version: 66.12
glider: 196
mission: 7
dive: 56
start: 8 3 114 1 14 55
data:
$ID,196
$MISSION,7
$DIVE,56
$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,47
$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
$GPS1,030814,011321,7135.438,-14411.627,0,10117.7,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.24
$_SM_ANGLEo,-21.4
$GPS2,030814,011321,7135.438,-14411.627,0,10117.7,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.9,1409,-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,-93.6,2983,2761,1586,1464,0.0,0.0,0,30,0.00,0.00,-14.18,0.000,16386,0.000,0.000,2983,2761,2233,2284,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.80,-93.6,2984,2760,2285,2184,11.4,0.0,1,65,1.02,1.88,-27.00,0.000,20740,0.076,0.129,2623,3793,3643,3699,3587,0,0,0,0,0,0,14.33,14.38,14.58
$GC,289,-0.80,-93.6,2623,3794,3700,3593,74.8,-21.6,51,297,0.00,1.73,0.00,0.000,1030,0.000,0.060,2623,2763,3645,3699,3592,0,0,0,0,0,0,28.83,14.46,28.83
$GC,601,-0.80,-93.6,2622,2763,3700,3592,136.9,-18.8,83,609,0.00,1.83,0.00,0.000,260,0.000,0.105,2614,3777,3645,3699,3592,0,0,0,0,0,0,28.83,14.41,28.83
$GC,834,-0.80,-93.6,2615,3778,3700,3593,182.0,-18.0,129,840,0.00,1.70,0.00,0.000,1030,0.000,0.062,2615,2766,3646,3701,3592,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1144,-0.80,-93.6,2615,2765,3700,3592,228.6,-14.0,161,1151,0.00,1.83,0.00,0.000,260,0.000,0.106,2606,3786,3645,3699,3592,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1375,-0.80,-93.6,2607,3787,3699,3593,264.0,-14.9,207,1384,0.10,1.70,0.00,0.000,3078,0.287,0.062,2630,2774,3645,3699,3592,0,0,0,0,0,0,14.40,14.56,28.83
$GC,1688,-0.80,-93.6,2631,2775,3700,3592,301.9,-11.9,219,1696,0.00,1.80,0.00,0.000,260,0.000,0.107,2625,3778,3645,3699,3592,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1835,-0.80,-93.6,2625,3779,3700,3592,321.2,-12.5,248,1843,0.00,1.70,0.00,0.000,1030,0.000,0.063,2625,2758,3645,3699,3592,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2141,-0.80,-93.6,2625,2758,3700,3592,357.2,-11.7,259,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2758,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.80,-94.3,2625,2759,3700,3593,391.9,-11.6,269,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2758,3645,3698,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.80,-95.5,2625,2758,3700,3592,426.6,-11.5,279,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2758,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3040,-0.80,-99.8,2625,2759,3699,3593,460.6,-11.3,289,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2758,3645,3698,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.81,-104.4,2625,2758,3700,3592,494.4,-11.2,299,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2758,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.81,-111.1,2625,2759,3700,3593,528.1,-11.1,309,3647,0.00,1.83,0.00,0.000,260,0.000,0.106,2616,3786,3645,3698,3592,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3686,-0.81,-111.1,2617,3787,3700,3593,533.6,-12.5,318,3693,0.00,1.70,0.00,0.000,1030,0.000,0.061,2616,2763,3645,3699,3592,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4003,-0.81,-112.4,2617,2764,3700,3593,569.9,-11.5,331,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2762,3645,3699,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4302,-0.81,-115.5,2617,2763,3699,3593,604.0,-11.4,341,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2763,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.82,-121.8,2617,2763,3699,3593,637.6,-11.1,351,4610,0.00,1.80,0.00,0.000,260,0.000,0.106,2608,3779,3645,3698,3592,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4649,-0.82,-121.8,2609,3780,3700,3593,643.5,-12.7,360,4656,0.00,1.67,0.00,0.000,1030,0.000,0.061,2608,2761,3645,3699,3592,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4966,-0.82,-124.3,2609,2762,3700,3593,679.5,-11.4,373,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2761,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5265,-0.82,-128.3,2608,2762,3700,3592,713.5,-11.3,383,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2761,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.83,-132.5,2610,2761,3707,3592,747.2,-11.3,393,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2761,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5594,begin apogee
$GC,5597,-0.13,0.0,2610,2762,3700,3593,750.6,-11.2,394,5681,0.90,0.00,81.30,1.955,10244,0.262,0.000,2844,2761,3257,3283,3231,0,0,0,0,0,0,14.58,28.83,13.32
$STATE,5682,end apogee,CONTROL_FINISHED_OK
$STATE,5682,begin climb
$GC,5683,0.83,132.5,2844,2761,3280,3226,752.3,0.0,396,5802,1.02,0.00,112.57,1.894,11270,0.146,0.000,3152,2761,2712,2715,2710,0,0,0,0,0,0,13.95,28.83,13.01
$GC,6126,0.83,132.5,3153,2762,2715,2704,692.4,15.5,430,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2761,2708,2714,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6426,0.83,132.5,3153,2761,2716,2703,646.4,15.2,440,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2761,2708,2714,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,0.83,132.5,3153,2762,2715,2702,601.0,15.1,450,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2761,2707,2714,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7026,0.83,132.5,3153,2762,2715,2702,555.2,15.3,460,7033,0.00,2.42,0.00,0.000,516,0.000,0.075,3163,1328,2707,2714,2701,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7057,0.83,132.5,3164,1329,2715,2702,550.6,13.9,466,7064,0.00,2.53,0.00,0.000,1030,0.000,0.097,3163,2762,2710,2714,2706,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7388,0.83,132.5,3164,2763,2716,2702,498.6,15.8,482,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2762,2708,2715,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7688,0.83,132.5,3164,2762,2716,2701,451.5,15.6,492,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2762,2708,2715,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,0.83,132.5,3160,2762,2716,2701,404.8,15.5,502,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2762,2708,2715,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8288,0.83,132.5,3163,2762,2716,2701,358.8,15.3,512,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2762,2708,2715,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8588,0.83,132.5,3163,2762,2716,2701,313.2,15.2,522,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2762,2707,2714,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,0.83,132.5,3164,2763,2716,2702,269.1,14.4,532,8895,0.00,2.42,0.00,0.000,516,0.000,0.074,3173,1350,2708,2715,2701,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8919,0.83,132.5,3174,1355,2716,2702,264.8,13.7,538,8925,0.00,2.45,0.00,0.000,1030,0.000,0.097,3173,2734,2707,2714,2700,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9229,0.83,132.5,3174,2733,2716,2701,220.8,13.6,566,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2734,2708,2715,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9530,0.83,132.5,3174,2735,2715,2701,182.5,11.7,596,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2734,2708,2715,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9830,0.85,167.1,3174,2735,2716,2702,153.0,8.8,626,9863,0.00,1.90,29.40,1.405,8452,0.000,0.103,3174,3783,2571,2573,2570,0,0,0,0,0,0,28.83,14.35,13.90
$GC,10037,0.85,170.1,3174,3781,2571,2565,130.2,11.4,666,10044,0.00,1.75,0.00,0.000,1030,0.000,0.058,3180,2741,2567,2569,2565,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10348,0.88,209.7,3181,2741,2569,2564,102.1,8.3,698,10382,0.00,0.00,32.50,1.216,8198,0.000,0.000,3181,2741,2402,2401,2404,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10678,0.90,235.0,3180,2741,2396,2391,69.7,9.5,731,10693,0.00,0.00,10.15,0.397,8198,0.000,0.000,3180,2741,2301,2301,2302,0,0,0,0,0,0,28.83,28.83,14.08
$GC,10988,0.94,300.5,3181,2742,2311,2303,42.9,6.2,762,11021,0.00,0.00,28.83,0.319,8198,0.000,0.000,3180,2741,2034,2032,2037,0,0,0,0,0,0,28.83,28.83,14.15
$GC,11318,0.98,355.0,3181,2741,2041,2029,19.3,7.1,795,11344,0.00,0.00,24.30,0.257,8198,0.000,0.000,3180,2741,1809,1804,1814,0,0,0,0,0,0,28.83,28.83,14.21
$MODEM_MSG,CACST,6,1,20140803040438.778244,3,508,-3,0117,0150,255,02,02,05,04,1,000,000,2,5,1,0,150,14.3,3.1,-100,-0.1,-01,0.2,33,900,0025*3E
$MODEM_MSG,CACST,6,1,20140803041631.886962,3,78,00,0102,0150,250,03,03,03,05,1,000,000,2,5,1,0,150,14.7,2.7,-100,0.3,-01,0.2,36,900,0025*3E
$STATE,11587,end climb,NO_VERTICAL_VELOCITY
$STATE,11587,begin subsurface finish
$SM_CCo,11587,141.05,0.230,0,0,498,676.54
$FINISH1,8.0,1.021716,325
$GC,11764,0.23,324.8,3182,2741,465,533,8.0,13.2,822,11807,0.65,2.40,-33.55,0.000,20996,0.084,0.097,2958,1348,1937,1985,1890,0,0,0,0,0,0,14.29,14.29,14.48
$FINISH2,8.5
$STATE,11807,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11807,begin surface
$RAFOS_CLK,93
$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,42.99
$INTERNAL_PRESSURE,8.69952
$TCM_TEMP,13.20
$XPDR_PINGS,2
$SC_FREEKB,3913056
$24V_AH,13.01,18.227
$10V_AH,12.91,0.000
$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,3.700,39.600,319.050,141.050,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,9500.741,576.821,1756.021,63.613,0.000,1204.806,0.000,1230.602,1498.000,0.539,0.000
$DEVICE_MAMPS,286.875,128.520,1954.575,230.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11842.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.014,0.000,0.000,0.000
$MEM,290304
$DATA_FILE_SIZE,26731,828
$CAP_FILE_SIZE,122468,0
$CFSIZE,2097872896,2080374784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5595.06,0x2378b6,2,5
$INTR,1,11762.70,0x2378b6,5,5
$SOUNDSPEED,1450.0
$GPS,030814,043213,7136.240,-14408.310,0,10126.7,0,22.6