version: 66.12
glider: 196
mission: 7
dive: 12
start: 7 28 114 13 37 32
data:
$ID,196
$MISSION,7
$DIVE,12
$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,-4689.1646
$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,31
$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
$GPS1,280714,132820,7055.306,-14428.316,16,0.8,36,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.7
$GPS2,280714,133715,7055.300,-14428.515,5,0.9,25,22.3
$SPEED_LIMITS,0.189,0.248
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,340.1,8751,-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,15,begin dive
$GC,17,-0.89,-145.9,189,2799,508,589,0.0,0.0,0,93,0.00,0.00,-73.07,0.000,16386,0.000,0.000,187,2799,2471,2478,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.89,-145.9,188,2800,2478,2466,4.3,-6.6,7,137,12.25,1.85,-23.08,0.000,18692,0.408,0.138,2649,3793,3915,3976,3854,0,0,0,0,0,0,14.07,14.20,14.46
$GC,361,-0.67,-145.9,2650,3794,3978,3858,80.7,-23.8,58,370,0.30,1.70,0.00,0.000,3078,0.282,0.067,2724,2797,3917,3978,3857,0,0,0,0,0,0,14.18,14.34,28.83
$GC,666,-0.67,-145.9,2724,2797,3977,3857,128.9,-14.3,89,675,0.00,1.80,0.00,0.000,260,0.000,0.114,2718,3784,3916,3976,3857,0,0,0,0,0,0,28.83,14.36,28.83
$GC,764,-0.67,-145.9,2719,3785,3977,3858,143.9,-15.5,108,773,0.00,1.67,0.00,0.000,1030,0.000,0.070,2718,2799,3916,3976,3857,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1069,-0.72,-145.9,2719,2799,3977,3857,184.1,-11.6,139,1077,0.00,2.40,0.00,0.000,516,0.000,0.080,2718,1396,3916,3976,3857,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1111,-0.81,-145.9,2719,1396,3977,3856,189.0,-11.5,147,1119,0.00,2.53,0.00,0.000,1030,0.000,0.108,2709,2803,3916,3975,3857,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1423,-0.86,-145.9,2709,2803,3977,3857,224.3,-11.2,179,1427,0.12,0.00,0.00,0.000,4102,0.138,0.000,2659,2805,3916,3976,3856,0,0,0,0,0,0,14.47,28.83,28.83
$GC,1733,-0.86,-145.9,2660,2806,3976,3858,266.3,-13.4,202,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2805,3915,3974,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,-0.86,-145.9,2660,2806,3975,3858,306.0,-13.4,212,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2805,3915,3974,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2333,-0.86,-145.9,2660,2805,3975,3856,345.1,-13.1,222,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2805,3915,3973,3857,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2452,begin apogee
$GC,2455,-0.19,0.0,2659,2906,3973,3857,360.6,-12.9,226,2639,0.85,0.00,179.57,1.390,10246,0.244,0.000,2882,2906,3316,3337,3295,0,0,0,0,0,0,14.41,28.83,13.25
$STATE,2642,end apogee,CONTROL_FINISHED_OK
$STATE,2642,begin climb
$GC,2643,0.89,145.9,2883,2907,3332,3287,367.1,0.0,232,2785,1.12,2.62,123.62,1.346,10756,0.116,0.078,3240,1500,2708,2711,2706,0,0,0,0,0,0,13.83,13.68,13.14
$GC,2814,0.66,145.9,3240,1500,2709,2699,356.0,16.4,259,2823,0.32,2.60,0.00,0.000,5126,0.299,0.099,3171,2898,2702,2707,2698,0,0,0,0,0,0,13.72,13.83,28.83
$GC,3132,0.47,145.9,3172,2901,2708,2700,307.3,15.4,272,3135,0.28,0.00,0.00,0.000,4102,0.312,0.000,3110,2898,2700,2707,2694,0,0,0,0,0,0,14.09,28.83,28.83
$GC,3432,0.40,145.9,3110,2898,2709,2693,272.3,11.3,282,3440,0.12,2.42,0.00,0.000,4612,0.295,0.078,3090,1501,2700,2708,2693,0,0,0,0,0,0,14.19,14.32,28.83
$GC,3504,0.43,186.8,3090,1502,2709,2694,265.6,8.9,296,3545,0.00,2.53,35.38,1.320,9222,0.000,0.104,3089,2908,2555,2564,2547,0,0,0,0,0,0,28.83,14.33,13.59
$GC,3844,0.43,186.8,3090,2908,2546,2519,227.7,11.3,328,3852,0.00,2.47,0.00,0.000,516,0.000,0.080,3098,1496,2533,2545,2522,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3906,0.49,207.8,3099,1496,2545,2519,221.3,9.9,340,3935,0.00,2.53,17.73,1.287,9222,0.000,0.103,3098,2903,2457,2468,2447,0,0,0,0,0,0,28.83,14.31,13.67
$GC,4229,0.50,224.7,3099,2904,2462,2438,185.3,10.1,374,4250,0.00,2.53,14.57,1.247,8708,0.000,0.080,3107,1499,2391,2400,2383,0,0,0,0,0,0,28.83,14.23,13.70
$GC,4314,0.58,253.8,3108,1498,2390,2374,177.3,9.5,390,4348,0.00,2.53,26.35,1.199,9222,0.000,0.103,3108,2902,2274,2277,2272,0,0,0,0,0,0,28.83,14.25,13.62
$GC,4653,0.65,286.1,3108,2902,2267,2250,144.0,9.3,426,4688,0.15,2.55,27.80,1.196,10756,0.125,0.080,3178,1499,2139,2139,2140,0,0,0,0,0,0,14.28,14.10,13.67
$GC,4806,0.65,286.1,3178,1500,2130,2123,125.7,11.9,455,4816,0.00,2.53,0.00,0.000,1030,0.000,0.103,3178,2899,2126,2130,2122,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5112,0.65,286.1,3178,2900,2130,2122,85.6,12.2,486,5120,0.00,2.45,0.00,0.000,516,0.000,0.081,3185,1496,2125,2130,2120,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5223,0.65,286.1,3186,1497,2130,2121,73.5,10.9,508,5231,0.00,2.53,0.00,0.000,1030,0.000,0.105,3185,2899,2124,2130,2119,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5535,0.71,370.8,3186,2900,2131,2119,43.2,6.7,540,5577,0.00,2.50,35.38,0.312,8708,0.000,0.080,3191,1505,1805,1793,1817,0,0,0,0,0,0,28.83,14.30,14.19
$GC,5602,0.82,441.6,3193,1503,1806,1817,38.5,7.4,550,5644,0.00,2.53,33.25,0.298,9222,0.000,0.105,3193,2907,1513,1502,1525,0,0,0,0,0,0,28.83,14.32,14.16
$GC,5938,1.15,668.6,3194,2908,1531,1523,12.6,-0.4,586,6051,0.35,1.58,103.40,0.221,10500,0.089,0.110,3324,3791,589,579,599,0,0,0,0,0,0,14.40,14.24,14.14
$STATE,6094,end climb,SURFACE_DEPTH_REACHED
$STATE,6094,begin surface coast
$FINISH,1.1,1.019699
$STATE,6105,end surface coast,CONTROL_FINISHED_OK
$STATE,6105,begin surface
$SM_CCo,6127,6.62,0.203,0,0,538,681.20
$SM_GC,2.21,9.62,1.73,6.62,0.090,0.066,0.203,205,2800,538,-8.53,0.99,681.20,0,0,0,0,0,0,14.31,14.32,14.22
$RAFOS_CLK,273
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,113414
$TT8_MAMPS,0.043442,0.043442
$HUMID,46.37
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.50
$XPDR_PINGS,2
$SC_FREEKB,3932768
$TM_FREEKB,7800648
$24V_AH,13.14,5.260
$10V_AH,12.73,0.000
$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,25.500,50.725,597.050,6.625,0.000,0.000,0.000,337.150,0.500,0.000,26.285,0.000,4122.575,690.177,1802.766,55.390,0.000,1595.100,0.000,919.257,0.000,0.540,0.000
$DEVICE_MAMPS,407.745,143.820,1390.005,203.490,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6122.000,6161.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.171,13.276,0.000,0.000
$MEM,309768
$DATA_FILE_SIZE,20095,614
$CAP_FILE_SIZE,101267,0
$CFSIZE,2097872896,2090106880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7044.25,0x2378b6,7,5
$SOUNDSPEED,1446.8
$EKF,6192,4256.077148,-8668.052734,1.151928,0.021855,-0.212682,-0.088787,0.000084,0.000784,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.099,181.49,1
$GPS,280714,152041,7055.747,-14428.110,3,0.8,24,22.3