version: 66.12
glider: 196
mission: 7
dive: 52
start: 8 2 114 12 2 9
data:
$ID,196
$MISSION,7
$DIVE,52
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,1
$ICE_FREEZE_MARGIN,0.1
$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,8
$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,681.01007
$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,-4737.0244
$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,44
$R_STBD_OVSHOOT,21
$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,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
$GPS1,020814,120038,7135.449,-14410.046,0,10063.1,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.01
$_SM_ANGLEo,-18.9
$GPS2,020814,120038,7135.449,-14410.046,0,10063.1,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.9,1021,-27.9,-11.628,-30.00,1240
$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,15,-0.80,-93.6,2963,2763,1690,1597,0.0,0.0,0,30,0.00,0.00,-14.25,0.000,16386,0.000,0.000,2962,2759,2346,2390,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.80,-93.6,2962,2763,2391,2302,11.2,0.0,1,64,0.95,1.83,-24.98,0.000,20740,0.077,0.134,2627,3793,3643,3696,3590,0,0,0,0,0,0,14.31,14.33,14.54
$GC,288,-0.80,-93.6,2628,3794,3697,3596,76.4,-23.5,51,295,0.00,1.75,0.00,0.000,1030,0.000,0.061,2628,2756,3644,3695,3594,0,0,0,0,0,0,28.83,14.42,28.83
$GC,599,-0.80,-93.6,2629,2756,3697,3595,137.1,-18.1,83,606,0.00,1.85,0.00,0.000,260,0.000,0.106,2619,3777,3645,3695,3595,0,0,0,0,0,0,28.83,14.37,28.83
$GC,830,-0.80,-93.6,2620,3778,3697,3594,181.4,-17.6,129,837,0.00,1.70,0.00,0.000,1030,0.000,0.062,2619,2769,3645,3696,3594,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1141,-0.80,-93.6,2620,2768,3697,3594,227.0,-14.2,161,1148,0.00,1.83,0.00,0.000,260,0.000,0.107,2611,3779,3645,3696,3595,0,0,0,0,0,0,28.83,14.33,28.83
$MODEM_MSG,CACST,6,1,20140802120438.135023,3,349,01,0145,0150,217,04,04,04,04,-1,-01,-01,1,3,0,0,150,18.1,0.9,-100,2.1,-01,0.3,24,900,0025*23
$GC,1371,-0.80,-93.6,2612,3780,3696,3596,262.0,-14.1,207,1379,0.00,1.73,0.00,0.000,1030,0.000,0.063,2611,2761,3645,3696,3594,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1683,-0.80,-93.6,2612,2758,3695,3595,302.8,-12.8,219,1690,0.00,1.85,0.00,0.000,260,0.000,0.107,2603,3780,3644,3695,3594,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1833,-0.80,-93.6,2604,3780,3697,3595,324.8,-14.8,249,1841,0.10,1.73,0.00,0.000,3078,0.288,0.063,2628,2757,3645,3695,3595,0,0,0,0,0,0,14.38,14.53,28.83
$GC,2165,-0.80,-93.6,2628,2757,3696,3594,365.1,-12.0,265,2172,0.00,1.83,0.00,0.000,260,0.000,0.107,2622,3778,3645,3696,3595,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2230,-0.80,-93.6,2623,3778,3696,3595,373.8,-14.0,278,2239,0.00,1.70,0.00,0.000,1030,0.000,0.063,2626,2762,3645,3696,3595,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2558,-0.80,-93.6,2622,2761,3697,3595,412.9,-11.8,293,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2761,3645,3696,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2858,-0.80,-94.6,2622,2762,3697,3594,447.8,-11.5,303,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2761,3645,3695,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.80,-98.9,2623,2762,3696,3596,481.9,-11.3,313,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2761,3645,3696,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3458,-0.81,-104.9,2623,2762,3696,3595,515.3,-11.1,323,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2761,3644,3695,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-0.81,-110.8,2622,2762,3695,3594,548.6,-11.1,333,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2762,3645,3696,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4058,-0.82,-115.9,2623,2762,3696,3595,582.1,-11.2,343,4065,0.00,1.83,0.00,0.000,260,0.000,0.106,2614,3788,3645,3696,3595,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4114,-0.82,-115.9,2614,3788,3695,3594,588.9,-12.7,354,4123,0.00,1.70,0.00,0.000,1030,0.000,0.062,2613,2760,3644,3695,3594,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4419,-0.82,-118.1,2614,2766,3697,3590,624.0,-11.5,365,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2760,3645,3696,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4719,-0.82,-124.4,2615,2761,3697,3596,658.0,-11.1,375,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2760,3645,3696,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.82,-129.6,2613,2760,3697,3594,692.0,-11.2,385,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2760,3645,3695,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5319,-0.83,-133.8,2614,2760,3696,3595,725.7,-11.3,395,5326,0.00,1.80,0.00,0.000,260,0.000,0.106,2606,3781,3645,3696,3595,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5414,-0.83,-133.8,2606,3783,3697,3601,737.9,-13.2,414,5423,0.00,1.70,0.00,0.000,1030,0.000,0.062,2606,2757,3645,3695,3595,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,5531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5531,begin apogee
$GC,5534,-0.13,0.0,2607,2757,3697,3594,751.6,-11.5,422,5618,0.90,0.00,81.35,1.968,10244,0.262,0.000,2842,2757,3258,3282,3234,0,0,0,0,0,0,14.57,28.83,13.29
$STATE,5619,end apogee,CONTROL_FINISHED_OK
$STATE,5619,begin climb
$GC,5620,0.83,133.8,2843,2757,3279,3230,753.5,0.0,424,5741,1.02,0.00,114.25,1.929,11270,0.148,0.000,3150,2757,2707,2711,2703,0,0,0,0,0,0,13.95,28.83,12.99
$GC,6066,0.83,133.8,3151,2757,2712,2698,694.3,15.2,458,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2704,2711,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6366,0.83,133.8,3151,2758,2710,2698,648.2,15.3,468,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2704,2711,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6666,0.83,133.8,3150,2757,2717,2697,602.4,15.3,478,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2703,2710,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,0.83,133.8,3151,2757,2712,2697,556.7,15.3,488,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2703,2711,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7266,0.83,133.8,3151,2758,2711,2696,511.8,14.9,498,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2703,2710,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7566,0.83,133.8,3151,2757,2712,2696,466.4,15.1,508,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2704,2711,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,0.83,133.8,3151,2757,2712,2697,421.2,15.1,518,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2703,2711,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8166,0.83,133.8,3151,2758,2712,2697,376.7,14.7,528,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2703,2710,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8466,0.83,133.8,3151,2757,2712,2696,332.8,14.6,538,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2703,2711,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8766,0.83,133.8,3152,2758,2712,2697,289.9,14.2,548,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2757,2703,2710,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,0.83,133.8,3150,2757,2713,2696,249.1,13.3,558,9074,0.00,1.83,0.00,0.000,260,0.000,0.105,3150,3783,2703,2711,2696,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9118,0.83,133.8,3151,3784,2711,2697,241.3,14.6,568,9125,0.00,1.73,0.00,0.000,1030,0.000,0.060,3158,2743,2704,2712,2696,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9429,0.83,133.8,3159,2743,2712,2697,201.5,12.0,600,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2742,2704,2711,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9729,0.85,161.0,3159,2743,2713,2697,169.9,9.4,630,9754,0.00,0.00,23.35,1.380,8198,0.000,0.000,3157,2742,2600,2604,2596,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10050,0.87,195.1,3159,2744,2601,2589,139.0,8.8,662,10085,0.00,1.88,28.33,1.314,8452,0.000,0.100,3158,3792,2458,2460,2456,0,0,0,0,0,0,28.83,14.26,13.83
$GC,10169,0.87,195.1,3158,3792,2459,2455,126.0,11.6,684,10175,0.00,1.75,0.00,0.000,1030,0.000,0.060,3163,2760,2455,2458,2453,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10480,0.89,224.9,3164,2760,2460,2451,96.2,9.2,716,10494,0.00,0.00,12.48,0.486,8198,0.000,0.000,3164,2760,2340,2339,2342,0,0,0,0,0,0,28.83,28.83,14.16
$GC,10790,0.91,257.4,3165,2761,2356,2343,66.9,8.9,747,10809,0.00,2.50,15.00,0.388,8708,0.000,0.076,3175,1344,2208,2209,2208,0,0,0,0,0,0,28.83,14.42,14.24
$GC,10868,0.93,286.3,3175,1344,2219,2208,59.8,9.2,761,10891,0.00,2.50,13.38,0.365,9222,0.000,0.099,3175,2758,2090,2090,2090,0,0,0,0,0,0,28.83,14.42,14.22
$GC,11185,0.98,345.7,3176,2759,2098,2088,34.1,6.7,794,11220,0.10,1.88,26.27,0.305,10500,0.155,0.107,3212,3786,1845,1838,1853,0,0,0,0,0,0,14.42,14.38,14.28
$GC,11284,0.98,351.1,3213,3787,1843,1855,23.9,11.2,812,11292,0.00,1.73,2.35,0.277,9222,0.000,0.060,3220,2761,1826,1819,1833,0,0,0,0,0,0,28.83,14.41,14.30
$STATE,11585,end climb,NO_VERTICAL_VELOCITY
$STATE,11585,begin subsurface finish
$SM_CCo,11586,142.62,0.229,0,0,498,676.54
$FINISH1,8.5,1.021667,327
$GC,11765,0.23,327.3,3221,2760,466,531,8.5,8.3,843,11807,0.75,2.50,-31.38,0.000,20996,0.083,0.102,2962,1347,1926,1969,1883,0,0,0,0,0,0,14.33,14.31,14.52
$FINISH2,10.0
$STATE,11807,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11808,begin surface
$RAFOS_CLK,583
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14410.35,020814,021237
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.36
$INTERNAL_PRESSURE,8.70929
$TCM_TEMP,13.10
$XPDR_PINGS,5
$SC_FREEKB,3914848
$24V_AH,12.99,17.320
$10V_AH,12.88,0.000
$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,3.825,45.650,316.750,142.625,0.000,0.000,0.000,0.000,1.250,0.000,0.000,0.000,9443.753,594.913,1788.305,68.144,0.000,1231.905,0.000,1266.970,0.000,0.539,0.000
$DEVICE_MAMPS,288.405,133.875,1967.580,228.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.000,0.000,0.000,0.000
$MEM,291920
$DATA_FILE_SIZE,30084,849
$CAP_FILE_SIZE,124896,0
$CFSIZE,2097872896,2081062912
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5532.30,0x2378b6,2,5
$INTR,1,11763.66,0x2378b6,5,5
$SOUNDSPEED,1450.2
$GPS,020814,151926,7136.708,-14409.371,0,10079.2,0,22.6