version: 66.12
glider: 198
mission: 5
dive: 25
start: 7 29 114 18 48 50
data:
$ID,198
$MISSION,5
$DIVE,25
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-3353.6074
$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,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,32
$R_STBD_OVSHOOT,15
$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
$GPS1,290714,183710,7058.731,-14428.796,33,0.8,53,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.3
$GPS2,290714,184837,7058.669,-14428.833,5,0.8,25,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.9,70007,-21.9,-11.905,-26.85,1887
$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,-0.69,-145.9,205,2803,467,534,0.0,0.0,0,85,0.00,0.00,-63.78,0.000,16386,0.000,0.000,204,2805,2095,2137,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.69,-145.9,204,2805,2138,2054,3.4,-3.2,6,143,11.57,1.85,-32.95,0.000,19204,0.467,0.163,2388,3784,3783,3854,3712,0,0,0,0,0,0,14.13,14.27,14.53
$GC,367,-0.65,-145.9,2389,3785,3854,3716,67.2,-18.3,59,376,0.10,1.70,0.00,0.000,3078,0.314,0.085,2412,2803,3785,3854,3716,0,0,0,0,0,0,14.28,14.44,28.83
$GC,680,-0.65,-145.9,2414,2804,3854,3717,112.5,-13.6,91,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2803,3785,3854,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.67,-145.9,2413,2803,3855,3716,151.3,-12.8,121,989,0.00,2.40,0.00,0.000,516,0.000,0.087,2412,1385,3785,3854,3716,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1093,-0.71,-145.9,2414,1386,3854,3717,164.5,-11.1,143,1102,0.00,2.55,0.00,0.000,1030,0.000,0.125,2413,2801,3786,3857,3716,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1406,-0.76,-145.9,2413,2801,3855,3716,196.9,-9.4,175,1415,0.00,2.38,0.00,0.000,516,0.000,0.086,2413,1395,3784,3853,3716,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1449,-0.81,-145.9,2413,1395,3855,3717,200.9,-9.2,183,1457,0.15,2.53,0.00,0.000,5126,0.142,0.123,2353,2805,3784,3853,3716,0,0,0,0,0,0,14.57,14.52,28.83
$GC,1761,-0.81,-145.9,2354,2806,3852,3717,237.5,-11.7,215,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2805,3783,3851,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2081,-0.81,-145.9,2354,2806,3850,3717,274.1,-11.2,233,2091,0.00,2.40,0.00,0.000,516,0.000,0.087,2353,1387,3783,3850,3716,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2155,-0.84,-145.9,2354,1389,3851,3717,282.1,-10.4,247,2163,0.00,2.53,0.00,0.000,1030,0.000,0.122,2348,2801,3780,3844,3716,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2478,-0.84,-145.9,2348,2801,3851,3716,317.9,-11.1,261,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2801,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2777,-0.84,-145.9,2348,2801,3850,3715,351.3,-11.2,271,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2801,3782,3849,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3078,-0.84,-145.9,2349,2801,3850,3716,383.8,-10.8,281,3087,0.00,2.38,0.00,0.000,516,0.000,0.086,2347,1387,3782,3849,3715,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3172,-0.86,-145.9,2349,1388,3850,3716,393.4,-10.1,299,3179,0.00,2.53,0.00,0.000,1030,0.000,0.124,2347,2805,3782,3849,3715,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3504,-0.86,-145.9,2348,2805,3850,3715,429.8,-11.1,315,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2805,3782,3849,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3803,-0.86,-145.9,2348,2806,3850,3716,461.6,-10.2,325,3813,0.00,2.40,0.00,0.000,516,0.000,0.086,2347,1388,3781,3849,3714,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3902,-0.88,-145.9,2348,1389,3850,3716,471.6,-9.9,344,3910,0.00,2.53,0.00,0.000,1030,0.000,0.123,2347,2808,3782,3849,3715,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,4198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4198,begin apogee
$GC,4201,-0.14,0.0,2348,3055,3850,3716,502.6,-10.6,358,4349,0.88,0.00,136.48,2.785,10246,0.287,0.000,2576,3055,3190,3272,3108,0,0,0,0,1,0,14.52,28.83,12.50
$STATE,4352,end apogee,CONTROL_FINISHED_OK
$STATE,4352,begin climb
$GC,4353,0.69,145.9,2577,3054,3281,3110,506.2,0.0,363,4495,0.93,1.48,129.48,1.516,10500,0.171,0.127,2844,3782,2585,2651,2520,0,0,0,0,0,0,13.66,13.54,13.08
$GC,4719,0.62,145.9,2844,3785,2637,2508,459.1,16.6,429,4729,0.00,1.33,0.00,0.000,1030,0.000,0.083,2849,3047,2572,2637,2507,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5053,0.58,145.9,2850,3047,2638,2506,408.6,15.0,445,5062,0.12,1.35,0.00,0.000,4356,0.319,0.126,2822,3785,2571,2636,2507,0,0,0,0,0,0,14.09,14.19,28.83
$GC,5256,0.52,145.9,2822,3786,2638,2505,377.5,15.5,485,5266,0.00,1.30,0.00,0.000,1030,0.000,0.085,2827,3048,2569,2633,2505,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5570,0.49,145.9,2828,3049,2637,2507,334.2,13.5,497,5573,0.15,0.00,0.00,0.000,4102,0.311,0.000,2794,3048,2571,2637,2505,0,0,0,0,0,0,14.27,28.83,28.83
$GC,5870,0.49,147.8,2795,3049,2638,2505,298.5,11.8,507,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3048,2571,2637,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,0.50,152.6,2795,3048,2638,2505,263.1,11.6,517,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3048,2571,2637,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6470,0.51,163.4,2795,3048,2638,2511,229.1,11.3,539,6493,0.00,0.00,14.57,1.209,8198,0.000,0.000,2794,3048,2509,2579,2440,0,0,0,0,0,0,28.83,28.83,13.98
$GC,6790,0.52,188.6,2795,3048,2572,2435,193.4,10.5,571,6819,0.00,1.42,22.40,1.228,8452,0.000,0.135,2794,3788,2405,2473,2337,0,0,0,0,0,0,28.83,14.33,13.91
$GC,6858,0.52,188.6,2795,3794,2466,2331,185.7,11.9,583,6866,0.00,1.30,0.00,0.000,1030,0.000,0.087,2798,3048,2398,2465,2331,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7171,0.58,240.5,2801,3049,2464,2330,155.3,9.1,615,7226,0.00,2.45,46.12,1.081,8708,0.000,0.083,2807,1632,2192,2255,2130,0,0,0,0,0,0,28.83,14.23,13.85
$GC,7265,0.66,280.2,2807,1632,2245,2122,146.4,9.7,631,7307,0.10,2.58,34.95,1.011,11270,0.174,0.121,2850,3048,2041,2104,1979,0,0,0,0,0,0,14.28,14.27,13.75
$GC,7601,0.66,289.1,2851,3049,2077,1955,104.5,11.4,667,7609,0.00,2.42,0.00,0.000,516,0.000,0.084,2857,1633,2016,2077,1955,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7654,0.70,304.3,2858,1634,2078,1956,98.8,11.1,677,7676,0.00,2.55,12.00,0.356,9222,0.000,0.121,2857,3050,1949,2016,1883,0,0,0,0,0,0,28.83,14.38,14.18
$GC,7980,0.71,310.2,2858,3051,2049,1883,60.1,11.6,711,7994,0.00,0.00,6.75,0.304,8710,0.000,0.000,2857,3050,1926,2001,1851,0,0,0,0,0,0,28.83,28.83,14.27
$GC,8290,0.79,390.8,2858,3051,2031,1853,32.7,7.5,743,8346,0.00,2.50,47.55,0.272,8708,0.000,0.086,2864,1632,1592,1652,1533,0,0,0,0,0,0,28.83,14.42,14.32
$GC,8405,0.90,453.5,2865,1632,1676,1533,23.1,8.5,763,8454,0.17,2.55,36.92,0.239,11270,0.129,0.123,2934,3049,1338,1389,1287,0,0,0,0,0,0,14.45,14.41,14.30
$GC,8758,1.10,643.8,2934,3045,1408,1288,11.2,1.5,801,8877,0.15,1.40,105.72,0.210,10500,0.149,0.137,2998,3786,561,520,603,0,0,0,0,0,0,14.47,14.33,14.30
$STATE,8930,end climb,SURFACE_DEPTH_REACHED
$STATE,8930,begin surface coast
$FINISH,1.1,1.019270
$STATE,8941,end surface coast,CONTROL_FINISHED_OK
$STATE,8941,begin surface
$SM_CCo,8962,4.22,0.198,0,0,539,649.06
$SM_GC,2.79,8.43,1.75,4.22,0.099,0.090,0.198,201,2801,539,-7.52,0.99,649.06,0,0,0,0,0,0,14.43,14.40,14.34
$RAFOS_CLK,298
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14436.17,290714,155952
$TT8_MAMPS,0.046438,0.046438
$HUMID,51.14
$INTERNAL_PRESSURE,8.59332
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4009184
$TM_FREEKB,7655296
$24V_AH,12.50,8.785
$10V_AH,12.57,0.000
$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,22.750,54.975,592.950,4.225,0.000,0.000,0.000,446.825,0.000,0.000,26.596,0.000,6469.148,609.136,2493.695,78.757,0.000,1902.921,0.000,1229.898,1481.000,0.535,0.000
$DEVICE_MAMPS,467.415,162.945,2784.600,198.135,0.000,0.000,0.000,192.780,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8965.000,9018.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.482,13.331,0.000,0.000
$MEM,301636
$DATA_FILE_SIZE,26767,831
$CAP_FILE_SIZE,131070,0
$CFSIZE,2097872896,2087845888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9703.02,0x2378b6,7,5
$SOUNDSPEED,1449.5
$EKF,9061,4259.698730,-8668.873047,1.116152,0.196913,-0.112053,-0.011391,0.000134,0.001264,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.025,75.39,1
$GPS,290714,211948,7059.743,-14428.532,35,0.8,55,22.3