version: 66.12
glider: 196
mission: 7
dive: 27
start: 7 30 114 1 24 13
data:
$ID,196
$MISSION,7
$DIVE,27
$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,-4708.0342
$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,38
$R_STBD_OVSHOOT,15
$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
$GPS1,300714,011331,7102.674,-14421.701,12,0.8,32,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-77.5
$GPS2,300714,012356,7102.657,-14421.617,18,0.8,38,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.6,62123,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.70,-145.9,158,2708,454,529,0.0,0.0,0,96,0.00,0.00,-73.00,0.000,16386,0.000,0.000,155,2709,2388,2393,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.70,-145.9,156,2709,2394,2385,3.6,-4.7,7,145,12.35,2.47,-25.02,0.000,18948,0.404,0.097,2671,1300,3914,3975,3853,0,0,0,0,0,0,14.08,14.26,14.46
$GC,264,-0.59,-145.9,2672,1300,3975,3858,47.0,-22.1,38,273,0.22,2.53,0.00,0.000,3078,0.299,0.099,2710,2710,3915,3974,3857,0,0,0,0,0,0,14.20,14.30,28.83
$GC,569,-0.59,-145.9,2710,2711,3975,3860,101.7,-16.2,69,577,0.00,1.90,0.00,0.000,260,0.000,0.107,2704,3792,3917,3975,3859,0,0,0,0,0,0,28.83,14.34,28.83
$GC,656,-0.59,-145.9,2704,3793,3975,3861,116.2,-16.3,86,665,0.00,1.85,0.00,0.000,1030,0.000,0.058,2704,2684,3917,3975,3860,0,0,0,0,0,0,28.83,14.43,28.83
$GC,961,-0.59,-145.9,2704,2685,3975,3860,161.4,-13.6,117,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2684,3916,3974,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1261,-0.65,-145.9,2704,2684,3976,3860,199.5,-11.3,147,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2684,3917,3974,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.72,-145.9,2704,2684,3975,3859,234.1,-11.3,177,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2684,3916,3974,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.80,-145.9,2704,2685,3970,3860,266.5,-10.5,198,1874,0.17,0.00,0.00,0.000,4102,0.118,0.000,2638,2684,3915,3972,3859,0,0,0,0,0,0,14.52,28.83,28.83
$GC,2172,-0.80,-145.9,2638,2684,3972,3859,309.1,-14.2,208,2179,0.00,1.95,0.00,0.000,260,0.000,0.111,2630,3794,3919,3979,3859,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2218,-0.72,-145.9,2631,3796,3970,3860,316.1,-16.0,217,2226,0.17,1.77,0.00,0.000,3078,0.272,0.062,2669,2703,3914,3970,3859,0,0,0,0,0,0,14.41,14.57,28.83
$GC,2535,-0.72,-145.9,2670,2702,3971,3859,354.9,-12.0,230,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2702,3914,3970,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-0.72,-145.9,2670,2703,3970,3859,390.8,-12.0,240,2843,0.00,1.90,0.00,0.000,260,0.000,0.110,2663,3785,3913,3969,3858,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2902,-0.72,-145.9,2664,3786,3970,3857,399.7,-13.2,253,2911,0.00,1.83,0.00,0.000,1030,0.000,0.061,2663,2695,3913,3969,3857,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3231,-0.72,-145.9,2663,2695,3970,3857,440.7,-12.2,268,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2695,3913,3969,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-0.72,-145.9,2664,2695,3970,3857,477.2,-12.2,278,3538,0.00,1.92,0.00,0.000,260,0.000,0.109,2654,3792,3913,3969,3857,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3582,-0.72,-145.9,2655,3792,3964,3857,484.0,-13.1,288,3590,0.00,1.83,0.00,0.000,1030,0.000,0.060,2654,2694,3912,3968,3856,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3714,begin apogee
$GC,3717,-0.13,0.0,2654,2848,3969,3856,500.6,-12.4,294,3843,0.77,0.00,122.57,1.707,10246,0.243,0.000,2858,2848,3316,3337,3295,0,0,0,0,0,0,14.45,28.83,13.19
$STATE,3846,end apogee,CONTROL_FINISHED_OK
$STATE,3846,begin climb
$GC,3847,0.70,145.9,2858,2849,3333,3289,504.1,0.0,298,3978,0.93,0.00,121.45,1.587,10246,0.142,0.000,3128,2848,2722,2730,2714,0,0,0,0,0,0,13.84,28.83,13.10
$GC,4254,0.63,145.9,3129,2849,2725,2701,459.2,13.4,312,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2848,2713,2725,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4554,0.55,145.9,3129,2854,2725,2701,418.7,13.6,322,4562,0.15,2.40,0.00,0.000,4612,0.278,0.071,3103,1452,2710,2721,2700,0,0,0,0,0,0,14.18,14.31,28.83
$GC,4586,0.56,156.5,3104,1452,2725,2701,415.1,11.3,328,4605,0.00,2.47,9.90,1.603,9222,0.000,0.099,3103,2834,2672,2683,2661,0,0,0,0,0,0,28.83,14.31,13.60
$GC,4919,0.56,156.5,3104,2835,2684,2659,374.4,12.4,344,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2834,2671,2684,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5219,0.56,156.5,3103,2835,2685,2658,337.9,12.1,354,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2834,2670,2684,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5519,0.56,160.4,3103,2834,2685,2657,302.4,11.7,364,5527,0.00,2.35,0.00,0.000,516,0.000,0.075,3112,1447,2670,2684,2657,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5570,0.58,186.2,3113,1448,2685,2658,296.8,10.5,374,5604,0.00,2.47,25.35,1.574,9222,0.000,0.099,3112,2848,2552,2563,2542,0,0,0,0,0,0,28.83,14.47,13.68
$GC,5918,0.58,186.2,3113,2848,2564,2537,252.7,12.8,392,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2848,2553,2563,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6218,0.58,186.2,3113,2849,2563,2538,215.6,12.0,420,6226,0.00,2.40,0.00,0.000,516,0.000,0.073,3121,1445,2549,2563,2536,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6295,0.64,204.4,3121,1445,2564,2536,206.9,10.9,435,6319,0.00,2.47,15.85,1.473,9222,0.000,0.099,3121,2844,2479,2490,2469,0,0,0,0,0,0,28.83,14.42,13.73
$GC,6613,0.66,235.2,3122,2844,2490,2467,168.8,10.2,468,6651,0.00,2.45,26.40,1.350,8708,0.000,0.073,3124,1445,2351,2357,2346,0,0,0,0,0,0,28.83,14.21,13.74
$GC,6686,0.77,276.5,3126,1446,2357,2347,161.5,9.7,479,6729,0.00,2.50,35.70,1.250,9222,0.000,0.098,3125,2841,2184,2186,2183,0,0,0,0,0,0,28.83,14.23,13.59
$GC,7033,0.86,307.5,3126,2841,2185,2173,124.1,10.2,516,7068,0.17,2.45,25.80,1.291,10756,0.111,0.073,3200,1448,2055,2056,2054,0,0,0,0,0,0,14.34,14.12,13.69
$GC,7117,0.86,307.5,3201,1448,2056,2050,112.8,13.6,531,7127,0.00,2.53,0.00,0.000,1030,0.000,0.098,3200,2845,2052,2055,2049,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7422,0.86,307.5,3201,2845,2056,2042,68.5,13.6,562,7430,0.00,2.42,0.00,0.000,516,0.000,0.074,3210,1440,2051,2055,2047,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7488,0.86,307.5,3211,1441,2056,2046,60.3,12.3,575,7500,0.00,2.50,0.00,0.000,1030,0.000,0.099,3209,2840,2050,2056,2045,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7794,0.91,381.7,3211,2841,2056,2046,30.9,7.9,606,7830,0.00,0.00,31.30,0.282,8710,0.000,0.000,3210,2840,1758,1751,1766,0,0,0,0,0,0,28.83,28.83,14.21
$GC,8124,1.19,613.3,3211,2841,1754,1761,13.6,-0.7,641,8234,0.22,2.47,101.00,0.230,11012,0.105,0.075,3302,1446,813,805,821,0,0,0,0,0,0,14.38,14.26,14.19
$GC,8328,1.42,719.7,3303,1446,808,816,4.5,6.1,676,8365,0.20,2.50,30.10,0.199,11266,0.112,0.101,3377,2840,537,510,565,0,0,0,0,0,0,14.33,14.30,28.83
$STATE,8365,end climb,SURFACE_DEPTH_REACHED
$STATE,8365,begin surface coast
$FINISH,0.5,1.019282
$STATE,8383,end surface coast,CONTROL_FINISHED_OK
$STATE,8383,begin surface
$SM_CCo,8466,0.00,0.000,0,0,535,682.67
$SM_GC,1.21,9.77,0.20,0.00,0.087,0.103,0.000,206,2700,535,-8.42,1.55,682.67,0,0,0,0,0,0,14.31,14.35,28.83
$RAFOS_CLK,387
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14423.13,290714,224603
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.02
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.60
$XPDR_PINGS,2
$SC_FREEKB,3926048
$TM_FREEKB,7613832
$24V_AH,13.10,10.010
$10V_AH,13.31,0.000
$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,25.150,54.825,545.425,0.000,0.000,0.000,0.000,388.650,2.000,0.000,39.933,0.000,6270.272,680.668,2069.752,73.951,0.000,1694.262,0.000,1019.208,0.000,13.163,0.000
$DEVICE_MAMPS,403.920,122.400,1706.715,0.000,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8397.000,8450.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.295,13.068,0.000,0.000
$MEM,303236
$DATA_FILE_SIZE,23395,685
$CAP_FILE_SIZE,120513,0
$CFSIZE,2097872896,2086436864
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8982.37,0x213684,7,24
$INTR,1,9053.39,0x2378b6,7,5
$SOUNDSPEED,1448.9
$EKF,8558,4263.858887,-8661.467773,0.507131,0.020710,-0.001817,0.047586,0.000158,0.001497,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.042,128.87,1
$GPS,300714,034648,7103.739,-14421.003,39,0.8,59,22.4