version: 66.12
glider: 198
mission: 5
dive: 15
start: 7 28 114 18 11 4
data:
$ID,198
$MISSION,5
$DIVE,15
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,480
$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,115
$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,-3339.9397
$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,16
$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
$GPS1,280714,180112,7055.681,-14430.531,39,0.7,59,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.7
$GPS2,280714,181046,7055.703,-14430.571,6,0.8,26,22.3
$SPEED_LIMITS,0.174,0.236
$TGT_NAME,3
$TGT_LATLONG,7053.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,154.6,5018,-22.4,-12.174,-27.24,1846
$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,-0.93,-145.9,205,2791,477,615,0.0,0.0,0,84,0.00,0.00,-63.10,0.000,16386,0.000,0.000,206,2791,2119,2161,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.93,-145.9,207,2791,2164,2077,3.5,-4.3,6,135,11.38,2.53,-31.38,0.000,18948,0.475,0.122,2325,1391,3781,3852,3711,0,0,0,0,0,0,14.09,14.31,14.53
$GC,264,-0.86,-145.9,2322,1391,3853,3715,46.4,-22.3,39,274,0.17,2.58,0.00,0.000,3078,0.364,0.127,2345,2808,3783,3852,3714,0,0,0,0,0,0,14.23,14.35,28.83
$GC,570,-0.82,-145.9,2346,2808,3853,3716,105.6,-18.7,70,577,0.00,2.45,0.00,0.000,516,0.000,0.097,2345,1394,3783,3851,3715,0,0,0,0,0,0,28.83,14.42,28.83
$GC,671,-0.82,-145.9,2346,1395,3851,3716,123.1,-16.4,90,680,0.00,2.58,0.00,0.000,1030,0.000,0.128,2336,2801,3783,3852,3714,0,0,0,0,0,0,28.83,14.42,28.83
$GC,984,-0.82,-145.9,2336,2801,3853,3715,175.3,-15.6,122,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2801,3783,3852,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1284,-0.82,-145.9,2337,2801,3852,3715,217.6,-13.4,152,1294,0.00,2.42,0.00,0.000,516,0.000,0.100,2336,1396,3783,3851,3715,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1378,-0.82,-145.9,2337,1396,3851,3717,229.8,-12.7,170,1386,0.12,2.55,0.00,0.000,3078,0.354,0.133,2358,2798,3780,3846,3715,0,0,0,0,0,0,14.39,14.50,28.83
$GC,1700,-0.85,-145.9,2358,2797,3851,3715,268.8,-11.9,193,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2797,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2000,-0.87,-145.9,2358,2795,3850,3716,302.0,-10.7,203,2008,0.00,2.42,0.00,0.000,516,0.000,0.099,2358,1394,3781,3847,3715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2112,-0.90,-145.9,2359,1395,3848,3716,313.7,-10.0,225,2120,0.00,2.55,0.00,0.000,1030,0.000,0.132,2348,2808,3781,3847,3715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2424,-0.90,-145.9,2348,2808,3847,3715,348.1,-11.1,237,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2806,3780,3846,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2724,-0.90,-145.9,2348,2808,3843,3724,381.4,-11.1,247,2732,0.00,2.42,0.00,0.000,516,0.000,0.099,2347,1395,3780,3846,3715,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2801,-0.93,-145.9,2348,1395,3847,3715,389.6,-10.9,262,2809,0.00,2.53,0.00,0.000,1030,0.000,0.132,2347,2797,3780,3845,3715,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,3087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3087,begin apogee
$GC,3090,-0.17,0.0,2348,3206,3847,3715,421.1,-11.0,274,3231,0.85,0.00,131.12,2.612,10246,0.290,0.000,2567,3206,3188,3266,3110,0,0,0,0,1,0,14.50,28.83,12.63
$STATE,3233,end apogee,CONTROL_FINISHED_OK
$STATE,3233,begin climb
$GC,3234,0.93,145.9,2568,3206,3280,3110,424.5,0.0,278,3378,1.23,1.17,128.93,1.382,10500,0.181,0.138,2917,3784,2578,2639,2518,0,0,0,0,0,0,13.71,13.66,13.22
$GC,3602,0.80,145.9,2918,3785,2633,2509,368.2,20.8,344,3611,0.10,1.05,0.00,0.000,5126,0.328,0.096,2898,3205,2569,2631,2508,0,0,0,0,0,0,14.02,14.16,28.83
$GC,3935,0.71,145.9,2899,3205,2633,2507,307.7,18.0,360,3945,0.15,1.10,0.00,0.000,4356,0.356,0.143,2866,3784,2569,2632,2507,0,0,0,0,0,0,14.21,14.30,28.83
$GC,4169,0.62,145.9,2867,3784,2634,2507,266.6,17.4,406,4177,0.12,1.02,0.00,0.000,5126,0.342,0.097,2841,3203,2569,2631,2507,0,0,0,0,0,0,14.26,14.42,28.83
$GC,4481,0.58,145.9,2841,3203,2633,2506,223.1,13.3,430,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,3203,2569,2632,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,0.55,156.2,2841,3203,2633,2506,185.2,11.6,460,4797,0.12,0.00,6.65,1.120,12294,0.368,0.000,2817,3203,2547,2614,2480,0,0,0,0,0,0,14.35,28.83,13.93
$GC,5092,0.64,227.0,2817,3200,2611,2477,157.7,8.2,491,5163,0.00,2.58,64.95,1.079,8708,0.000,0.094,2827,1782,2252,2315,2189,0,0,0,0,0,0,28.83,14.16,13.79
$GC,5247,0.72,264.1,2827,1782,2300,2184,142.2,10.1,518,5289,0.10,2.60,32.90,1.016,11270,0.185,0.127,2865,3200,2101,2166,2036,0,0,0,0,0,0,14.28,14.25,13.74
$GC,5582,0.72,264.1,2866,3201,2145,2025,99.5,13.5,554,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,3200,2080,2143,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5883,0.73,274.0,2865,3200,2144,2016,63.1,11.6,584,5893,0.00,2.53,2.17,0.207,8708,0.000,0.096,2871,1785,2068,2135,2002,0,0,0,0,0,0,28.83,14.42,14.38
$GC,5942,0.78,314.0,2876,1786,2145,2003,57.2,9.9,595,5972,0.00,2.55,23.98,0.343,9222,0.000,0.128,2870,3197,1903,1965,1842,0,0,0,0,0,0,28.83,14.40,14.26
$GC,6276,0.88,400.3,2870,3198,1994,1842,26.9,7.4,630,6332,0.12,2.53,49.05,0.246,10756,0.156,0.098,2931,1790,1557,1614,1501,0,0,0,0,0,0,14.50,14.38,14.29
$GC,6402,0.93,419.0,2932,1789,1636,1501,13.5,11.1,652,6424,0.00,2.60,12.82,0.213,9222,0.000,0.130,2932,3210,1478,1535,1422,0,0,0,0,0,0,28.83,14.36,14.33
$GC,6733,1.26,638.8,2932,3211,1552,1422,10.1,-0.1,686,6767,0.28,0.00,27.45,0.206,10754,0.106,0.000,3039,3210,1294,1349,1240,0,0,0,0,0,0,14.41,28.83,28.83
$FREEZE,10.19,4.742,-1.399,0,1,0
$STATE,6767,end climb,NO_VERTICAL_VELOCITY
$STATE,6767,begin surface
$SM_CCo,6770,109.05,0.193,0,0,500,659.12
$SM_GC,1.95,8.60,0.75,0.00,0.100,0.090,0.000,208,2784,503,-7.51,0.40,658.14,0,0,0,0,0,0,14.35,14.36,28.83
$RAFOS_CLK,39
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,280714,160201
$TT8_MAMPS,0.076398,0.076398
$HUMID,50.55
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,4013664
$TM_FREEKB,7787136
$24V_AH,12.63,5.391
$10V_AH,12.58,0.000
$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,23.350,46.250,480.025,109.050,0.000,0.000,0.000,364.625,0.000,0.000,27.556,0.000,4805.657,697.941,2002.662,62.127,0.000,1667.115,0.000,1022.794,1499.000,0.536,0.000
$DEVICE_MAMPS,475.065,143.055,2612.475,192.780,0.000,0.000,0.000,192.780,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6788.000,6820.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.307,13.523,0.000,0.000
$MEM,307628
$DATA_FILE_SIZE,23376,690
$CAP_FILE_SIZE,110323,0
$CFSIZE,2097872896,2090336256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,7366.33,0x2378b6,7,5
$SOUNDSPEED,1448.3
$EKF,7053,4254.957031,-8670.084961,10.187729,0.001735,-0.001854,0.008922,0.000083,0.000775,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.074,165.98,1
$GPS,280714,200834,7054.685,-14429.878,3,0.8,24,22.3