version: 66.12
glider: 198
mission: 5
dive: 18
start: 7 29 114 0 48 6
data:
$ID,198
$MISSION,5
$DIVE,18
$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,-3343.7126
$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,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,37
$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,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,0.00069999998
$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
$GPS1,290714,003813,7054.084,-14429.733,14,0.7,34,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.9
$GPS2,290714,004748,7054.021,-14429.791,5,0.8,26,22.3
$SPEED_LIMITS,0.174,0.236
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,346.4,78602,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.71,-145.9,203,2802,468,536,0.0,0.0,0,84,0.00,0.00,-62.75,0.000,16386,0.000,0.000,201,2803,2067,2113,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.71,-145.9,203,2803,2115,2022,3.4,-3.3,6,142,11.57,2.47,-32.65,0.000,18948,0.476,0.121,2362,1393,3783,3852,3714,0,0,0,0,0,0,14.12,14.29,14.54
$GC,241,-0.65,-145.9,2362,1393,3855,3716,37.7,-21.9,34,249,0.00,2.58,0.00,0.000,1030,0.000,0.129,2361,2803,3783,3851,3716,0,0,0,0,0,0,28.83,14.34,28.83
$GC,554,-0.62,-145.9,2361,2804,3852,3720,97.5,-17.4,66,557,0.15,0.00,0.00,0.000,2054,0.363,0.000,2390,2804,3785,3851,3719,0,0,0,0,0,0,14.33,28.83,28.83
$GC,853,-0.62,-145.9,2388,2803,3853,3719,142.0,-13.9,96,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2804,3785,3851,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1154,-0.65,-145.9,2390,2804,3852,3719,179.9,-11.6,126,1161,0.00,2.42,0.00,0.000,516,0.000,0.096,2390,1390,3785,3851,3719,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1266,-0.69,-145.9,2391,1391,3851,3720,192.3,-10.4,148,1273,0.00,2.55,0.00,0.000,1030,0.000,0.129,2387,2804,3785,3851,3719,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1578,-0.73,-145.9,2388,2804,3852,3715,225.3,-10.6,180,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2804,3784,3850,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1888,-0.77,-145.9,2389,2805,3843,3719,256.4,-9.9,207,1896,0.12,2.42,0.00,0.000,4612,0.158,0.093,2337,1392,3783,3850,3717,0,0,0,0,0,0,14.62,14.57,28.83
$GC,1934,-0.77,-145.9,2342,1392,3850,3717,261.8,-11.9,216,1942,0.00,2.55,0.00,0.000,1030,0.000,0.125,2328,2812,3781,3845,3718,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2252,-0.77,-145.9,2329,2813,3849,3718,301.5,-12.4,229,2261,0.00,2.42,0.00,0.000,516,0.000,0.093,2331,1390,3782,3848,3717,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2285,-0.77,-145.9,2327,1390,3849,3717,305.5,-11.9,235,2294,0.12,2.53,0.00,0.000,3078,0.340,0.125,2342,2803,3782,3848,3717,0,0,0,0,0,0,14.47,14.57,28.83
$GC,2618,-0.77,-145.9,2341,2804,3848,3718,343.5,-11.4,251,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2804,3782,3848,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2918,-0.77,-145.9,2342,2804,3848,3726,376.7,-11.0,261,2927,0.00,2.42,0.00,0.000,516,0.000,0.094,2341,1385,3781,3845,3717,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2977,-0.79,-145.9,2342,1385,3848,3717,382.8,-10.5,272,2985,0.00,2.53,0.00,0.000,1030,0.000,0.125,2334,2801,3782,3847,3717,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3282,-0.79,-145.9,2336,2801,3848,3717,416.5,-11.1,283,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2801,3782,3847,3717,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3340,begin apogee
$GC,3343,-0.14,0.0,2334,3060,3849,3717,423.1,-10.9,285,3483,0.82,0.00,130.35,2.629,10246,0.298,0.000,2546,3060,3185,3262,3109,0,0,0,0,1,0,14.52,28.83,12.76
$STATE,3485,end apogee,CONTROL_FINISHED_OK
$STATE,3485,begin climb
$GC,3486,0.71,145.9,2546,3060,3275,3109,426.5,0.0,289,3632,0.98,1.48,132.32,1.731,10500,0.196,0.136,2819,3786,2583,2650,2517,0,0,0,0,0,0,13.69,13.57,13.06
$GC,3706,0.67,145.9,2818,3786,2640,2508,406.7,14.9,325,3716,0.00,1.35,0.00,0.000,1030,0.000,0.089,2823,3051,2573,2638,2508,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4041,0.64,145.9,2824,3050,2640,2506,361.7,13.4,341,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,3051,2571,2638,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,0.62,145.9,2824,3051,2639,2505,321.4,13.4,351,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,3051,2571,2638,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,0.60,145.9,2825,3051,2639,2506,281.7,13.3,361,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,3051,2571,2638,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4941,0.57,145.9,2825,3052,2639,2507,243.2,12.8,373,4945,0.15,0.00,0.00,0.000,4102,0.317,0.000,2791,3051,2571,2638,2505,0,0,0,0,0,0,14.42,28.83,28.83
$GC,5240,0.60,178.7,2792,3051,2636,2506,210.9,10.4,403,5275,0.00,2.53,28.58,1.296,8708,0.000,0.092,2802,1634,2448,2517,2379,0,0,0,0,0,0,28.83,14.36,13.85
$GC,5305,0.65,213.2,2802,1633,2507,2374,204.2,10.3,413,5343,0.00,2.58,31.12,1.323,9222,0.000,0.125,2802,3048,2310,2373,2247,0,0,0,0,0,0,28.83,14.32,13.67
$GC,5637,0.71,257.1,2802,3049,2355,2229,167.9,9.7,448,5686,0.00,2.53,39.30,1.289,8708,0.000,0.093,2809,1646,2124,2188,2060,0,0,0,0,0,0,28.83,14.14,13.67
$GC,5790,0.80,299.9,2807,1646,2177,2054,153.2,9.8,476,5839,0.15,2.58,39.38,1.266,11270,0.140,0.124,2870,3060,1954,2014,1894,0,0,0,0,0,0,14.29,14.25,13.60
$GC,6143,0.80,299.9,2871,3059,1995,1874,103.6,14.2,514,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,3060,1933,1993,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6443,0.80,305.1,2871,3060,1993,1873,63.6,11.9,544,6451,0.00,2.45,0.00,0.000,516,0.000,0.093,2874,1641,1932,1992,1873,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6500,0.86,341.7,2875,1641,1994,1873,57.3,10.1,555,6530,0.00,2.55,20.67,0.314,9222,0.000,0.125,2875,3056,1795,1857,1734,0,0,0,0,0,0,28.83,14.42,14.28
$GC,6834,0.93,405.8,2875,3056,1893,1735,26.7,8.6,590,6880,0.00,2.53,38.60,0.243,8708,0.000,0.093,2877,1638,1533,1592,1474,0,0,0,0,0,0,28.83,14.38,14.33
$GC,6914,1.04,457.6,2878,1638,1613,1474,19.4,9.3,602,6957,0.17,2.55,31.15,0.221,11270,0.133,0.125,2946,3049,1322,1373,1272,0,0,0,0,0,0,14.45,14.40,14.31
$GC,7261,1.23,638.9,2947,3050,1396,1273,9.5,2.1,639,7371,0.12,1.42,101.30,0.192,10500,0.167,0.135,2999,3792,580,544,617,0,0,0,0,0,0,14.46,14.30,14.32
$STATE,7384,end climb,SURFACE_DEPTH_REACHED
$STATE,7385,begin surface coast
$FINISH,0.8,1.012889
$STATE,7405,end surface coast,CONTROL_FINISHED_OK
$STATE,7405,begin surface
$SM_CCo,7426,7.55,0.188,0,0,538,649.06
$SM_GC,2.85,8.52,1.77,7.55,0.109,0.090,0.188,207,2798,538,-7.42,0.76,649.06,0,0,0,0,0,0,14.40,14.40,14.33
$RAFOS_CLK,468
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,222533
$TT8_MAMPS,0.04494,0.04494
$HUMID,51.73
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,13.20
$XPDR_PINGS,0
$SC_FREEKB,4012320
$TM_FREEKB,7752000
$24V_AH,12.76,6.380
$10V_AH,12.61,0.000
$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,22.900,51.675,592.775,7.550,0.000,0.000,0.000,359.850,0.000,0.000,27.608,0.000,5299.171,692.368,1957.252,64.875,0.000,1669.025,0.000,985.661,0.000,0.536,0.000
$DEVICE_MAMPS,475.830,146.880,2628.540,188.190,0.000,0.000,0.000,196.605,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7425.000,7468.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.964,13.443,0.000,0.000
$MEM,304608
$DATA_FILE_SIZE,23391,662
$CAP_FILE_SIZE,113343,0
$CFSIZE,2097872896,2089615360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,8141.78,0x2378b6,7,5
$SOUNDSPEED,1448.2
$EKF,7506,4254.942871,-8669.505859,0.787139,0.245599,0.078314,-0.002792,0.000104,0.000977,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.080,185.47,1
$GPS,290714,025309,7054.632,-14429.587,13,0.8,33,22.3