version: 66.12
glider: 196
mission: 7
dive: 55
start: 8 2 114 21 58 38
data:
$ID,196
$MISSION,7
$DIVE,55
$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,20
$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
$GPS1,020814,215710,7136.296,-14408.856,0,10106.9,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.82
$_SM_ANGLEo,-26.9
$GPS2,020814,215710,7136.296,-14408.856,0,10106.9,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,208.0,865,-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,-93.6,2950,2765,1970,1882,0.0,0.0,0,30,0.00,0.00,-14.15,0.000,16386,0.000,0.000,2948,2763,2652,2706,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.80,-93.6,2948,2763,2708,2599,12.1,0.0,1,59,0.90,1.85,-18.25,0.000,20740,0.076,0.136,2627,3782,3644,3699,3590,0,0,0,0,0,0,14.37,14.32,14.58
$GC,282,-0.80,-93.6,2628,3783,3700,3595,78.5,-22.6,50,293,0.00,1.73,0.00,0.000,1030,0.000,0.060,2628,2757,3646,3699,3594,0,0,0,0,0,0,28.83,14.43,28.83
$GC,588,-0.80,-93.6,2628,2757,3707,3594,138.8,-18.3,81,595,0.00,1.85,0.00,0.000,260,0.000,0.106,2619,3784,3646,3699,3594,0,0,0,0,0,0,28.83,14.45,28.83
$GC,679,-0.80,-93.6,2620,3785,3700,3595,156.9,-20.2,99,685,0.00,1.73,0.00,0.000,1030,0.000,0.062,2619,2759,3646,3699,3594,0,0,0,0,0,0,28.83,14.50,28.83
$GC,989,-0.80,-93.6,2620,2759,3700,3595,207.3,-14.4,131,996,0.00,1.85,0.00,0.000,260,0.000,0.108,2611,3786,3646,3699,3594,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1070,-0.80,-93.6,2612,3786,3700,3594,220.2,-15.7,147,1077,0.00,1.73,0.00,0.000,1030,0.000,0.063,2611,2760,3646,3699,3594,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1401,-0.80,-93.6,2612,2760,3700,3594,266.4,-13.4,173,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2759,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1701,-0.80,-93.6,2612,2760,3700,3594,305.5,-12.9,183,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2760,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,-0.80,-93.6,2612,2762,3700,3594,343.4,-12.7,193,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2760,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2301,-0.80,-93.6,2612,2761,3699,3595,381.0,-12.4,203,2308,0.00,2.40,0.00,0.000,516,0.000,0.076,2611,1359,3647,3700,3594,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2382,-0.80,-93.6,2612,1359,3700,3594,390.6,-11.7,219,2389,0.10,2.50,0.00,0.000,3078,0.276,0.102,2627,2757,3646,3699,3594,0,0,0,0,0,0,14.49,14.59,28.83
$GC,2694,-0.80,-93.9,2628,2757,3700,3594,426.7,-11.6,231,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2756,3648,3700,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2993,-0.80,-96.9,2628,2758,3700,3595,461.1,-11.4,241,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2757,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3293,-0.80,-99.6,2628,2757,3701,3594,495.2,-11.4,251,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2757,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3594,-0.81,-103.8,2628,2757,3701,3594,529.0,-11.3,261,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2757,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,-0.81,-108.8,2628,2758,3700,3595,562.6,-11.2,271,3900,0.00,1.80,0.00,0.000,260,0.000,0.107,2621,3779,3646,3699,3594,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3949,-0.81,-108.8,2622,3779,3701,3594,569.4,-12.7,282,3959,0.00,1.67,0.00,0.000,1030,0.000,0.061,2621,2767,3646,3699,3594,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4254,-0.81,-110.3,2622,2767,3700,3595,604.6,-11.5,293,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2766,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4554,-0.81,-114.0,2622,2766,3700,3594,638.5,-11.3,303,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2766,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.82,-118.6,2622,2766,3701,3594,672.4,-11.2,313,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2766,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5154,-0.82,-125.2,2622,2767,3700,3595,705.7,-11.1,323,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2766,3646,3698,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,-0.83,-130.6,2622,2766,3701,3594,739.4,-11.2,333,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2766,3646,3699,3594,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5573,begin apogee
$GC,5576,-0.13,0.0,2622,2766,3701,3594,752.7,-11.0,337,5660,0.85,0.00,81.57,1.950,10244,0.255,0.000,2845,2766,3257,3282,3232,0,0,0,0,0,0,14.59,28.83,13.32
$STATE,5661,end apogee,CONTROL_FINISHED_OK
$STATE,5661,begin climb
$GC,5662,0.83,130.6,2846,2766,3280,3227,754.5,0.0,339,5782,1.00,2.50,111.00,1.917,10756,0.133,0.072,3152,1342,2720,2719,2722,0,0,0,0,0,0,13.97,14.00,13.00
$GC,6006,0.83,130.6,3152,1342,2720,2716,716.5,13.9,403,6013,0.00,2.58,0.00,0.000,1030,0.000,0.097,3152,2739,2716,2718,2715,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6317,0.83,130.6,3153,2740,2718,2716,669.1,15.3,415,6324,0.00,1.90,0.00,0.000,260,0.000,0.105,3151,3786,2716,2718,2715,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6548,0.83,130.6,3152,3786,2720,2715,628.1,17.7,461,6555,0.00,1.75,0.00,0.000,1030,0.000,0.059,3159,2744,2716,2718,2714,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6859,0.83,130.6,3161,2745,2719,2715,578.9,15.7,473,6866,0.00,1.88,0.00,0.000,260,0.000,0.105,3160,3786,2716,2718,2714,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7089,0.83,130.6,3160,3787,2720,2715,537.1,18.0,519,7096,0.00,1.75,0.00,0.000,1030,0.000,0.059,3166,2738,2716,2718,2714,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7400,0.83,130.6,3167,2739,2719,2715,487.5,15.8,531,7407,0.00,1.88,0.00,0.000,260,0.000,0.105,3166,3782,2716,2718,2714,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7451,0.83,130.6,3167,3782,2720,2714,478.3,18.6,541,7458,0.00,1.75,0.00,0.000,1030,0.000,0.058,3174,2733,2716,2719,2714,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7762,0.83,130.6,3175,2734,2720,2713,427.8,16.2,553,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2733,2716,2719,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8062,0.83,130.6,3175,2734,2719,2713,379.4,16.1,563,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2734,2716,2719,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8362,0.83,130.6,3175,2734,2720,2713,331.7,15.9,573,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2734,2715,2718,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8662,0.83,130.6,3177,2735,2720,2715,285.1,15.2,583,8669,0.00,1.88,0.00,0.000,260,0.000,0.105,3174,3777,2716,2719,2713,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8693,0.83,130.6,3175,3777,2720,2713,279.9,17.0,589,8700,0.00,1.73,0.00,0.000,1030,0.000,0.057,3181,2743,2716,2719,2713,0,0,0,0,0,0,28.83,14.50,28.83
$MODEM_MSG,CACST,6,1,20140803000437.489628,3,360,-4,0093,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,16.7,1.0,-100,2.0,-01,-0.7,19,900,0025*1C
$MODEM_MSG,CACST,6,1,20140803001630.382107,3,462,02,0143,0150,255,02,02,04,04,-1,-01,-01,1,3,0,0,150,23.0,2.9,-100,0.1,-01,0.1,29,900,0025*20
$GC,9004,0.83,130.6,3182,2744,2720,2714,232.8,14.8,611,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2743,2716,2719,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9304,0.83,130.6,3182,2743,2721,2712,192.6,12.7,641,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2743,2716,2719,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9604,0.85,159.8,3182,2744,2721,2714,160.9,9.2,671,9636,0.00,0.00,24.70,1.421,8198,0.000,0.000,3181,2743,2602,2603,2601,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9934,0.86,182.6,3182,2743,2604,2597,128.8,9.7,704,9961,0.00,1.90,19.42,1.359,8452,0.000,0.106,3181,3779,2507,2507,2507,0,0,0,0,0,0,28.83,14.29,13.85
$GC,10005,0.86,182.6,3182,3779,2506,2507,120.9,12.2,717,10013,0.00,1.75,0.00,0.000,1030,0.000,0.058,3189,2741,2505,2505,2506,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10311,0.88,204.5,3190,2741,2507,2505,90.2,9.8,748,10324,0.00,0.00,8.85,0.462,8198,0.000,0.000,3189,2741,2424,2424,2425,0,0,0,0,0,0,28.83,28.83,14.17
$GC,10621,0.90,242.1,3191,2741,2439,2425,61.6,8.5,779,10648,0.00,2.42,16.95,0.369,8708,0.000,0.076,3200,1353,2268,2263,2274,0,0,0,0,0,0,28.83,14.40,14.22
$GC,10677,0.92,262.5,3201,1353,2276,2274,56.3,9.9,789,10693,0.00,2.53,9.43,0.351,9222,0.000,0.099,3200,2747,2186,2182,2190,0,0,0,0,0,0,28.83,14.40,14.22
$GC,10988,0.97,338.2,3201,2748,2193,2189,34.3,5.4,821,11022,0.00,0.00,33.33,0.303,8198,0.000,0.000,3200,2747,1877,1867,1888,0,0,0,0,0,0,28.83,28.83,14.27
$GC,11318,1.07,482.6,3201,2747,1874,1879,11.7,-0.3,854,11387,0.12,2.47,61.97,0.229,10756,0.139,0.074,3258,1345,1287,1292,1283,0,0,0,0,0,0,14.44,14.38,14.28
$STATE,11494,end climb,NO_VERTICAL_VELOCITY
$STATE,11495,begin subsurface finish
$SM_CCo,11495,85.35,0.228,0,0,500,676.78
$FINISH1,7.8,1.019767,426
$GC,11618,0.30,426.3,3260,2747,464,535,7.8,10.6,886,11653,0.85,2.47,-24.00,0.000,20996,0.126,0.096,2991,1341,1523,1584,1462,0,0,0,0,0,0,14.28,14.33,14.53
$FINISH2,7.9
$STATE,11653,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11653,begin surface
$RAFOS_CLK,214
$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,45.51
$INTERNAL_PRESSURE,8.67023
$TCM_TEMP,13.10
$XPDR_PINGS,10
$SC_FREEKB,3913504
$24V_AH,13.00,18.000
$10V_AH,12.90,0.000
$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,3.825,56.500,367.225,85.350,0.000,0.000,0.000,0.000,2.500,0.000,0.000,0.000,9213.409,591.140,1868.323,64.615,0.000,1260.865,0.000,1318.246,1413.000,0.539,0.000
$DEVICE_MAMPS,276.165,136.170,1949.985,227.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11683.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.975,0.000,0.000,0.000
$MEM,290640
$DATA_FILE_SIZE,30053,891
$CAP_FILE_SIZE,129014,0
$CFSIZE,2097872896,2080571392
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,684.50,0x21368c,0,24
$INTR,1,5573.87,0x2378b6,2,5
$SOUNDSPEED,1451.4
$GPS,030814,011321,7135.438,-14411.627,0,10117.7,0,22.6