version: 66.12
glider: 196
mission: 7
dive: 50
start: 8 2 114 5 50 8
data:
$ID,196
$MISSION,7
$DIVE,50
$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,45
$R_STBD_OVSHOOT,17
$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
$GPS1,020814,054231,7135.377,-14409.600,13,0.7,33,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.6
$GPS2,020814,054954,7135.336,-14409.600,41,0.7,61,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.6,1251,-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,-93.6,179,2762,469,533,0.0,0.0,0,70,0.00,0.00,-53.72,0.000,16386,0.000,0.000,177,2761,1984,1994,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.84,-145.9,178,2762,1995,1976,4.3,-7.0,5,125,11.75,2.40,-33.28,0.000,18948,0.403,0.091,2615,1356,3854,3914,3795,0,0,0,0,0,0,14.13,14.34,14.54
$GC,318,-0.84,-145.9,2617,1356,3920,3802,63.2,-23.4,52,327,0.00,2.55,0.00,0.000,1030,0.000,0.099,2610,2762,3857,3914,3801,0,0,0,0,0,0,28.83,14.38,28.83
$GC,624,-0.84,-145.9,2607,2763,3915,3803,135.0,-22.2,83,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2762,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-0.84,-145.9,2607,2762,3915,3802,195.3,-17.8,113,930,0.00,1.83,0.00,0.000,260,0.000,0.107,2598,3780,3861,3914,3809,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1114,-0.84,-145.9,2599,3779,3915,3804,232.9,-19.5,151,1121,0.00,1.70,0.00,0.000,1030,0.000,0.062,2598,2764,3858,3914,3802,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1425,-0.84,-145.9,2599,2764,3915,3801,286.6,-16.8,169,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2764,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.84,-145.9,2600,2765,3915,3801,335.5,-16.1,179,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2764,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.84,-145.9,2599,2765,3914,3802,382.6,-15.7,189,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2764,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-0.84,-145.9,2599,2765,3912,3802,429.9,-15.8,199,2332,0.12,1.83,0.00,0.000,2308,0.308,0.107,2616,3781,3857,3913,3801,0,0,0,0,0,0,14.50,14.58,28.83
$GC,2371,-0.84,-145.9,2617,3779,3914,3801,437.3,-16.3,208,2378,0.00,1.70,0.00,0.000,1030,0.000,0.063,2613,2757,3857,3914,3801,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2687,-0.84,-145.9,2617,2757,3914,3802,483.4,-14.4,221,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2756,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2987,-0.84,-145.9,2617,2757,3914,3801,526.7,-14.3,231,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2756,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3287,-0.84,-145.9,2617,2757,3914,3801,569.6,-14.2,241,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2756,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-0.84,-145.9,2617,2757,3914,3801,612.0,-14.0,251,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2756,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3887,-0.84,-145.9,2617,2756,3914,3800,653.9,-14.0,261,3894,0.00,1.83,0.00,0.000,260,0.000,0.107,2608,3787,3856,3913,3799,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3953,-0.84,-145.9,2609,3784,3914,3799,664.1,-15.8,274,3961,0.00,1.70,0.00,0.000,1030,0.000,0.062,2608,2760,3855,3913,3798,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4281,-0.84,-145.9,2608,2760,3914,3799,710.4,-14.1,289,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2760,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4579,begin apogee
$GC,4582,-0.13,0.0,2609,2760,3914,3799,752.5,-14.0,299,4709,0.88,0.00,123.62,1.954,10244,0.247,0.000,2843,2760,3258,3280,3237,0,0,0,0,0,0,14.59,28.83,13.12
$STATE,4710,end apogee,CONTROL_FINISHED_OK
$STATE,4710,begin climb
$GC,4711,0.84,145.9,2844,2761,3275,3234,755.8,0.0,303,4842,1.05,0.00,124.55,1.919,11270,0.140,0.000,3156,2760,2659,2668,2651,0,0,0,0,0,0,13.79,28.83,12.91
$GC,5157,0.84,145.9,3157,2761,2668,2645,692.8,16.5,337,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2760,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,0.84,145.9,3157,2761,2668,2644,644.0,16.3,347,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2758,2655,2667,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,0.84,145.9,3157,2761,2668,2643,595.5,16.1,357,5764,0.00,2.45,0.00,0.000,516,0.000,0.076,3167,1349,2655,2667,2643,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5788,0.84,145.9,3168,1349,2669,2643,590.6,14.8,363,5795,0.00,2.50,0.00,0.000,1030,0.000,0.097,3167,2739,2658,2667,2650,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6119,0.84,145.9,3168,2739,2669,2642,535.3,16.7,379,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2739,2654,2667,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,0.84,145.9,3168,2740,2668,2643,485.2,16.6,389,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2739,2654,2667,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6719,0.84,145.9,3168,2739,2669,2642,436.2,16.2,399,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2739,2655,2668,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7019,0.84,145.9,3168,2740,2668,2643,387.7,16.2,409,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2739,2655,2668,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,0.84,145.9,3168,2740,2667,2643,339.5,16.1,419,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2739,2654,2666,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7619,0.84,145.9,3168,2740,2668,2643,292.3,15.5,429,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2739,2654,2667,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,0.84,145.9,3168,2736,2668,2642,246.6,15.2,439,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2739,2654,2667,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8219,0.84,145.9,3168,2739,2668,2642,204.3,13.4,469,8226,0.00,1.88,0.00,0.000,260,0.000,0.105,3167,3786,2654,2667,2642,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8264,0.84,145.9,3168,3787,2668,2643,197.4,14.8,478,8274,0.00,1.75,0.00,0.000,1030,0.000,0.059,3175,2736,2655,2668,2642,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8570,0.85,170.3,3176,2736,2668,2641,162.2,9.6,509,8598,0.00,2.42,20.60,1.340,8708,0.000,0.073,3183,1333,2557,2565,2550,0,0,0,0,0,0,28.83,14.34,13.76
$GC,8632,0.87,194.6,3184,1329,2566,2551,156.2,9.6,520,8659,0.00,2.55,21.12,1.369,9222,0.000,0.097,3183,2738,2458,2464,2453,0,0,0,0,0,0,28.83,14.32,13.72
$GC,8964,0.88,206.3,3184,2738,2464,2448,118.2,10.7,555,8978,0.00,1.95,7.47,1.256,8452,0.000,0.106,3183,3792,2412,2418,2407,0,0,0,0,0,0,28.83,14.27,13.78
$GC,9027,0.88,206.3,3184,3793,2417,2408,110.5,12.9,567,9033,0.00,1.80,0.00,0.000,1030,0.000,0.057,3191,2732,2411,2416,2407,0,0,0,0,0,0,28.83,14.31,28.83
$MODEM_MSG,CACST,6,1,20140802080438.751893,3,192,-1,0123,0150,255,02,02,04,04,-1,-01,-01,1,3,0,0,150,16.7,1.2,-100,1.8,-01,-0.2,35,900,0025*1F
$MODEM_MSG,CACST,6,1,20140802081631.461597,3,69,00,0094,0150,217,04,04,03,04,-1,-01,-01,1,3,0,0,150,20.0,0.6,-100,2.4,-01,0.2,22,900,0025*13
$GC,9338,0.89,228.3,3192,2733,2417,2406,78.1,9.8,599,9352,0.00,1.95,8.82,0.423,8452,0.000,0.106,3191,3786,2329,2333,2326,0,0,0,0,0,0,28.83,14.34,14.14
$GC,9391,0.89,228.3,3191,3786,2341,2327,72.3,11.8,609,9398,0.00,1.77,0.57,0.289,9222,0.000,0.059,3198,2732,2328,2333,2324,0,0,0,0,0,0,28.83,14.40,14.28
$GC,9702,0.94,299.8,3199,2733,2343,2325,46.0,5.7,641,9744,0.00,1.92,31.42,0.326,8452,0.000,0.107,3198,3786,2034,2032,2037,0,0,0,0,0,0,28.83,14.33,14.24
$GC,9888,0.96,320.1,3199,3786,2040,2035,29.0,9.9,676,9902,0.00,1.75,8.85,0.289,9222,0.000,0.060,3206,2746,1951,1946,1957,0,0,0,0,0,0,28.83,14.44,14.26
$GC,10207,1.05,455.0,3207,2747,1952,1955,11.8,0.4,709,10274,0.00,2.42,58.30,0.229,8708,0.000,0.076,3208,1340,1399,1407,1391,0,0,0,0,0,0,28.83,14.38,14.29
$STATE,10277,end climb,NO_VERTICAL_VELOCITY
$STATE,10277,begin subsurface finish
$SM_CCo,10278,97.25,0.232,0,0,500,676.54
$FINISH1,8.8,1.020185,404
$GC,10451,0.28,404.5,3208,2749,466,528,8.8,2.0,720,10484,0.65,2.42,-24.92,0.000,20996,0.069,0.097,2967,1345,1614,1671,1558,0,0,0,0,0,0,14.35,14.33,14.53
$FINISH2,9.2
$STATE,10484,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10484,begin surface
$RAFOS_CLK,134
$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,43.77
$INTERNAL_PRESSURE,8.66046
$TCM_TEMP,13.20
$XPDR_PINGS,4
$SC_FREEKB,3915744
$24V_AH,12.91,16.884
$10V_AH,12.77,0.000
$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,14.450,47.650,405.350,97.250,0.000,0.000,0.000,265.225,1.000,0.000,62.771,0.000,8299.676,655.117,1886.217,77.743,0.000,1498.757,0.000,1082.091,1495.000,0.540,0.000
$DEVICE_MAMPS,403.155,107.100,1953.810,231.795,0.000,0.000,0.000,146.115,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10517.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.197,0.000,0.000,0.000
$MEM,292728
$DATA_FILE_SIZE,23341,725
$CAP_FILE_SIZE,118850,0
$CFSIZE,2097872896,2081390592
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12810.02,0x2378b6,7,5
$INTR,1,4580.46,0x2378b6,2,5
$SOUNDSPEED,1449.4
$GPS,020814,084522,7136.697,-14410.361,0,10040.3,0,22.6