version: 66.12
glider: 196
mission: 7
dive: 8
start: 7 28 114 5 48 2
data:
$ID,196
$MISSION,7
$DIVE,8
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,110
$T_MISSION,135
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$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,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,681.01007
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4684.1333
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3317
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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,3
$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
$GPS1,280714,053925,7053.994,-14429.570,29,0.8,49,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-79.0
$GPS2,280714,054745,7054.037,-14429.532,5,0.8,25,22.3
$SPEED_LIMITS,0.189,0.248
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,335.9,11048,-21.2,-10.909,-23.78,2059
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.89,-145.9,207,2790,514,584,0.0,0.0,0,83,0.00,0.00,-63.03,0.000,16386,0.000,0.000,206,2790,2235,2240,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.89,-145.9,207,2790,2241,2232,4.1,-6.0,6,132,12.27,1.85,-29.60,0.000,18692,0.411,0.140,2649,3788,3914,3975,3853,0,0,0,0,0,0,14.04,14.23,14.45
$GC,147,-0.49,-145.9,2650,3789,3976,3855,20.4,-22.5,16,155,0.60,1.65,0.00,0.000,3078,0.326,0.070,2782,2801,3915,3975,3855,0,0,0,0,0,0,14.10,14.29,28.83
$GC,459,-0.56,-145.9,2783,2802,3976,3857,71.2,-12.3,48,467,0.00,1.75,0.00,0.000,260,0.000,0.117,2777,3785,3915,3975,3855,0,0,0,0,0,0,28.83,14.33,28.83
$GC,691,-0.65,-145.9,2777,3787,3976,3857,100.3,-12.3,94,701,0.12,1.65,0.00,0.000,5126,0.145,0.071,2729,2798,3915,3975,3856,0,0,0,0,0,0,14.38,14.40,28.83
$GC,1005,-0.65,-145.9,2730,2799,3976,3857,144.7,-13.6,126,1014,0.00,1.80,0.00,0.000,260,0.000,0.119,2721,3781,3915,3975,3856,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1238,-0.65,-145.9,2722,3785,3976,3857,176.5,-11.9,172,1246,0.00,1.67,0.00,0.000,1030,0.000,0.072,2721,2802,3915,3975,3856,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1550,-0.72,-145.9,2722,2802,3976,3856,211.2,-10.8,204,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2797,3915,3975,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,-0.80,-145.9,2722,2800,3976,3855,241.8,-9.8,234,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2801,3914,3974,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,-0.89,-145.9,2722,2802,3975,3855,270.8,-9.5,250,2159,0.17,2.40,0.00,0.000,4612,0.121,0.086,2655,1395,3914,3974,3854,0,0,0,0,0,0,14.51,14.43,28.83
$GC,2183,-0.89,-145.9,2655,1396,3975,3855,274.7,-12.4,256,2191,0.00,2.53,0.00,0.000,1030,0.000,0.112,2644,2804,3914,3974,3854,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2515,-0.84,-145.9,2645,2805,3974,3855,321.8,-14.1,272,2518,0.15,0.00,0.00,0.000,2054,0.296,0.000,2675,2805,3913,3973,3854,0,0,0,0,0,0,14.38,28.83,28.83
$GC,2815,-0.84,-145.9,2676,2805,3974,3854,357.8,-11.8,282,2824,0.00,2.42,0.00,0.000,516,0.000,0.083,2673,1389,3913,3973,3854,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,2832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2832,begin apogee
$GC,2837,-0.19,0.0,2667,2900,3974,3855,360.1,-12.0,285,2988,0.82,0.00,135.73,1.984,10246,0.246,0.000,2880,2900,3322,3346,3298,0,0,0,0,1,0,14.39,28.83,12.99
$STATE,2991,end apogee,CONTROL_FINISHED_OK
$STATE,2991,begin climb
$GC,2992,0.89,145.9,2881,2901,3351,3301,365.3,0.0,290,3139,1.15,1.70,130.07,1.456,10500,0.119,0.111,3232,3782,2710,2713,2707,0,0,0,0,0,0,13.79,13.62,13.09
$GC,3258,0.52,145.9,3233,3782,2714,2703,335.5,20.9,336,3266,0.50,1.55,0.00,0.000,5126,0.321,0.069,3126,2900,2709,2716,2702,0,0,0,0,0,0,13.85,14.05,28.83
$GC,3570,0.42,145.9,3126,2900,2714,2699,294.9,12.5,348,3578,0.15,2.45,0.00,0.000,4612,0.315,0.080,3100,1497,2705,2712,2699,0,0,0,0,0,0,14.13,14.24,28.83
$GC,3617,0.44,170.0,3097,1497,2715,2699,290.1,9.7,357,3645,0.00,2.55,21.08,1.403,9222,0.000,0.106,3100,2908,2620,2629,2611,0,0,0,0,0,0,28.83,14.28,13.59
$GC,3969,0.39,170.0,3101,2908,2623,2598,249.4,11.8,376,3978,0.00,2.47,0.00,0.000,516,0.000,0.083,3110,1492,2609,2621,2598,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4027,0.40,182.7,3111,1494,2623,2599,243.3,10.3,387,4050,0.12,2.53,11.20,1.360,13318,0.265,0.106,3082,2900,2564,2576,2553,0,0,0,0,0,0,14.23,14.31,13.70
$GC,4344,0.41,193.5,3086,2901,2573,2549,209.8,10.4,420,4359,0.00,2.47,5.07,1.270,8708,0.000,0.083,3094,1495,2531,2544,2518,0,0,0,0,0,0,28.83,14.28,13.70
$GC,4398,0.48,226.8,3095,1495,2557,2520,204.6,9.2,430,4441,0.00,2.53,35.42,1.241,9222,0.000,0.106,3094,2899,2384,2390,2379,0,0,0,0,0,0,28.83,14.26,13.64
$GC,4735,0.49,244.6,3095,2899,2388,2365,168.5,10.0,466,4758,0.00,2.47,15.23,1.284,8708,0.000,0.081,3102,1498,2312,2318,2306,0,0,0,0,0,0,28.83,14.19,13.70
$GC,4847,0.61,297.1,3103,1499,2313,2299,158.7,8.3,487,4903,0.15,2.53,46.58,1.133,11270,0.132,0.105,3164,2899,2099,2096,2102,0,0,0,0,0,0,14.28,14.24,13.57
$GC,5206,0.61,297.1,3165,2900,2090,2092,111.5,12.9,526,5216,0.00,2.45,0.00,0.000,516,0.000,0.085,3165,1501,2085,2089,2081,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5270,0.63,313.2,3166,1500,2090,2081,104.4,10.1,538,5292,0.00,2.53,13.62,1.189,9222,0.000,0.105,3165,2901,2033,2034,2032,0,0,0,0,0,0,28.83,14.27,13.72
$GC,5597,0.63,313.2,3166,2902,2026,2020,65.2,11.3,572,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2901,2023,2027,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5897,0.73,398.8,3166,2902,2026,2019,39.0,6.6,602,5941,0.00,2.53,37.45,0.307,8708,0.000,0.084,3165,1496,1692,1675,1709,0,0,0,0,0,0,28.83,14.31,14.18
$GC,6015,0.91,461.7,3165,1496,1694,1709,30.1,7.8,623,6051,0.22,2.53,30.02,0.274,11270,0.108,0.106,3248,2899,1433,1420,1447,0,0,0,0,0,0,14.36,14.33,14.17
$FREEZE,11.03,4.225,-1.379,0,1,0
$STATE,6334,end climb,NO_VERTICAL_VELOCITY
$STATE,6335,begin surface
$SM_CCo,6338,106.38,0.215,0,0,497,691.01
$SM_GC,1.26,9.43,0.15,0.00,0.096,0.120,0.000,211,2804,502,-8.52,1.16,690.52,0,0,0,0,0,0,14.34,14.38,28.83
$RAFOS_CLK,295
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,280714,040418
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.65
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.30
$XPDR_PINGS,3
$SC_FREEKB,3934560
$TM_FREEKB,7839664
$24V_AH,12.99,4.132
$10V_AH,12.69,0.000
$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,25.875,53.900,481.475,106.375,0.000,0.000,0.000,319.225,0.750,0.000,26.379,0.000,4468.777,709.760,1861.647,58.892,0.000,1620.519,0.000,978.060,0.000,0.539,0.000
$DEVICE_MAMPS,410.805,139.995,1984.410,214.965,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6351.000,6378.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.237,13.323,0.000,0.000
$MEM,311476
$DATA_FILE_SIZE,23355,657
$CAP_FILE_SIZE,107696,0
$CFSIZE,2097872896,2091024384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5888.60,0x2378b6,7,5
$SOUNDSPEED,1446.6
$EKF,6678,4254.596680,-8669.163086,11.027601,0.008164,-0.000179,0.000902,0.000073,0.000681,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.064,174.48,1
$GPS,280714,073917,7054.367,-14429.095,32,0.7,52,22.3