version: 66.12
glider: 196
mission: 7
dive: 54
start: 8 2 114 18 48 17
data:
$ID,196
$MISSION,7
$DIVE,54
$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,19
$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
$GPS1,020814,184646,7135.383,-14410.679,0,10095.2,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,25.79
$_SM_ANGLEo,-15.7
$GPS2,020814,184646,7135.383,-14410.679,0,10095.2,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,356.6,1209,-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,-93.6,2892,2760,3321,3204,0.0,0.0,0,21,0.00,0.00,-4.80,0.000,16390,0.000,0.000,2891,2760,3645,3713,3577,0,0,0,0,0,0,28.83,28.83,14.59
$GC,22,-0.80,-93.6,2892,2761,3714,3579,0.0,0.0,0,28,0.75,1.83,0.00,0.000,4356,0.076,0.107,2619,3786,3647,3714,3580,0,0,0,0,0,0,14.36,14.37,28.83
$GC,253,-0.80,-93.6,2620,3786,3715,3584,85.9,-22.5,46,259,0.00,1.73,0.00,0.000,1030,0.000,0.061,2619,2758,3649,3714,3584,0,0,0,0,0,0,28.83,14.45,28.83
$GC,563,-0.80,-93.6,2620,2759,3715,3585,146.9,-18.7,78,570,0.00,1.85,0.00,0.000,260,0.000,0.106,2611,3786,3649,3714,3584,0,0,0,0,0,0,28.83,14.45,28.83
$GC,794,-0.80,-93.6,2612,3786,3715,3584,190.7,-17.3,124,801,0.00,1.73,0.00,0.000,1030,0.000,0.062,2612,2759,3649,3714,3584,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1105,-0.80,-93.6,2613,2760,3715,3585,235.8,-14.0,156,1111,0.00,1.85,0.00,0.000,260,0.000,0.109,2603,3790,3649,3714,3584,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1335,-0.80,-93.6,2605,3791,3715,3585,271.6,-15.0,202,1343,0.10,1.73,0.00,0.000,3078,0.288,0.062,2628,2758,3649,3714,3584,0,0,0,0,0,0,14.39,14.56,28.83
$GC,1647,-0.80,-93.6,2628,2758,3716,3584,309.2,-11.7,214,1653,0.00,1.85,0.00,0.000,260,0.000,0.109,2622,3789,3649,3714,3584,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1877,-0.80,-93.6,2623,3789,3715,3584,339.8,-13.1,260,1884,0.00,1.73,0.00,0.000,1030,0.000,0.062,2622,2753,3648,3713,3584,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2188,-0.80,-93.6,2623,2753,3715,3584,376.9,-11.9,272,2195,0.00,1.85,0.00,0.000,260,0.000,0.106,2614,3786,3649,3714,3584,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2259,-0.80,-93.6,2614,3787,3714,3585,386.3,-13.4,286,2266,0.00,1.73,0.00,0.000,1030,0.000,0.063,2614,2754,3649,3714,3584,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2580,-0.80,-93.6,2615,2755,3715,3585,425.6,-12.2,300,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2754,3649,3714,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2880,-0.80,-93.6,2614,2754,3715,3584,461.9,-11.9,310,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2754,3649,3714,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3180,-0.80,-93.6,2614,2754,3714,3583,497.4,-11.7,320,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2754,3649,3714,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3480,-0.80,-93.6,2614,2755,3715,3585,532.5,-11.7,330,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2754,3649,3714,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3780,-0.80,-95.0,2614,2754,3716,3584,567.1,-11.5,340,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2754,3647,3714,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4080,-0.80,-98.3,2615,2755,3715,3585,601.4,-11.4,350,4087,0.00,1.83,0.00,0.000,260,0.000,0.106,2605,3784,3649,3714,3585,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4141,-0.80,-98.3,2605,3785,3715,3585,609.1,-13.2,362,4148,0.08,1.70,0.00,0.000,3078,0.285,0.062,2624,2761,3649,3714,3584,0,0,0,0,0,0,14.54,14.69,28.83
$GC,4472,-0.81,-111.3,2625,2761,3715,3584,644.4,-10.6,378,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2761,3649,3714,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4772,-0.82,-124.6,2625,2762,3715,3585,676.0,-10.5,388,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2761,3649,3714,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5072,-0.83,-136.7,2625,2761,3715,3585,708.2,-10.6,398,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2761,3648,3713,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5372,-0.84,-145.9,2625,2761,3715,3584,740.5,-10.8,408,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2761,3648,3713,3584,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5461,begin apogee
$GC,5464,-0.13,0.0,2624,2761,3715,3585,750.3,-10.9,411,5558,0.85,0.00,82.93,1.951,10246,0.256,0.000,2847,2760,3252,3281,3224,0,0,0,0,0,0,14.42,28.83,13.21
$STATE,5559,end apogee,CONTROL_FINISHED_OK
$STATE,5559,begin climb
$GC,5560,0.84,145.9,2848,2759,3282,3224,752.4,0.0,414,5688,1.05,0.00,125.22,1.907,10758,0.141,0.000,3157,2760,2661,2665,2657,0,0,0,0,0,0,13.88,28.83,12.94
$MODEM_MSG,CACST,6,1,20140802200438.189612,3,70,-5,0092,0150,255,03,03,04,03,-1,-01,-01,1,3,0,0,150,12.7,0.6,-100,2.4,-01,0.1,32,900,0025*09
$GC,6007,0.84,145.9,3158,2761,2663,2647,689.2,16.4,434,6014,0.00,2.53,0.00,0.000,516,0.000,0.076,3167,1341,2654,2663,2646,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6033,0.84,145.9,3168,1342,2664,2646,685.0,15.2,439,6041,0.00,2.58,0.00,0.000,1030,0.000,0.096,3167,2743,2653,2662,2645,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6338,0.84,145.9,3168,2744,2663,2646,633.2,17.1,450,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2748,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6638,0.84,145.9,3168,2744,2664,2645,582.2,17.0,460,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2743,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,0.84,145.9,3168,2743,2664,2643,531.8,16.7,470,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2743,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7238,0.84,145.9,3168,2744,2664,2645,481.8,16.6,480,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2743,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7538,0.84,145.9,3168,2744,2664,2645,432.2,16.4,490,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2743,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7838,0.84,145.9,3168,2744,2664,2645,383.0,16.2,500,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2744,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,0.84,145.9,3168,2743,2664,2644,335.2,16.0,510,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2743,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8438,0.84,145.9,3168,2744,2664,2645,287.9,15.7,520,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2743,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8738,0.84,145.9,3168,2744,2664,2645,241.7,15.1,532,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2743,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9038,0.84,145.9,3168,2744,2664,2645,200.0,12.9,562,9045,0.00,1.85,0.00,0.000,260,0.000,0.105,3167,3787,2653,2663,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9089,0.84,145.9,3168,3788,2664,2646,192.3,15.2,572,9096,0.00,1.75,0.00,0.000,1030,0.000,0.059,3175,2732,2654,2664,2644,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9400,0.85,170.8,3176,2732,2665,2644,157.4,9.6,604,9428,0.00,2.38,20.90,1.381,8708,0.000,0.073,3185,1336,2555,2560,2550,0,0,0,0,0,0,28.83,14.42,13.85
$GC,9478,0.87,194.4,3186,1336,2560,2551,150.1,9.7,618,9506,0.00,2.47,20.48,1.318,9222,0.000,0.099,3185,2738,2458,2461,2456,0,0,0,0,0,0,28.83,14.45,13.86
$GC,9800,0.88,205.9,3186,2739,2462,2452,114.1,10.7,652,9816,0.00,1.85,6.90,1.248,8452,0.000,0.102,3185,3783,2415,2417,2413,0,0,0,0,0,0,28.83,14.37,13.84
$GC,9919,0.88,205.9,3186,3786,2414,2414,99.2,12.8,675,9928,0.00,1.75,0.00,0.000,1030,0.000,0.059,3193,2744,2411,2409,2413,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10225,0.90,230.8,3193,2745,2416,2412,68.2,9.6,706,10238,0.00,0.00,10.25,0.394,8198,0.000,0.000,3192,2744,2318,2317,2320,0,0,0,0,0,0,28.83,28.83,14.24
$GC,10535,0.95,306.5,3193,2745,2327,2321,43.8,5.3,737,10577,0.00,1.90,33.05,0.321,8452,0.000,0.107,3192,3787,2007,2003,2012,0,0,0,0,0,0,28.83,14.40,14.26
$GC,10801,0.97,339.4,3193,3787,2008,2009,20.8,8.9,788,10824,0.00,1.75,14.50,0.262,9222,0.000,0.060,3200,2748,1871,1864,1879,0,0,0,0,0,0,28.83,14.47,14.30
$STATE,11077,end climb,NO_VERTICAL_VELOCITY
$STATE,11077,begin subsurface finish
$SM_CCo,11078,147.12,0.232,0,0,499,676.54
$FINISH1,8.3,1.021652,328
$GC,11260,0.23,328.1,3199,2754,467,527,8.3,12.8,817,11303,0.73,1.90,-32.03,0.000,21252,0.086,0.138,2949,3775,1924,1969,1879,0,0,0,0,0,0,14.33,14.31,14.53
$FINISH2,9.8
$STATE,11303,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11303,begin surface
$RAFOS_CLK,348
$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,43.89
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,1
$SC_FREEKB,3913952
$24V_AH,12.94,17.777
$10V_AH,13.17,0.000
$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,3.550,45.825,314.225,147.125,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,8992.188,592.492,1745.647,61.789,0.000,1196.106,0.000,1220.972,1483.000,0.539,0.000
$DEVICE_MAMPS,287.640,138.465,1950.750,231.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11318.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.767,0.000,0.000,0.000
$MEM,291112
$DATA_FILE_SIZE,26754,823
$CAP_FILE_SIZE,119835,0
$CFSIZE,2097872896,2080735232
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5461.69,0x2378b6,2,5
$INTR,1,11258.43,0x2378b6,5,5
$SOUNDSPEED,1449.7
$GPS,020814,215710,7136.296,-14408.856,0,10106.9,0,22.6