version: 66.12
glider: 196
mission: 7
dive: 356
start: 9 15 114 21 18 4
data:
$ID,196
$MISSION,7
$DIVE,356
$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,51
$R_STBD_OVSHOOT,21
$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,17.61
$_SM_ANGLEo,-18.9
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.69,-145.9,2976,2759,1861,1756,0.0,0.0,0,30,0.00,0.00,-11.82,0.000,16386,0.000,0.000,2975,2759,2587,2638,2536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.69,-145.9,2976,2759,2638,2542,19.5,0.0,1,56,0.90,1.83,-18.20,0.000,20740,0.069,0.116,2654,3792,3855,3919,3792,0,0,0,0,0,0,14.21,14.22,14.52
$GC,222,-0.69,-145.9,2654,3792,3921,3795,75.6,-25.8,39,226,0.00,1.70,0.00,0.000,1030,0.000,0.052,2654,2754,3857,3919,3795,0,0,0,0,0,0,28.83,14.26,28.83
$GC,532,-0.69,-145.9,2655,2753,3921,3795,140.8,-19.4,71,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2753,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-0.69,-145.9,2655,2753,3921,3796,196.9,-17.9,101,836,0.00,2.35,0.00,0.000,516,0.000,0.067,2654,1372,3857,3919,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,876,-0.69,-145.9,2654,1371,3921,3795,204.3,-15.8,110,882,0.00,2.47,0.00,0.000,1030,0.000,0.096,2644,2757,3857,3920,3795,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1191,-0.69,-145.9,2645,2757,3920,3796,256.3,-16.1,140,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2757,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1492,-0.69,-145.9,2645,2758,3920,3796,300.0,-13.8,150,1496,0.00,1.83,0.00,0.000,260,0.000,0.101,2636,3791,3857,3919,3795,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1521,-0.69,-145.9,2637,3791,3920,3796,304.2,-15.1,156,1527,0.10,1.73,0.00,0.000,3078,0.235,0.053,2674,2758,3857,3919,3795,0,0,0,0,0,0,14.04,14.36,28.83
$GC,1852,-0.69,-145.9,2671,2759,3921,3796,341.8,-11.4,172,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2758,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2152,-0.69,-145.9,2675,2760,3920,3796,376.2,-11.5,182,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2759,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2452,-0.69,-145.9,2674,2760,3920,3796,409.4,-11.1,192,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2759,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2752,-0.69,-145.9,2674,2759,3921,3795,442.2,-10.9,202,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2759,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,-0.69,-145.9,2674,2759,3921,3795,474.6,-10.7,212,3056,0.00,2.33,0.00,0.000,516,0.000,0.065,2673,1372,3857,3920,3795,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3096,-0.69,-145.9,2675,1373,3920,3796,479.2,-9.6,221,3101,0.00,2.47,0.00,0.000,1030,0.000,0.097,2673,2763,3857,3919,3795,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3413,-0.69,-145.9,2675,2764,3920,3796,512.3,-10.4,234,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2763,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3712,-0.69,-145.9,2673,2764,3921,3796,543.2,-10.2,244,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2763,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-0.69,-145.9,2674,2764,3920,3797,573.7,-10.0,254,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2763,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4312,-0.69,-145.9,2675,2765,3920,3796,604.4,-10.3,264,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2763,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4612,-0.69,-145.9,2675,2764,3921,3796,634.8,-10.0,274,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2764,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4912,-0.69,-145.9,2674,2764,3921,3795,665.4,-10.1,284,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2763,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,-0.69,-145.9,2675,2764,3921,3796,695.6,-9.9,294,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2764,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5512,-0.69,-145.9,2674,2764,3920,3796,725.5,-10.0,304,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2763,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5779,begin apogee
$GC,5784,-0.13,0.0,2675,2765,3920,3797,752.3,-9.8,313,5913,0.65,0.00,126.38,2.002,10244,0.214,0.000,2847,2763,3257,3275,3239,0,0,0,0,0,0,14.18,28.83,12.99
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5914,begin climb
$GC,5916,0.69,145.9,2848,2765,3271,3235,755.8,0.0,317,6049,0.88,0.00,125.95,1.899,11270,0.119,0.000,3115,2763,2659,2664,2655,0,0,0,0,0,0,13.74,28.83,12.57
$GC,6354,0.69,145.9,3116,2764,2663,2646,711.1,13.2,357,6358,0.00,2.47,0.00,0.000,516,0.000,0.064,3125,1344,2653,2662,2645,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6414,0.69,145.9,3126,1344,2663,2646,703.9,11.8,369,6418,0.00,2.53,0.00,0.000,1030,0.000,0.090,3125,2745,2653,2662,2645,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6745,0.69,145.9,3126,2745,2664,2644,659.2,13.7,385,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2747,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7044,0.69,145.9,3126,2746,2663,2645,619.0,13.3,395,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,0.69,145.9,3126,2745,2664,2644,579.2,13.2,405,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7643,0.69,145.9,3126,2745,2664,2644,539.4,13.1,415,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7943,0.69,145.9,3127,2746,2663,2644,500.0,13.2,425,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8243,0.69,145.9,3126,2745,2664,2645,460.8,13.0,435,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8543,0.69,145.9,3126,2746,2663,2645,422.3,12.6,445,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,0.69,145.9,3126,2745,2664,2644,384.6,12.4,455,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9143,0.69,145.9,3126,2746,2662,2644,347.4,12.3,465,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,0.70,156.6,3126,2746,2663,2645,312.8,11.1,475,9454,0.00,0.00,9.57,1.406,8198,0.000,0.000,3125,2744,2618,2626,2611,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9757,0.71,170.3,3126,2745,2623,2606,279.4,10.9,485,9775,0.00,2.35,12.88,1.353,8708,0.000,0.064,3135,1345,2556,2562,2551,0,0,0,0,0,0,28.83,14.47,13.79
$GC,9804,0.72,194.2,3136,1345,2560,2551,272.9,10.4,495,9830,0.00,2.47,20.27,1.313,9222,0.000,0.089,3134,2750,2462,2463,2461,0,0,0,0,0,0,28.83,14.35,13.72
$GC,10135,0.73,205.0,3135,2750,2464,2454,233.5,11.1,522,10146,0.00,0.00,9.98,1.315,8710,0.000,0.000,3134,2750,2420,2423,2417,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10446,0.76,248.4,3135,2750,2421,2411,200.3,9.3,554,10486,0.00,0.00,36.78,1.222,8198,0.000,0.000,3135,2750,2240,2240,2241,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10786,0.79,288.0,3136,2751,2240,2232,166.1,9.5,588,10826,0.00,2.42,33.83,1.205,8708,0.000,0.062,3143,1344,2075,2077,2073,0,0,0,0,0,0,28.83,14.19,13.60
$GC,10852,0.82,336.0,3143,1344,2076,2073,159.8,9.1,600,10898,0.00,2.50,40.60,1.196,9222,0.000,0.090,3143,2741,1887,1887,1888,0,0,0,0,0,0,28.83,14.15,13.49
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5ac59a9a1a;,*5E
$MODEM_MSG,CACST,6,0,20140916000419.962748,3,270,00,0136,0150,255,02,02,04,04,1,005,000,0,5,1,0,150,18.1,5.2,-100,-2.2,-01,0.2,31,900,0025*2F
$GC,11199,0.83,349.6,3144,2742,1883,1869,120.0,10.9,639,11209,0.00,0.00,8.85,1.223,8198,0.000,0.000,3143,2741,1831,1837,1826,0,0,0,0,0,0,28.83,28.83,13.64
$GC,11508,0.85,377.6,3143,2741,1833,1816,89.4,10.1,670,11527,0.00,2.45,12.12,0.457,8708,0.000,0.066,3151,1354,1719,1728,1710,0,0,0,0,0,0,28.83,14.20,13.87
$GC,11584,0.86,382.8,3152,1355,1732,1711,81.1,11.4,685,11590,0.00,2.50,2.78,0.392,9222,0.000,0.091,3150,2748,1697,1707,1687,0,0,0,0,0,0,28.83,14.16,13.84
$GC,11889,0.91,464.8,3151,2748,1721,1687,55.0,7.3,716,11933,0.12,2.40,37.90,0.350,10756,0.125,0.064,3208,1350,1362,1380,1345,0,0,0,0,0,0,14.28,14.22,13.94
$GC,12038,0.97,552.8,3213,1350,1382,1340,44.1,6.9,745,12084,0.00,2.50,40.47,0.318,9222,0.000,0.090,3212,2743,1003,1013,993,0,0,0,0,0,0,28.83,14.12,13.90
$GC,12389,1.08,708.6,3214,2744,1012,985,21.2,3.3,785,12450,0.00,1.92,56.90,0.263,8452,0.000,0.097,3212,3781,499,450,548,0,0,0,0,0,0,28.83,14.14,13.97
$GC,12500,1.16,819.0,3213,3783,450,548,15.3,5.8,807,12505,0.10,1.73,0.00,0.000,3078,0.070,0.050,3286,2754,498,448,548,0,0,0,0,0,0,14.21,14.21,28.83
$FREEZE,7.86,-1.403,-1.436,2,8,0
$STATE,12568,end climb,FINISH_DEPTH_REACHED
$STATE,12568,begin subsurface finish
$FINISH1,7.9,1.021099,357
$GC,12575,0.25,356.9,3286,2754,449,548,7.9,12.7,815,12617,1.10,2.45,-32.42,0.000,20996,0.184,0.086,2979,1357,1807,1862,1753,0,0,0,0,0,0,14.01,14.15,14.42
$FINISH2,8.0
$STATE,12617,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12618,begin surface
$RAFOS_CLK,141
$MODEM,5,1410825859,74.36020,-141.50639,19.963,28922.7
$RAFOS_FIX,7436.549805,-14036.406250,140914,040450,2,255,0.60
$IRIDIUM_FIX,7342.54,-14047.73,140914,204729
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.44
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,17
$SC_FREEKB,3779136
$24V_AH,12.57,111.286
$10V_AH,12.67,0.000
$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,3.850,49.975,575.250,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,0.000,10328.994,564.648,1675.195,168.157,0.000,1240.098,0.000,1233.564,1415.000,0.539,0.000
$DEVICE_MAMPS,234.855,115.515,2002.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12670.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.415,0.000,0.000,0.000
$MEM,154956
$DATA_FILE_SIZE,26691,823
$CAP_FILE_SIZE,129783,0
$CFSIZE,2097872896,2023424000
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5781.78,0x2378b6,2,5
$INTR,1,12572.64,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,140914,205534,7427.385,-14040.470,181,99.0,181,24.5