version: 66.13
glider: 198
mission: 12
dive: 295
start: 9 23 117 14 32 10
data:
$ID,198
$MISSION,12
$DIVE,295
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,820
$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,30
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$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,55522
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0022
$HD_B,0.0185
$HD_C,1.91e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,692.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2320
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3107
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.33199
$PRESSURE_SLOPE,0.00010704049
$AD7714Ch0Gain,1
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,83
$LOGGERDEVICE3,135
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004407478
$SEABIRD_T_H,0.00064096908
$SEABIRD_T_I,2.5637486e-05
$SEABIRD_T_J,3.1305062e-06
$SEABIRD_C_G,-9.8934832
$SEABIRD_C_H,1.0879974
$SEABIRD_C_I,-0.0021788499
$SEABIRD_C_J,0.00021905446
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,771.0
$CP_NDIVE,1.0
$GPS1,230917,142230,7418.9331,-15347.1143,5,0.8,17,19.2,0.6,43.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.7
$GPS2,230917,143137,7418.9927,-15346.8535,5,0.8,22,19.2,0.0,5.0,10,8.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,174.9,1655,-19.7,-10.000,-27.15,2241
$D_GRID,90
$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,46,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.65,-145.9,181,2511,514,485,0.0,0.0,0,159,0.00,0.00,-107.15,0.000,16386,0.000,0.000,180,2511,2061,2016,2106,0,0,0,0,0,0,14.47,28.83,14.49
$GC,162,-0.65,-145.9,181,2512,2023,2108,3.0,-5.8,18,217,10.88,2.62,-39.62,0.000,18724,0.489,2.150,1973,3771,3703,3674,3732,0,0,0,0,0,0,13.50,12.68,14.04
$GC,413,-0.57,-145.9,1975,3772,3676,3737,65.9,-20.6,66,419,0.17,2.15,0.00,0.000,3206,0.283,0.048,2010,2487,3704,3675,3734,0,0,0,0,0,0,13.69,14.11,13.96
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,573,-0.14,0.0,2009,2296,3675,3737,90.0,-14.2,97,652,0.52,0.00,73.85,0.461,10246,0.249,0.000,2144,2295,3114,3076,3152,0,0,0,0,0,0,13.71,14.18,13.59
$STATE,656,end apogee,CONTROL_FINISHED_OK
$STATE,656,begin climb
$GC,658,0.65,145.9,2145,2296,3080,3157,95.3,0.0,110,759,0.85,2.62,76.18,0.466,10500,0.184,0.102,2397,3714,2517,2452,2582,0,0,0,0,0,0,14.00,13.85,13.54
$GC,844,0.69,248.5,2396,3713,2451,2580,90.1,5.3,129,911,0.00,2.30,56.67,0.443,9382,0.000,0.047,2403,2329,2096,2024,2169,0,0,0,0,0,0,14.15,14.07,13.59
$GC,1091,0.88,342.5,2403,2330,2021,2169,75.1,5.7,176,1146,0.22,0.00,52.20,0.393,10918,0.090,0.000,2522,2327,1714,1645,1783,0,0,0,0,0,0,14.05,14.08,13.67
$GC,1326,0.89,366.3,2520,2329,1643,1789,49.8,8.9,221,1346,0.12,2.60,14.55,0.324,12580,0.245,0.102,2489,3724,1617,1545,1690,0,0,0,0,0,0,13.86,14.00,13.62
$GC,1377,0.95,402.3,2489,3724,1549,1694,45.7,8.3,230,1406,0.00,2.33,22.60,0.317,9382,0.000,0.049,2492,2330,1467,1400,1535,0,0,0,0,0,0,14.19,14.11,13.73
$GC,1587,1.13,493.3,2491,2331,1400,1542,32.2,5.8,271,1648,0.20,2.53,53.53,0.275,10660,0.096,0.100,2599,3716,1096,1043,1150,0,0,0,0,0,0,14.20,14.00,13.70
$GC,1653,1.10,493.3,2601,3721,1045,1152,25.6,10.6,282,1660,0.22,2.35,0.00,0.000,5254,0.276,0.050,2555,2320,1098,1043,1153,0,0,0,0,0,0,13.76,14.03,14.04
$GC,1840,1.26,560.7,2554,2318,1043,1156,11.5,6.9,319,1889,0.12,2.50,39.25,0.218,10916,0.125,0.075,2644,915,819,776,863,0,0,0,0,0,0,14.20,14.11,13.83
$GC,1924,1.26,560.7,2645,916,776,868,2.6,11.7,334,1930,0.15,2.42,0.00,0.000,5126,0.239,0.073,2610,2310,819,772,867,0,0,0,0,0,0,13.78,14.01,14.03
$STATE,1933,end climb,SURFACE_DEPTH_REACHED
$STATE,1933,begin surface coast
$FINISH,0.1,1.018097
$STATE,1948,end surface coast,CONTROL_FINISHED_OK
$STATE,1948,begin surface
$SM_CCo,1968,45.00,0.195,0,0,499,639.50
$SM_CCo,2016,-0.22,0.000,0,0,500,639.50
$SM_CCo,2020,0.05,1.630,0,0,500,639.50
$SM_GC,1.05,7.12,0.35,0.05,0.077,0.097,1.630,183,2517,500,-6.16,-0.48,639.50,0,0,0,0,0,0,14.33,14.23,13.25
$RAFOS_CLK,122
$RAFOS_FIX,7445.924316,-14631.064453,310817,202010,4,255,0.21
$IRIDIUM_FIX,7419.36,-15354.57,230917,133721
$TT8_MAMPS,0.042693,0.869589
$HUMID,45.23
$INTERNAL_PRESSURE,7.55812
$TCM_TEMP,13.20
$XPDR_PINGS,16
$PM_FREEKB_00,33658048
$CP_FREE,15938879488.000000
$24V_AH,12.58,189.129
$10V_AH,12.66,0.000
$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,20.600,25.025,388.825,45.050,0.000,0.000,0.000,299.500,4.000,0.000,23.512,0.000,746.871,467.671,1141.410,238.523,0.000,1167.319,0.000,494.876,0.000,0.536,0.000
$DEVICE_MAMPS,488.835,2149.650,465.885,1630.215,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1963.000,1955.000,1918.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.147,16.140,30.000,0.000
$MEM,323560
$DATA_FILE_SIZE,10101,339
$CAP_FILE_SIZE,51356,0
$CFSIZE,2097872896,2001731584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1442.5
$CURRENT,0.136,61.69,1
$GPS,230917,150719,7418.898,-15346.637,7,0.8,39,19.2,0.0,0.0,10,8.4