version: 66.12
glider: 196
mission: 7
dive: 57
start: 8 3 114 4 33 46
data:
$ID,196
$MISSION,7
$DIVE,57
$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,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
$GPS1,030814,043213,7136.240,-14408.310,0,10126.7,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.80
$_SM_ANGLEo,-23.5
$GPS2,030814,043213,7136.240,-14408.310,0,10126.7,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,223.2,1084,-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,-93.6,2949,2762,1988,1892,0.0,0.0,0,31,0.00,0.00,-14.73,0.000,16386,0.000,0.000,2949,2762,2691,2748,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.80,-93.6,2950,2763,2749,2636,12.1,0.0,1,59,0.93,1.85,-17.45,0.000,20740,0.076,0.135,2623,3783,3642,3698,3586,0,0,0,0,0,0,14.33,14.30,14.55
$GC,172,-0.80,-93.6,2624,3783,3700,3589,49.9,-28.4,28,181,0.00,1.73,0.00,0.000,1030,0.000,0.059,2623,2760,3644,3698,3590,0,0,0,0,0,0,28.83,14.41,28.83
$GC,478,-0.80,-93.6,2624,2761,3699,3591,115.5,-19.7,59,486,0.00,1.83,0.00,0.000,260,0.000,0.106,2615,3779,3643,3697,3590,0,0,0,0,0,0,28.83,14.42,28.83
$GC,615,-0.80,-93.6,2615,3779,3699,3590,144.2,-20.2,86,623,0.00,1.70,0.00,0.000,1030,0.000,0.060,2615,2761,3644,3698,3590,0,0,0,0,0,0,28.83,14.49,28.83
$GC,920,-0.80,-93.6,2615,2761,3699,3590,196.0,-14.6,117,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2761,3644,3699,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-0.80,-93.6,2616,2761,3699,3591,239.7,-14.2,147,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2761,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-0.80,-93.6,2616,2761,3699,3591,282.7,-13.1,163,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2761,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.80,-93.6,2616,2762,3699,3591,320.6,-12.5,173,1847,0.00,2.40,0.00,0.000,516,0.000,0.076,2614,1362,3641,3693,3590,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1916,-0.80,-93.9,2615,1362,3699,3590,329.4,-11.6,188,1923,0.10,2.50,0.00,0.000,3078,0.275,0.103,2630,2755,3644,3698,3590,0,0,0,0,0,0,14.45,14.56,28.83
$GC,2233,-0.80,-97.4,2630,2755,3699,3590,365.4,-11.3,201,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,-0.81,-102.3,2630,2755,3699,3590,399.0,-11.2,211,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2756,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,-0.81,-106.8,2630,2756,3699,3591,432.6,-11.3,221,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,-0.81,-113.5,2630,2755,3699,3590,466.1,-11.1,231,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3644,3699,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,-0.82,-121.5,2630,2757,3699,3591,499.1,-11.0,241,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3732,-0.83,-132.3,2627,2756,3699,3591,531.7,-10.7,251,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4032,-0.83,-143.5,2630,2754,3699,3591,564.0,-10.7,261,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.84,-145.9,2631,2756,3699,3591,596.2,-10.7,271,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3644,3698,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.84,-145.9,2630,2756,3699,3591,628.3,-10.7,281,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.84,-145.9,2630,2758,3699,3590,660.4,-10.6,291,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2755,3643,3696,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.84,-145.9,2631,2756,3700,3591,692.8,-10.7,301,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.84,-145.9,2631,2756,3699,3591,724.5,-10.5,311,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3644,3698,3590,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5801,begin apogee
$GC,5804,-0.13,0.0,2631,2756,3699,3591,752.6,-10.3,320,5887,0.80,0.00,81.03,1.964,10244,0.256,0.000,2844,2755,3259,3285,3233,0,0,0,0,0,0,14.59,28.83,13.33
$STATE,5888,end apogee,CONTROL_FINISHED_OK
$STATE,5888,begin climb
$GC,5890,0.84,145.9,2844,2755,3281,3228,754.4,0.0,322,6023,1.02,2.50,124.40,1.894,10756,0.133,0.072,3157,1341,2658,2658,2658,0,0,0,0,0,0,13.96,14.00,13.00
$GC,6247,0.84,145.9,3157,1341,2659,2653,712.1,15.1,388,6254,0.00,2.58,0.00,0.000,1030,0.000,0.098,3156,2735,2654,2657,2652,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6579,0.84,145.9,3157,2734,2659,2651,658.4,16.3,404,6585,0.00,1.90,0.00,0.000,260,0.000,0.106,3157,3780,2654,2658,2650,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6809,0.84,145.9,3157,3780,2658,2649,614.8,18.7,450,6816,0.00,1.75,0.00,0.000,1030,0.000,0.058,3164,2739,2654,2659,2650,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7120,0.84,145.9,3165,2740,2660,2649,563.1,16.6,462,7126,0.00,1.90,0.00,0.000,260,0.000,0.106,3164,3792,2654,2659,2649,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7350,0.84,145.9,3171,3793,2660,2650,519.1,19.0,508,7357,0.00,1.75,0.00,0.000,1030,0.000,0.058,3172,2739,2653,2658,2649,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7661,0.84,145.9,3172,2740,2660,2648,466.1,16.8,520,7668,0.00,1.88,0.00,0.000,260,0.000,0.105,3173,3787,2653,2659,2648,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7752,0.84,145.9,3173,3788,2660,2650,448.6,20.1,538,7759,0.00,1.75,0.00,0.000,1030,0.000,0.058,3179,2736,2654,2659,2649,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8083,0.84,145.9,3180,2736,2661,2649,391.7,17.1,554,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2737,2654,2660,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8383,0.84,145.9,3180,2742,2661,2650,340.8,16.8,564,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2737,2654,2659,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8683,0.84,145.9,3180,2737,2661,2650,290.6,16.6,574,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2737,2654,2660,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8983,0.84,145.9,3180,2737,2661,2650,242.0,16.0,586,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2737,2654,2660,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9283,0.84,145.9,3180,2737,2661,2649,198.4,13.6,616,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2737,2654,2660,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9583,0.84,157.6,3180,2736,2662,2649,161.8,10.7,646,9596,0.00,0.00,10.35,1.344,8198,0.000,0.000,3180,2736,2611,2615,2607,0,0,0,0,0,0,28.83,28.83,13.94
$GC,9893,0.87,195.4,3180,2738,2615,2606,131.6,8.5,677,9927,0.00,0.00,32.05,1.307,8710,0.000,0.000,3179,2737,2458,2458,2458,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10223,0.88,214.0,3180,2736,2456,2449,98.3,10.1,711,10237,0.00,0.00,7.15,0.487,8198,0.000,0.000,3179,2736,2389,2391,2387,0,0,0,0,0,0,28.83,28.83,14.16
$GC,10533,0.91,246.9,3181,2738,2401,2387,67.8,8.9,742,10557,0.00,0.00,15.27,0.394,8198,0.000,0.000,3185,2737,2252,2252,2252,0,0,0,0,0,0,28.83,28.83,14.24
$GC,10853,0.95,315.0,3180,2737,2259,2253,41.8,6.0,774,10887,0.00,1.95,29.80,0.330,8452,0.000,0.107,3179,3792,1973,1964,1983,0,0,0,0,0,0,28.83,14.36,14.26
$GC,10927,0.98,353.5,3180,3791,1970,1983,36.8,8.4,787,10949,0.00,1.77,17.27,0.314,9222,0.000,0.060,3187,2739,1815,1808,1823,0,0,0,0,0,0,28.83,14.45,14.23
$GC,11244,1.04,437.9,3189,2739,1812,1815,11.6,4.6,820,11287,0.12,1.90,36.67,0.230,10500,0.138,0.110,3238,3797,1468,1469,1468,0,0,0,0,0,0,14.47,14.38,14.30
$STATE,11430,end climb,NO_VERTICAL_VELOCITY
$STATE,11430,begin subsurface finish
$SM_CCo,11431,104.85,0.226,0,0,498,676.54
$FINISH1,7.1,1.020720,377
$GC,11573,0.26,376.6,3240,2739,453,542,7.1,13.3,854,11613,0.80,1.90,-30.10,0.000,20740,0.123,0.138,2976,3795,1725,1777,1674,0,0,0,0,0,0,14.31,14.30,14.54
$FINISH2,7.2
$STATE,11614,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11614,begin surface
$RAFOS_CLK,572
$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,44.56
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,3
$SC_FREEKB,3912608
$24V_AH,13.00,18.434
$10V_AH,13.21,0.000
$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,3.775,39.900,354.000,104.850,0.000,0.000,0.000,0.000,0.750,0.000,0.000,0.000,9277.293,565.557,1796.430,64.846,0.000,1203.600,0.000,1274.602,0.000,0.540,0.000
$DEVICE_MAMPS,274.635,138.465,1963.755,226.440,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11648.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.879,0.000,0.000,0.000
$MEM,289832
$DATA_FILE_SIZE,30014,860
$CAP_FILE_SIZE,121406,0
$CFSIZE,2097872896,2080210944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5802.55,0x2378b6,2,5
$SOUNDSPEED,1451.4
$GPS,030814,074750,7135.655,-14411.276,0,10135.8,0,22.6