version: 66.12
glider: 198
mission: 5
dive: 14
start: 7 28 114 16 8 17
data:
$ID,198
$MISSION,5
$DIVE,14
$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,-3338.6821
$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,2800
$C_ROLL_CLIMB,3200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,13
$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
$GPS1,280714,155849,7055.246,-14430.609,9,1.0,30,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.6
$GPS2,280714,160759,7055.256,-14430.818,10,0.9,30,22.3
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,344.0,8800,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-145.9,209,2783,493,595,0.0,0.0,0,79,0.00,0.00,-58.78,0.000,16386,0.000,0.000,209,2784,1990,2026,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.85,-145.9,210,2785,2027,1955,3.6,-5.2,6,136,11.60,1.95,-35.45,0.000,18692,0.477,0.174,2339,3788,3781,3851,3712,0,0,0,0,0,0,14.05,14.24,14.48
$GC,360,-0.75,-145.9,2340,3787,3853,3715,72.1,-21.6,59,370,0.15,1.75,0.00,0.000,3078,0.336,0.090,2375,2800,3782,3852,3713,0,0,0,0,0,0,14.16,14.35,28.83
$GC,666,-0.72,-145.9,2376,2797,3852,3711,123.6,-16.3,90,673,0.00,1.83,0.00,0.000,260,0.000,0.146,2374,3788,3783,3852,3715,0,0,0,0,0,0,28.83,14.33,28.83
$GC,737,-0.69,-145.9,2374,3787,3862,3716,135.4,-16.8,104,745,0.08,1.75,0.00,0.000,3078,0.300,0.091,2405,2797,3785,3852,3719,0,0,0,0,0,0,14.27,14.40,28.83
$GC,1049,-0.69,-145.9,2406,2798,3853,3716,174.5,-11.6,136,1057,0.00,2.45,0.00,0.000,516,0.000,0.105,2405,1395,3784,3852,3716,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1112,-0.71,-145.9,2407,1396,3852,3716,181.1,-10.0,148,1119,0.00,2.58,0.00,0.000,1030,0.000,0.133,2403,2804,3783,3852,3715,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1424,-0.74,-145.9,2404,2803,3852,3715,212.6,-9.9,180,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2803,3783,3851,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.77,-145.9,2404,2804,3851,3716,241.2,-9.4,210,1731,0.00,2.45,0.00,0.000,516,0.000,0.101,2403,1388,3783,3850,3716,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1816,-0.81,-145.9,2404,1389,3851,3715,249.6,-9.7,228,1824,0.00,2.58,0.00,0.000,1030,0.000,0.134,2403,2803,3782,3850,3715,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2128,-0.84,-145.9,2404,2804,3851,3716,277.8,-8.9,240,2131,0.15,0.00,0.00,0.000,4102,0.144,0.000,2345,2803,3782,3849,3716,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2428,-0.84,-145.9,2346,2804,3850,3715,311.4,-11.3,250,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2804,3782,3848,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,-0.84,-145.9,2345,2811,3848,3717,344.6,-11.1,260,2736,0.00,2.42,0.00,0.000,516,0.000,0.101,2345,1395,3781,3847,3716,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2835,-0.84,-145.9,2346,1395,3847,3717,356.0,-10.5,281,2845,0.00,2.50,0.00,0.000,1030,0.000,0.130,2336,2795,3780,3846,3715,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,2883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2883,begin apogee
$GC,2886,-0.17,0.0,2334,3202,3848,3716,361.6,-11.6,285,3071,0.93,0.00,179.68,1.210,10246,0.298,0.000,2569,3202,3184,3262,3107,0,0,0,0,0,0,14.45,28.83,13.44
$STATE,3073,end apogee,CONTROL_FINISHED_OK
$STATE,3073,begin climb
$GC,3074,0.85,145.9,2568,3203,3257,3101,366.5,0.0,291,3213,1.12,1.12,123.10,1.232,10500,0.187,0.136,2892,3776,2578,2642,2514,0,0,0,0,0,0,13.90,13.76,13.31
$GC,3437,0.72,145.9,2894,3777,2629,2501,313.6,18.7,356,3447,0.10,1.02,0.00,0.000,5126,0.308,0.094,2872,3202,2564,2628,2500,0,0,0,0,0,0,14.09,14.23,28.83
$GC,3743,0.63,145.9,2873,3201,2629,2499,264.4,15.8,367,3750,0.15,1.10,0.00,0.000,4356,0.352,0.136,2838,3781,2563,2627,2499,0,0,0,0,0,0,14.25,14.31,28.83
$GC,3975,0.55,145.9,2839,3782,2628,2499,229.1,15.8,413,3984,0.10,1.02,0.00,0.000,5126,0.334,0.099,2818,3202,2563,2627,2499,0,0,0,0,0,0,14.30,14.45,28.83
$GC,4288,0.51,145.9,2818,3202,2629,2500,190.9,11.0,445,4297,0.00,1.10,0.00,0.000,260,0.000,0.147,2817,3781,2562,2627,2498,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4362,0.45,145.9,2819,3782,2635,2500,182.5,11.3,459,4369,0.15,1.02,0.00,0.000,5126,0.302,0.100,2783,3202,2563,2627,2499,0,0,0,0,0,0,14.32,14.47,28.83
$GC,4674,0.55,220.6,2783,3202,2628,2500,157.7,7.2,491,4749,0.00,2.55,67.12,1.011,8708,0.000,0.095,2792,1790,2272,2336,2209,0,0,0,0,0,0,28.83,14.13,13.76
$GC,4868,0.65,280.0,2794,1791,2323,2199,142.1,7.9,526,4931,0.15,2.58,53.92,0.983,11270,0.141,0.131,2850,3193,2036,2098,1974,0,0,0,0,0,0,14.32,14.27,13.68
$GC,5225,0.65,280.0,2850,3193,2078,1954,98.5,12.1,565,5234,0.00,2.45,0.00,0.000,516,0.000,0.096,2859,1790,2015,2076,1954,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5368,0.65,282.2,2860,1789,2073,1960,82.5,10.8,593,5379,0.00,2.58,0.00,0.000,1030,0.000,0.130,2859,3206,2018,2082,1954,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5683,0.68,305.7,2860,3206,2076,1952,47.9,9.7,625,5699,0.00,0.00,12.20,0.282,8198,0.000,0.000,2859,3206,1940,2006,1875,0,0,0,0,0,0,28.83,28.83,14.28
$GC,5993,0.80,397.5,2859,3205,2044,1883,26.0,6.3,656,6055,0.00,2.47,53.97,0.243,8708,0.000,0.095,2866,1785,1566,1626,1506,0,0,0,0,0,0,28.83,14.39,14.30
$GC,6179,1.00,514.5,2866,1785,1650,1507,12.5,5.1,690,6254,0.28,2.58,66.85,0.203,11270,0.129,0.131,2959,3202,1086,1114,1059,0,0,0,0,0,0,14.44,14.41,14.29
$STATE,6526,end climb,SURFACE_DEPTH_REACHED
$STATE,6526,begin surface coast
$FINISH,0.8,1.015703
$STATE,6577,end surface coast,CONTROL_FINISHED_OK
$STATE,6577,begin surface
$SM_CCo,6597,75.78,0.184,0,0,540,649.31
$SM_GC,1.86,8.30,0.73,75.78,0.103,0.098,0.184,208,2791,540,-7.51,0.62,649.31,0,0,0,0,0,0,14.47,14.48,14.35
$RAFOS_CLK,421
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14438.42,280714,140755
$TT8_MAMPS,0.044191,0.044191
$HUMID,52.04
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4014112
$TM_FREEKB,7798048
$24V_AH,13.31,5.073
$10V_AH,12.67,0.000
$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,23.250,45.325,556.850,75.775,0.000,0.000,0.000,340.225,0.000,0.000,31.385,0.000,4392.780,693.504,2088.973,61.644,0.000,1709.539,0.000,1086.405,913.000,0.535,0.000
$DEVICE_MAMPS,477.360,174.420,1232.415,183.600,0.000,0.000,0.000,195.075,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6597.000,6634.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.620,13.652,0.000,0.000
$MEM,308232
$DATA_FILE_SIZE,23434,734
$CAP_FILE_SIZE,111868,0
$CFSIZE,2097872896,2090565632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7080.68,0x2378b6,7,5
$SOUNDSPEED,1447.0
$EKF,6778,4255.947754,-8670.634766,0.772112,0.049484,0.012885,-0.018028,0.000064,0.000595,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.075,173.18,1
$GPS,280714,180112,7055.681,-14430.531,39,0.7,59,22.3