version: 66.12
glider: 198
mission: 5
dive: 26
start: 7 29 114 21 31 18
data:
$ID,198
$MISSION,5
$DIVE,26
$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,-3354.8652
$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,28
$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,0.00069999998
$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
$GPS1,290714,211948,7059.743,-14428.532,35,0.8,55,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-70.2
$GPS2,290714,213101,7059.750,-14428.643,4,0.7,25,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,341.3,68013,-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,19,-0.69,-145.9,200,2799,510,594,0.0,0.0,0,85,0.00,0.00,-63.22,0.000,16386,0.000,0.000,199,2798,2145,2183,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.69,-145.9,197,2798,2185,2107,3.6,-3.8,6,138,11.55,1.83,-30.70,0.000,19204,0.467,0.158,2388,3793,3781,3850,3713,0,0,0,0,0,0,14.14,14.30,14.53
$GC,361,-0.65,-145.9,2388,3793,3852,3716,65.9,-18.5,58,371,0.10,1.73,0.00,0.000,3078,0.318,0.081,2412,2798,3783,3851,3716,0,0,0,0,0,0,14.26,14.40,28.83
$GC,667,-0.65,-145.9,2413,2798,3851,3716,110.8,-14.1,89,674,0.00,1.83,0.00,0.000,260,0.000,0.134,2406,3785,3783,3850,3716,0,0,0,0,0,0,28.83,14.45,28.83
$GC,728,-0.65,-145.9,2406,3785,3852,3716,119.7,-14.7,101,736,0.00,1.70,0.00,0.000,1030,0.000,0.082,2406,2797,3783,3850,3716,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1040,-0.67,-145.9,2412,2795,3852,3716,159.5,-12.0,133,1048,0.00,2.38,0.00,0.000,516,0.000,0.088,2406,1392,3783,3851,3716,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1082,-0.71,-145.9,2406,1391,3852,3716,164.4,-11.4,141,1090,0.00,2.55,0.00,0.000,1030,0.000,0.121,2400,2810,3783,3850,3716,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1394,-0.75,-145.9,2401,2811,3855,3718,198.4,-9.9,173,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2810,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1694,-0.79,-145.9,2400,2811,3851,3716,227.5,-9.5,203,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2810,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2004,-0.83,-145.9,2401,2809,3849,3717,255.9,-9.1,230,2007,0.12,0.00,0.00,0.000,4102,0.155,0.000,2349,2810,3781,3848,3715,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2304,-0.83,-145.9,2350,2811,3847,3716,288.6,-11.0,240,2312,0.00,2.40,0.00,0.000,516,0.000,0.087,2349,1388,3781,3847,3715,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2366,-0.83,-145.9,2350,1389,3848,3716,295.1,-10.6,252,2374,0.00,2.53,0.00,0.000,1030,0.000,0.125,2347,2804,3780,3846,3715,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2698,-0.83,-145.9,2349,2804,3847,3716,331.3,-10.8,268,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2803,3780,3846,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,-0.83,-145.9,2348,2803,3847,3715,363.1,-10.7,278,3006,0.00,2.38,0.00,0.000,516,0.000,0.086,2347,1396,3780,3845,3715,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3070,-0.86,-145.9,2348,1396,3850,3716,370.5,-10.0,292,3078,0.00,2.50,0.00,0.000,1030,0.000,0.123,2347,2800,3780,3845,3715,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3392,-0.86,-145.9,2348,2800,3845,3716,405.1,-10.7,306,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2800,3780,3846,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.86,-145.9,2348,2800,3856,3709,437.2,-10.7,316,3699,0.00,2.38,0.00,0.000,516,0.000,0.086,2347,1384,3779,3845,3714,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3738,-0.88,-145.9,2348,1385,3846,3714,442.1,-9.8,325,3746,0.00,2.53,0.00,0.000,1030,0.000,0.122,2347,2802,3779,3845,3714,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4056,-0.88,-145.9,2348,2803,3846,3716,475.3,-10.5,338,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2802,3780,3845,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4294,begin apogee
$GC,4297,-0.14,0.0,2348,3051,3846,3714,500.1,-10.4,346,4481,0.88,0.00,178.70,1.296,10246,0.287,0.000,2576,3050,3183,3261,3105,0,0,0,0,0,0,14.55,28.83,13.46
$STATE,4483,end apogee,CONTROL_FINISHED_OK
$STATE,4483,begin climb
$GC,4484,0.69,145.9,2577,3051,3254,3097,504.7,0.0,352,4623,0.90,1.45,122.32,1.372,10500,0.175,0.127,2841,3786,2578,2644,2512,0,0,0,0,0,0,13.92,13.75,13.26
$GC,4847,0.63,145.9,2842,3787,2631,2503,457.9,16.2,417,4855,0.00,1.30,0.00,0.000,1030,0.000,0.083,2847,3048,2565,2629,2501,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5152,0.58,145.9,2853,3049,2630,2501,411.6,15.1,428,5160,0.00,1.38,0.00,0.000,260,0.000,0.130,2847,3783,2565,2630,2500,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5369,0.51,145.9,2847,3783,2630,2500,375.3,16.7,471,5379,0.17,1.25,0.00,0.000,5126,0.295,0.083,2804,3058,2565,2630,2500,0,0,0,0,0,0,14.33,14.46,28.83
$GC,5698,0.51,145.9,2800,3059,2631,2501,333.2,12.5,486,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3058,2564,2630,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,0.51,145.9,2804,3061,2631,2500,295.4,12.5,496,6006,0.00,2.38,0.00,0.000,516,0.000,0.083,2814,1642,2564,2630,2499,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6060,0.51,149.7,2815,1642,2631,2499,288.2,11.7,508,6068,0.00,2.50,0.00,0.000,1030,0.000,0.118,2814,3050,2564,2630,2499,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6372,0.51,149.7,2815,3052,2631,2500,248.5,12.3,524,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3051,2564,2629,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,0.51,149.7,2814,3051,2631,2499,212.1,11.9,554,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3051,2565,2630,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,0.53,184.3,2814,3052,2631,2499,179.2,10.0,584,7015,0.00,2.42,31.85,1.172,8708,0.000,0.080,2823,1638,2420,2488,2353,0,0,0,0,0,0,28.83,14.38,13.95
$GC,7074,0.56,224.3,2824,1639,2478,2349,169.2,9.7,600,7117,0.00,2.55,34.67,1.083,9222,0.000,0.118,2823,3060,2270,2338,2202,0,0,0,0,0,0,28.83,14.38,13.83
$GC,7421,0.58,251.3,2824,3061,2308,2180,131.4,10.4,637,7447,0.00,0.00,22.95,1.059,8198,0.000,0.000,2820,3060,2161,2228,2095,0,0,0,0,0,0,28.83,28.83,13.90
$GC,7742,0.63,287.2,2824,3060,2203,2071,98.7,9.9,669,7764,0.00,2.50,16.35,0.434,8708,0.000,0.084,2833,1642,2018,2087,1949,0,0,0,0,0,0,28.83,14.38,14.19
$GC,7873,0.71,330.9,2834,1642,2120,1949,86.1,9.5,694,7909,0.00,2.53,26.55,0.416,9222,0.000,0.120,2833,3046,1837,1901,1774,0,0,0,0,0,0,28.83,14.41,14.18
$GC,8203,0.79,377.1,2834,3046,1931,1774,51.8,9.4,729,8238,0.15,0.00,27.27,0.325,10758,0.148,0.000,2894,3046,1653,1715,1591,0,0,0,0,0,0,14.45,28.83,14.28
$GC,8534,0.87,438.6,2894,3046,1738,1591,15.1,8.6,763,8579,0.00,2.47,36.22,0.224,8708,0.000,0.083,2901,1638,1402,1461,1344,0,0,0,0,0,0,28.83,14.40,14.35
$GC,8803,1.14,668.4,2902,1638,1473,1343,12.5,-0.6,814,8944,0.30,2.55,120.95,0.212,11270,0.126,0.121,3002,3060,500,462,539,0,0,0,0,0,0,14.47,14.45,14.27
$STATE,8996,end climb,SURFACE_DEPTH_REACHED
$STATE,8997,begin surface coast
$FINISH,1.0,1.019477
$STATE,9017,end surface coast,CONTROL_FINISHED_OK
$STATE,9017,begin surface
$SM_CCo,9097,0.00,0.000,0,0,500,658.39
$SM_GC,1.90,8.43,0.45,0.00,0.095,0.099,0.000,209,2795,500,-7.51,0.96,658.39,0,0,0,0,0,0,14.38,14.38,28.83
$RAFOS_CLK,15
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14436.17,290714,184103
$TT8_MAMPS,0.081641,0.081641
$HUMID,52.12
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4008736
$TM_FREEKB,7640864
$24V_AH,13.26,9.091
$10V_AH,12.78,0.000
$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,22.600,52.875,617.850,0.000,0.000,0.000,0.000,430.800,0.000,0.000,26.876,0.000,6572.084,719.812,2399.663,76.829,0.000,1894.245,0.000,1244.357,1432.000,0.535,0.000
$DEVICE_MAMPS,467.415,157.590,1371.645,0.000,0.000,0.000,0.000,195.840,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9043.000,9095.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.652,13.338,0.000,0.000
$MEM,301188
$DATA_FILE_SIZE,30027,841
$CAP_FILE_SIZE,130821,0
$CFSIZE,2097872896,2087583744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9747.61,0x2378b6,7,5
$SOUNDSPEED,1449.9
$EKF,9167,4260.776855,-8668.498047,0.983771,0.876806,0.119574,0.013947,0.000144,0.001358,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.019,126.09,1
$GPS,300714,000402,7100.795,-14428.239,13,0.8,33,22.3