,2033,2022,0,0,0,0,0,0,28.83,14.31,13.68
$GC,10666,0.81,318.4,3162,1350,2032,2019,151.8,10.7,616,10686,0.00,2.47,15.75,1.189,9222,0.000,0.091,3161,2739,1958,1960,1957,0,0,0,0,0,0,28.83,14.24,13.63
$GC,10991,0.81,323.6,3162,2740,1957,1947,112.6,11.3,651,10994,0.00,0.00,1.58,0.399,8198,0.000,0.000,3161,2739,1938,1942,1934,0,0,0,0,0,0,28.83,28.83,13.75
$GC,11291,0.83,352.2,3162,2740,1959,1935,80.7,10.1,681,11311,0.00,0.00,14.05,0.428,8710,0.000,0.000,3161,2739,1823,1828,1818,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11613,0.89,433.6,3162,2740,1834,1817,54.3,7.3,714,11657,0.00,2.45,37.03,0.350,8708,0.000,0.066,3164,1351,1489,1501,1477,0,0,0,0,0,0,28.83,14.21,13.96
$GC,11683,0.97,546.8,3165,1352,1503,1475,50.3,5.6,728,11743,0.12,2.50,51.60,0.336,11270,0.125,0.091,3217,2743,1025,1037,1013,0,0,0,0,0,0,14.23,14.18,13.89
$GC,12042,1.03,631.4,3217,2743,1036,1004,19.9,7.1,770,12087,0.00,1.90,38.40,0.260,8452,0.000,0.096,3217,3780,683,670,696,0,0,0,0,0,0,28.83,14.14,13.97
$GC,12152,1.09,717.3,3218,3781,670,697,13.6,7.1,792,12178,0.00,1.75,21.38,0.239,9222,0.000,0.051,3221,2747,497,449,545,0,0,0,0,0,0,28.83,14.14,13.98
$FREEZE,8.66,-1.424,-1.436,2,7,0
$STATE,12243,end climb,FINISH_DEPTH_REACHED
$STATE,12243,begin subsurface finish
$FINISH1,8.7,1.021101,357
$GC,12248,0.25,356.7,3221,2747,451,547,8.7,5.6,804,12284,0.80,2.42,-29.42,0.000,20996,0.131,0.091,2978,1345,1804,1859,1749,0,0,0,0,0,0,14.06,14.16,14.42
$FINISH2,9.5
$STATE,12285,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12285,begin surface
$RAFOS_CLK,227
$MODEM,5,1410811457,74.32460,-141.48840,17.712,25662.6
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.51
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,8
$SC_FREEKB,3779584
$24V_AH,12.57,110.967
$10V_AH,12.66,0.000
$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,3.550,52.325,565.275,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,0.000,10030.942,557.329,1648.161,167.319,0.000,1233.289,0.000,1217.763,1487.000,0.539,0.000
$DEVICE_MAMPS,265.455,119.340,1999.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12339.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.356,0.000,0.000,0.000
$MEM,155448
$DATA_FILE_SIZE,26732,811
$CAP_FILE_SIZE,128153,0
$CFSIZE,2097872896,2023620608
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5523.73,0x2378b6,2,5
$INTR,1,12244.67,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5