version: 66.12
glider: 198
mission: 5
dive: 11
start: 7 28 114 10 10 55
data:
$ID,198
$MISSION,5
$DIVE,11
$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,145
$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,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-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,648.87579
$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,-3334.9138
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2630
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3186
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,280714,100139,7054.374,-14429.857,10,0.8,31,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.8
$GPS2,280714,101042,7054.329,-14429.945,4,0.8,25,22.3
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,341.7,10503,-20.0,-10.909,-25.39,2059
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.85,-145.9,204,2589,503,598,0.0,0.0,0,87,0.00,0.00,-65.20,0.000,16386,0.000,0.000,203,2589,2229,2276,2182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.85,-145.9,205,2589,2277,2182,4.1,-5.3,6,136,11.52,2.25,-27.23,0.000,18692,0.476,0.166,2340,3792,3783,3854,3713,0,0,0,0,0,0,14.12,14.28,14.52
$GC,359,-0.75,-145.9,2341,3792,3856,3715,75.2,-21.8,58,369,0.17,2.05,0.00,0.000,3078,0.353,0.090,2376,2607,3785,3855,3715,0,0,0,0,0,0,14.27,14.43,28.83
$GC,673,-0.75,-145.9,2380,2608,3854,3716,126.1,-15.1,90,683,0.00,2.17,0.00,0.000,260,0.000,0.146,2374,3787,3785,3855,3715,0,0,0,0,0,0,28.83,14.43,28.83
$GC,907,-0.73,-145.9,2374,3788,3856,3715,163.4,-15.3,136,915,0.00,2.05,0.00,0.000,1030,0.000,0.091,2374,2590,3785,3855,3715,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1218,-0.73,-145.9,2375,2589,3856,3716,201.8,-11.3,168,1226,0.00,2.22,0.00,0.000,260,0.000,0.148,2374,3792,3785,3855,3715,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1330,-0.73,-145.9,2373,3792,3856,3715,215.2,-12.4,190,1340,0.00,2.08,0.00,0.000,1030,0.000,0.090,2374,2606,3782,3849,3715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1644,-0.73,-145.9,2374,2604,3855,3716,249.3,-10.7,222,1654,0.00,2.17,0.00,0.000,260,0.000,0.148,2373,3789,3784,3854,3715,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1678,-0.73,-145.9,2375,3790,3854,3715,253.2,-11.7,228,1686,0.00,2.05,0.00,0.000,1030,0.000,0.090,2374,2588,3783,3852,3715,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2010,-0.73,-145.9,2374,2589,3853,3716,286.8,-10.0,244,2018,0.00,2.20,0.00,0.000,260,0.000,0.147,2374,3790,3783,3852,3715,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2077,-0.73,-145.9,2374,3790,3853,3716,294.0,-11.0,257,2085,0.00,2.08,0.00,0.000,1030,0.000,0.089,2374,2599,3783,3851,3716,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2404,-0.73,-145.9,2371,2599,3848,3716,326.8,-9.9,272,2411,0.00,2.17,0.00,0.000,260,0.000,0.147,2373,3791,3783,3852,3715,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2460,-0.73,-145.9,2375,3792,3852,3716,333.0,-11.1,283,2470,0.00,2.03,0.00,0.000,1030,0.000,0.090,2374,2593,3786,3851,3721,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2735,begin apogee
$GC,2738,-0.17,0.0,2375,3011,3852,3716,360.4,-9.9,293,2926,0.75,0.00,182.98,1.219,10246,0.288,0.000,2567,3006,3180,3259,3102,0,0,0,0,0,0,14.50,28.83,13.48
$STATE,2928,end apogee,CONTROL_FINISHED_OK
$STATE,2928,begin climb
$GC,2929,0.85,145.9,2568,3007,3258,3098,366.0,0.0,299,3070,1.12,1.55,125.22,1.209,10500,0.193,0.135,2890,3787,2577,2646,2508,0,0,0,0,0,0,13.90,13.76,13.33
$GC,3294,0.72,145.9,2890,3787,2633,2494,315.0,18.3,365,3302,0.10,1.40,0.00,0.000,5126,0.311,0.089,2871,3002,2558,2624,2493,0,0,0,0,0,0,14.09,14.25,28.83
$GC,3626,0.64,145.9,2872,3003,2620,2493,262.5,15.7,381,3635,0.12,1.45,0.00,0.000,4356,0.363,0.133,2843,3790,2558,2624,2492,0,0,0,0,0,0,14.26,14.34,28.83
$GC,3859,0.56,145.9,2844,3790,2625,2492,226.5,15.5,427,3867,0.10,1.38,0.00,0.000,5126,0.339,0.090,2813,3002,2559,2624,2494,0,0,0,0,0,0,14.31,14.45,28.83
$GC,4172,0.53,151.4,2814,3005,2625,2492,190.4,10.6,459,4179,0.00,1.48,0.00,0.000,260,0.000,0.141,2812,3785,2557,2624,2491,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4403,0.51,176.5,2814,3785,2626,2492,166.1,9.7,505,4438,0.00,1.38,26.55,1.093,9222,0.000,0.092,2818,3003,2457,2529,2385,0,0,0,0,0,0,28.83,14.50,13.88
$GC,4742,0.59,241.8,2819,3003,2512,2369,135.9,7.7,541,4812,0.00,1.55,60.90,1.129,8452,0.000,0.140,2818,3786,2186,2252,2120,0,0,0,0,0,0,28.83,14.09,13.70
$GC,4931,0.59,241.8,2819,3786,2241,2105,116.2,11.7,575,4939,0.00,1.40,0.00,0.000,1030,0.000,0.093,2824,3004,2171,2239,2104,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5243,0.64,282.9,2825,3004,2239,2103,86.5,8.9,607,5267,0.00,0.00,20.70,0.390,8198,0.000,0.000,2824,3004,2032,2100,1964,0,0,0,0,0,0,28.83,28.83,14.18
$GC,5563,0.70,329.0,2825,3004,2139,1965,56.4,8.6,639,5598,0.00,2.55,28.50,0.342,8708,0.000,0.103,2834,1587,1845,1911,1780,0,0,0,0,0,0,28.83,14.38,14.25
$GC,5657,0.82,391.8,2834,1587,1941,1780,48.8,7.8,656,5707,0.17,2.58,37.55,0.320,11270,0.137,0.130,2903,2998,1592,1653,1531,0,0,0,0,0,0,14.42,14.36,14.19
$GC,6001,0.94,491.8,2903,2997,1674,1532,13.3,5.9,693,6072,0.00,1.50,57.78,0.216,8452,0.000,0.142,2902,3782,1187,1227,1148,0,0,0,0,0,0,28.83,14.33,14.30
$GC,6297,1.20,645.2,2904,3785,1240,1143,6.5,3.3,748,6392,0.30,1.40,85.85,0.190,11270,0.088,0.094,3020,2997,551,510,593,0,0,0,0,0,0,14.40,14.40,14.29
$STATE,6395,end climb,SURFACE_DEPTH_REACHED
$STATE,6395,begin surface coast
$FINISH,0.8,1.017605
$STATE,6415,end surface coast,CONTROL_FINISHED_OK
$STATE,6415,begin surface
$SM_CCo,6437,3.20,0.200,0,0,539,649.06
$SM_GC,2.48,8.45,0.70,3.20,0.094,0.095,0.200,212,2586,539,-7.51,0.59,649.06,0,0,0,0,0,0,14.39,14.39,14.31
$RAFOS_CLK,399
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,280714,080537
$TT8_MAMPS,0.044191,0.044191
$HUMID,52.95
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4015456
$TM_FREEKB,7829280
$24V_AH,13.33,4.283
$10V_AH,12.72,0.000
$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,22.825,46.600,626.025,3.200,0.000,0.000,0.000,337.975,0.000,0.000,26.699,0.000,4120.415,727.507,2072.339,63.311,0.000,1728.037,0.000,1131.541,0.000,0.536,0.000
$DEVICE_MAMPS,475.830,166.005,1218.645,200.430,0.000,0.000,0.000,195.075,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6436.000,6472.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.606,13.604,0.000,0.000
$MEM,309444
$DATA_FILE_SIZE,26726,765
$CAP_FILE_SIZE,109058,0
$CFSIZE,2097872896,2091253760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7165.99,0x2378b6,7,5
$SOUNDSPEED,1448.1
$EKF,6536,4254.850098,-8669.992188,0.759766,0.023695,-0.020641,0.029495,0.000062,0.000581,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.082,203.11,1
$GPS,280714,115948,7054.585,-14430.344,37,0.8,57,22.3