version: 66.12
glider: 196
mission: 7
dive: 26
start: 7 29 114 22 53 19
data:
$ID,196
$MISSION,7
$DIVE,26
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,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,-4706.7749
$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,2909
$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,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,17
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$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,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
$GPS1,290714,224224,7101.633,-14422.211,24,0.9,44,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.6
$GPS2,290714,225302,7101.623,-14422.217,5,0.8,25,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,334.0,64065,-22.8,-11.905,-25.14,1887
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.70,-145.9,181,2707,489,581,0.0,0.0,0,96,0.00,0.00,-72.65,0.000,16386,0.000,0.000,178,2708,2451,2458,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.70,-145.9,179,2708,2459,2445,4.2,-5.9,7,139,12.38,0.00,-23.23,0.000,19206,0.408,0.000,2674,2708,3914,3972,3856,0,0,0,0,0,0,14.07,28.83,14.45
$GC,444,-0.61,-145.9,2674,2708,3977,3861,88.5,-20.2,44,447,0.15,0.00,0.00,0.000,2054,0.301,0.000,2705,2708,3921,3975,3867,0,0,0,0,0,0,14.26,28.83,28.83
$GC,743,-0.61,-145.9,2706,2708,3976,3866,136.7,-15.2,74,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2708,3918,3975,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1043,-0.66,-145.9,2706,2708,3976,3861,178.1,-12.5,104,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2708,3918,3975,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1344,-0.73,-145.9,2706,2708,3976,3861,212.3,-11.0,134,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2708,3918,3975,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,-0.81,-145.9,2706,2709,3975,3862,245.2,-10.7,164,1647,0.17,0.00,0.00,0.000,4102,0.113,0.000,2639,2708,3917,3974,3860,0,0,0,0,0,0,14.51,28.83,28.83
$GC,1954,-0.81,-145.9,2639,2708,3974,3860,288.6,-14.2,177,1962,0.00,1.90,0.00,0.000,260,0.000,0.110,2629,3792,3916,3973,3860,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2041,-0.74,-145.9,2631,3794,3974,3860,302.6,-16.3,194,2051,0.12,1.85,0.00,0.000,3078,0.252,0.062,2676,2690,3916,3972,3860,0,0,0,0,0,0,14.37,14.51,28.83
$GC,2346,-0.79,-145.9,2677,2691,3973,3861,339.2,-11.8,205,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2690,3916,3972,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-0.84,-145.9,2676,2690,3972,3860,373.9,-11.4,215,2654,0.12,1.92,0.00,0.000,4356,0.140,0.107,2619,3793,3915,3971,3860,0,0,0,0,0,0,14.57,14.52,28.83
$GC,2718,-0.76,-145.9,2619,3789,3971,3861,385.1,-17.0,229,2726,0.17,1.77,0.00,0.000,3078,0.272,0.062,2657,2696,3915,3970,3860,0,0,0,0,0,0,14.44,14.58,28.83
$GC,3040,-0.76,-145.9,2658,2695,3971,3860,425.3,-12.2,243,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2696,3914,3969,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.76,-145.9,2658,2696,3971,3860,462.1,-12.2,253,3349,0.00,1.92,0.00,0.000,260,0.000,0.110,2651,3798,3914,3970,3859,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3417,-0.76,-145.9,2652,3799,3970,3860,472.5,-13.7,268,3425,0.00,1.83,0.00,0.000,1030,0.000,0.061,2651,2698,3914,3969,3859,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3645,begin apogee
$GC,3648,-0.13,0.0,2651,2853,3970,3860,501.3,-12.7,278,3775,0.77,0.00,121.85,1.698,10246,0.241,0.000,2857,2852,3314,3332,3296,0,0,0,0,0,0,14.45,28.83,13.24
$STATE,3777,end apogee,CONTROL_FINISHED_OK
$STATE,3777,begin climb
$GC,3778,0.70,145.9,2854,2853,3333,3294,505.0,0.0,282,3911,0.93,0.00,122.45,1.619,10246,0.138,0.000,3129,2852,2721,2728,2714,0,0,0,0,0,0,13.85,28.83,13.05
$GC,4185,0.62,145.9,3130,2853,2725,2702,460.7,13.6,296,4192,0.00,2.45,0.00,0.000,516,0.000,0.073,3139,1447,2713,2724,2702,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4211,0.57,145.9,3139,1444,2725,2703,457.3,12.4,301,4221,0.17,2.53,0.00,0.000,5126,0.265,0.097,3101,2842,2713,2724,2703,0,0,0,0,0,0,14.02,14.12,28.83
$GC,4517,0.58,151.0,3102,2842,2725,2702,421.4,11.6,312,4521,0.00,0.00,1.25,0.273,8198,0.000,0.000,3101,2842,2699,2711,2688,0,0,0,0,0,0,28.83,28.83,14.14
$GC,4817,0.58,156.9,3103,2843,2732,2693,386.6,11.6,322,4833,0.00,2.50,10.00,1.529,8708,0.000,0.074,3110,1442,2672,2685,2659,0,0,0,0,0,0,28.83,14.23,13.64
$GC,4877,0.59,168.5,3111,1443,2684,2658,379.9,11.3,333,4895,0.00,2.50,11.25,1.564,9222,0.000,0.098,3110,2839,2628,2639,2617,0,0,0,0,0,0,28.83,14.23,13.59
$GC,5219,0.59,168.5,3111,2840,2636,2609,337.2,12.5,350,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2840,2621,2635,2608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5519,0.59,168.5,3111,2838,2636,2605,299.5,12.4,360,5528,0.00,2.40,0.00,0.000,516,0.000,0.074,3118,1441,2622,2637,2607,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5552,0.60,178.7,3119,1443,2636,2609,295.7,11.3,366,5568,0.00,2.47,9.43,1.454,9222,0.000,0.098,3118,2842,2585,2596,2575,0,0,0,0,0,0,28.83,14.36,13.73
$GC,5887,0.60,178.7,3119,2843,2594,2571,252.3,13.2,382,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2842,2581,2593,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6187,0.60,178.7,3120,2843,2601,2570,213.9,12.2,410,6197,0.00,2.38,0.00,0.000,516,0.000,0.074,3125,1445,2582,2594,2570,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6245,0.61,200.6,3126,1444,2595,2569,207.6,10.7,421,6270,0.00,2.47,19.00,1.414,9222,0.000,0.099,3125,2842,2499,2507,2491,0,0,0,0,0,0,28.83,14.43,13.71
$GC,6564,0.62,216.2,3126,2842,2503,2481,169.9,11.1,454,6586,0.00,2.40,14.45,1.391,8708,0.000,0.071,3133,1450,2428,2437,2420,0,0,0,0,0,0,28.83,14.27,13.71
$GC,6616,0.71,255.5,3134,1451,2435,2420,164.5,9.8,463,6657,0.00,2.47,33.45,1.280,9222,0.000,0.098,3133,2839,2270,2272,2268,0,0,0,0,0,0,28.83,14.28,13.62
$GC,6961,0.73,288.5,3133,2839,2272,2258,126.3,10.1,500,6996,0.00,2.45,27.85,1.252,8708,0.000,0.073,3138,1440,2134,2137,2131,0,0,0,0,0,0,28.83,14.14,13.71
$GC,7030,0.88,341.1,3139,1440,2136,2127,119.4,9.0,512,7085,0.17,2.53,43.03,1.193,11270,0.110,0.099,3205,2839,1919,1910,1928,0,0,0,0,0,0,14.21,14.16,13.52
$GC,7379,0.88,341.1,3205,2839,1909,1917,65.8,14.1,550,7390,0.00,2.42,0.00,0.000,516,0.000,0.074,3215,1442,1912,1909,1916,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7424,0.88,341.1,3217,1443,1909,1917,59.9,13.1,558,7433,0.00,2.50,0.00,0.000,1030,0.000,0.098,3214,2837,1912,1908,1916,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7737,0.90,374.3,3215,2837,1910,1914,25.7,10.1,590,7754,0.00,0.00,13.52,0.269,8198,0.000,0.000,3214,2836,1788,1780,1797,0,0,0,0,0,0,28.83,28.83,14.24
$GC,8048,1.15,577.6,3214,2837,1786,1795,14.1,0.8,621,8065,0.20,0.00,13.23,0.240,10754,0.106,0.000,3291,2836,1669,1661,1677,0,0,0,0,0,0,14.43,28.83,28.83
$FREEZE,14.11,2.526,-1.472,0,1,0
$STATE,8065,end climb,NO_VERTICAL_VELOCITY
$STATE,8065,begin surface
$SM_CCo,8068,127.28,0.227,0,0,498,691.01
$SM_GC,1.35,9.80,0.20,0.00,0.116,0.099,0.000,206,2709,495,-8.41,1.41,692.48,0,0,0,0,0,0,14.33,14.37,28.83
$RAFOS_CLK,210
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14346.19,290714,201606
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.53
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,13.20
$XPDR_PINGS,8
$SC_FREEKB,3926496
$TM_FREEKB,7627008
$24V_AH,13.05,9.716
$10V_AH,13.30,0.000
$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,25.175,46.150,440.750,127.275,0.000,0.000,0.000,407.325,3.500,0.000,26.426,0.000,6224.881,708.264,1981.163,72.115,0.000,1685.392,0.000,930.278,1438.000,13.616,0.000
$DEVICE_MAMPS,407.745,120.105,1698.300,227.205,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8080.000,8131.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.088,13.058,0.000,0.000
$MEM,303616
$DATA_FILE_SIZE,20093,623
$CAP_FILE_SIZE,118063,0
$CFSIZE,2097872896,2086666240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9011.39,0x2378b6,7,5
$SOUNDSPEED,1449.2
$EKF,8415,4262.739258,-8662.198242,14.108429,-0.008743,0.012544,0.007395,0.000153,0.001452,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.038,111.77,1
$GPS,300714,011331,7102.674,-14421.701,12,0.8,32,22.4