version: 66.12
glider: 196
mission: 7
dive: 53
start: 8 2 114 15 20 59
data:
$ID,196
$MISSION,7
$DIVE,53
$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,46
$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
$GPS1,020814,151926,7136.708,-14409.371,0,10079.2,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.13
$_SM_ANGLEo,-20.9
$GPS2,020814,151926,7136.708,-14409.371,0,10079.2,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,173.1,1363,-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,14,-0.80,-93.6,2964,2761,1972,1886,0.0,0.0,0,31,0.00,0.00,-14.75,0.000,16386,0.000,0.000,2962,2761,2653,2705,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.80,-93.6,2962,2761,2707,2603,11.1,0.0,1,59,0.95,1.80,-19.00,0.000,20740,0.076,0.126,2625,3788,3639,3690,3589,0,0,0,0,0,0,14.36,14.35,14.59
$GC,63,-0.80,-93.6,2626,3788,3696,3591,15.3,-13.2,6,71,0.00,1.73,0.00,0.000,1030,0.000,0.060,2625,2763,3643,3695,3592,0,0,0,0,0,0,28.83,14.42,28.83
$GC,368,-0.80,-93.6,2626,2762,3695,3594,88.8,-20.1,37,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2762,3644,3695,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,668,-0.80,-93.6,2627,2764,3696,3596,146.5,-18.3,67,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2762,3648,3703,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,-0.80,-93.6,2626,2762,3694,3594,195.6,-14.6,97,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2762,3644,3695,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.80,-93.6,2626,2762,3696,3594,237.6,-13.6,127,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2762,3644,3695,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1578,-0.80,-93.6,2626,2762,3696,3594,278.8,-13.1,144,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2762,3643,3693,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1878,-0.80,-93.6,2627,2763,3696,3594,315.7,-12.2,154,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2762,3647,3694,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2178,-0.80,-93.6,2626,2762,3696,3594,352.1,-12.1,164,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2762,3644,3694,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2478,-0.80,-93.6,2626,2762,3696,3594,387.7,-11.7,174,2485,0.00,2.35,0.00,0.000,516,0.000,0.076,2626,1366,3644,3694,3594,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2514,-0.80,-99.1,2622,1366,3695,3594,391.7,-11.2,181,2522,0.00,2.50,0.00,0.000,1030,0.000,0.103,2615,2757,3644,3694,3594,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2842,-0.80,-99.1,2617,2758,3695,3595,430.4,-11.8,196,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2757,3644,3694,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3141,-0.80,-99.1,2617,2759,3695,3595,465.8,-11.7,206,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2758,3644,3694,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,-0.80,-99.7,2621,2758,3696,3594,500.7,-11.6,216,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2758,3644,3695,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-0.80,-100.7,2617,2755,3696,3594,535.7,-11.5,226,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2758,3644,3694,3594,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140802160439.028430,3,130,-2,0136,0150,255,03,03,04,03,-1,-01,-01,1,3,0,0,150,14.5,1.5,-100,1.5,-01,0.3,32,900,0025*31
$GC,4042,-0.80,-100.7,2617,2759,3695,3595,570.8,-11.7,236,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2758,3644,3694,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4341,-0.80,-101.6,2617,2758,3696,3594,605.3,-11.6,246,4348,0.00,1.83,0.00,0.000,260,0.000,0.107,2608,3787,3644,3694,3594,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4417,-0.80,-101.6,2609,3788,3695,3595,615.3,-13.6,261,4425,0.00,1.70,0.00,0.000,1030,0.000,0.061,2609,2760,3644,3694,3594,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4735,-0.80,-101.6,2609,2760,3696,3594,652.9,-11.8,274,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2760,3644,3695,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.80,-101.6,2609,2761,3695,3595,688.3,-11.7,284,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2760,3644,3694,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5335,-0.81,-101.9,2609,2760,3690,3594,723.0,-11.6,294,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2760,3644,3694,3594,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5573,begin apogee
$GC,5576,-0.13,0.0,2609,2760,3696,3594,750.5,-11.4,302,5660,0.90,0.00,81.62,1.963,10246,0.258,0.000,2844,2760,3257,3281,3233,0,0,0,0,0,0,14.55,28.83,13.28
$STATE,5661,end apogee,CONTROL_FINISHED_OK
$STATE,5661,begin climb
$GC,5663,0.81,101.9,2845,2760,3278,3229,752.4,0.0,304,5758,1.02,0.00,88.25,1.938,10246,0.146,0.000,3149,2760,2836,2839,2834,0,0,0,0,0,0,13.93,28.83,13.02
$GC,6054,0.81,101.9,3150,2760,2840,2829,705.8,13.7,318,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2834,2839,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6354,0.81,101.9,3150,2761,2840,2829,664.8,13.7,328,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,0.81,101.9,3149,2760,2840,2828,624.1,13.6,338,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6954,0.81,101.9,3150,2761,2840,2828,583.9,13.3,348,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,0.81,101.9,3150,2761,2840,2828,543.8,13.3,358,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7554,0.81,101.9,3149,2761,2840,2828,503.4,13.5,368,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7855,0.81,101.9,3149,2759,2840,2828,463.3,13.3,378,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,0.81,101.9,3149,2760,2840,2827,423.5,13.2,388,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2760,2833,2839,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8454,0.81,101.9,3150,2761,2840,2828,384.3,12.9,398,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8754,0.81,101.9,3150,2761,2840,2828,346.0,12.6,408,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2759,2833,2840,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9054,0.81,101.9,3150,2761,2840,2828,308.4,12.4,418,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2760,2833,2839,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9354,0.81,101.9,3149,2760,2840,2827,271.9,12.0,428,9361,0.00,2.42,0.00,0.000,516,0.000,0.075,3159,1340,2833,2839,2827,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9385,0.81,107.6,3161,1341,2840,2829,268.5,11.2,434,9393,0.00,2.47,2.55,0.853,9222,0.000,0.096,3160,2745,2820,2826,2815,0,0,0,0,0,0,28.83,14.62,13.77
$GC,9697,0.81,108.3,3160,2745,2841,2819,231.5,11.6,458,9701,0.00,0.00,2.67,0.942,8198,0.000,0.000,3160,2743,2816,2823,2809,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9998,0.82,125.3,3160,2745,2838,2813,199.0,10.2,488,10023,0.00,2.45,17.70,1.375,8708,0.000,0.074,3169,1344,2742,2744,2740,0,0,0,0,0,0,28.83,14.44,13.88
$GC,10072,0.84,148.9,3169,1344,2742,2740,191.6,9.7,500,10100,0.00,2.47,20.92,1.446,9222,0.000,0.097,3169,2748,2644,2646,2643,0,0,0,0,0,0,28.83,14.46,13.83
$GC,10395,0.85,170.4,3169,2749,2648,2640,156.7,9.8,534,10422,0.00,2.42,18.58,1.338,8708,0.000,0.072,3177,1341,2556,2557,2555,0,0,0,0,0,0,28.83,14.31,13.74
$GC,10466,0.87,199.1,3178,1342,2557,2556,149.7,9.3,547,10495,0.00,2.47,24.45,1.265,9222,0.000,0.097,3177,2730,2445,2445,2446,0,0,0,0,0,0,28.83,14.28,13.71
$GC,10799,0.88,213.9,3178,2730,2442,2434,112.8,10.4,582,10812,0.00,0.00,10.15,1.220,8198,0.000,0.000,3178,2730,2379,2381,2378,0,0,0,0,0,0,28.83,28.83,13.78
$GC,11109,0.90,236.4,3178,2729,2382,2374,80.4,9.8,613,11124,0.00,0.00,9.12,0.428,8198,0.000,0.000,3178,2731,2295,2297,2294,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11419,0.93,283.3,3178,2731,2306,2294,51.6,7.7,644,11445,0.00,2.45,20.83,0.344,8708,0.000,0.076,3177,1348,2102,2101,2104,0,0,0,0,0,0,28.83,14.40,14.25
$GC,11489,0.97,343.8,3178,1348,2108,2104,46.8,6.6,655,11524,0.00,2.50,26.70,0.325,9222,0.000,0.099,3178,2730,1856,1849,1863,0,0,0,0,0,0,28.83,14.38,14.18
$GC,11818,1.00,384.6,3179,2731,1853,1855,19.6,8.2,690,11841,0.12,0.00,17.80,0.258,10246,0.138,0.000,3227,2730,1688,1684,1692,0,0,0,0,0,0,14.42,28.83,14.30
$STATE,12066,end climb,NO_VERTICAL_VELOCITY
$STATE,12066,begin subsurface finish
$SM_CCo,12067,128.15,0.230,0,0,499,676.54
$FINISH1,8.9,1.019805,0
$GC,12253,0.00,0.0,3228,2730,466,530,8.9,1.4,715,12317,1.05,1.90,-57.22,0.000,20740,0.128,0.136,2891,3792,3261,3320,3202,0,0,0,0,0,0,14.31,14.31,14.54
$FINISH2,14.1
$STATE,12318,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12318,begin surface
$RAFOS_CLK,498
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14410.35,020814,021237
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.15
$INTERNAL_PRESSURE,8.81672
$TCM_TEMP,13.20
$XPDR_PINGS,9
$SC_FREEKB,3914400
$24V_AH,13.02,17.549
$10V_AH,13.27,0.000
$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,4.050,36.050,341.350,128.150,0.000,0.000,0.000,0.000,2.250,0.000,0.000,0.000,10151.419,606.441,1584.942,64.092,0.000,1153.589,0.000,1086.660,1485.000,0.539,0.000
$DEVICE_MAMPS,257.805,136.170,1962.990,230.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12350.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.885,0.000,0.000,0.000
$MEM,291448
$DATA_FILE_SIZE,23337,724
$CAP_FILE_SIZE,121029,0
$CFSIZE,2097872896,2080899072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5574.89,0x2378b6,2,5
$INTR,1,12251.12,0x2378b6,5,5
$SOUNDSPEED,1450.2
$GPS,020814,184646,7135.383,-14410.679,0,10095.2,0,22.6