version: 66.12
glider: 198
mission: 5
dive: 31
start: 7 30 114 10 57 51
data:
$ID,198
$MISSION,5
$DIVE,31
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3361.509
$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,36
$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,31
$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
$GPS1,300714,104708,7105.305,-14427.173,14,0.8,34,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-72.5
$GPS2,300714,105733,7105.300,-14427.286,4,0.8,24,22.4
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,347.9,57746,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.71,-145.9,203,2799,469,534,0.0,0.0,0,84,0.00,0.00,-63.17,0.000,16386,0.000,0.000,203,2797,2100,2141,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.71,-145.9,204,2800,2142,2059,3.6,-3.8,6,137,11.48,1.88,-31.38,0.000,19204,0.473,0.157,2353,3788,3784,3842,3727,0,0,0,0,0,0,14.14,14.31,14.54
$GC,291,-0.62,-145.9,2350,3790,3842,3731,57.6,-24.4,44,303,0.20,1.67,0.00,0.000,3078,0.344,0.080,2395,2796,3786,3842,3731,0,0,0,0,0,0,14.28,14.44,28.83
$GC,597,-0.62,-145.9,2395,2796,3842,3732,105.8,-14.6,75,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2796,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,897,-0.62,-145.9,2395,2796,3842,3732,147.0,-12.9,105,905,0.00,2.38,0.00,0.000,516,0.000,0.086,2395,1393,3786,3841,3732,0,0,0,0,0,0,28.83,14.52,28.83
$GC,974,-0.65,-145.9,2396,1393,3843,3733,156.3,-11.9,120,985,0.00,2.50,0.00,0.000,1030,0.000,0.116,2387,2801,3786,3841,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1280,-0.67,-145.9,2388,2802,3842,3732,191.9,-10.9,151,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2801,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-0.70,-145.9,2388,2802,3842,3731,222.6,-9.9,181,1588,0.00,2.38,0.00,0.000,516,0.000,0.083,2387,1395,3785,3841,3730,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1647,-0.75,-145.9,2388,1393,3842,3730,229.0,-9.4,194,1656,0.00,2.50,0.00,0.000,1030,0.000,0.119,2387,2801,3785,3841,3730,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1962,-0.78,-145.9,2388,2801,3842,3729,259.1,-9.5,220,1972,0.12,2.38,0.00,0.000,4612,0.157,0.082,2331,1397,3784,3841,3728,0,0,0,0,0,0,14.57,14.59,28.83
$GC,2057,-0.78,-145.9,2332,1397,3838,3728,269.9,-11.5,238,2064,0.00,2.50,0.00,0.000,1030,0.000,0.117,2321,2805,3784,3841,3728,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2389,-0.78,-145.9,2323,2805,3843,3727,311.7,-12.5,254,2396,0.00,2.38,0.00,0.000,516,0.000,0.083,2327,1393,3784,3841,3727,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2445,-0.78,-145.9,2322,1393,3842,3728,318.4,-11.5,265,2455,0.12,2.50,0.00,0.000,3078,0.354,0.117,2341,2805,3784,3841,3728,0,0,0,0,0,0,14.49,14.58,28.83
$GC,2751,-0.78,-145.9,2341,2805,3843,3727,353.2,-11.5,276,2760,0.00,2.38,0.00,0.000,516,0.000,0.084,2347,1391,3784,3841,3727,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2789,-0.78,-145.9,2341,1391,3842,3727,357.5,-11.2,283,2798,0.00,2.50,0.00,0.000,1030,0.000,0.116,2334,2803,3784,3841,3727,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3117,-0.78,-145.9,2335,2803,3842,3727,395.4,-11.5,298,3125,0.00,2.38,0.00,0.000,516,0.000,0.083,2334,1387,3783,3841,3725,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3194,-0.78,-145.9,2335,1386,3842,3725,404.1,-10.6,313,3202,0.00,2.50,0.00,0.000,1030,0.000,0.119,2334,2799,3783,3841,3725,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3512,-0.78,-145.9,2335,2800,3841,3726,440.2,-11.4,326,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2799,3783,3841,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3812,-0.78,-145.9,2335,2800,3842,3726,474.3,-11.3,336,3821,0.00,2.35,0.00,0.000,516,0.000,0.083,2334,1396,3782,3841,3724,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3916,-0.78,-145.9,2335,1395,3842,3725,485.5,-11.1,356,3925,0.00,2.50,0.00,0.000,1030,0.000,0.117,2334,2808,3783,3841,3725,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,4058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4058,begin apogee
$GC,4061,-0.14,0.0,2335,3055,3843,3725,501.4,-11.3,364,4201,0.82,0.00,130.85,2.642,10246,0.293,0.000,2545,3054,3188,3272,3104,0,0,0,0,1,0,14.45,28.83,12.59
$STATE,4203,end apogee,CONTROL_FINISHED_OK
$STATE,4203,begin climb
$GC,4204,0.71,145.9,2546,3055,3285,3105,504.8,0.0,368,4349,0.98,1.45,129.05,1.522,10500,0.191,0.123,2818,3785,2580,2651,2509,0,0,0,0,0,0,13.66,13.56,13.07
$GC,4483,0.67,145.9,2819,3786,2651,2503,475.4,14.9,416,4493,0.00,1.30,0.00,0.000,1030,0.000,0.080,2823,3058,2573,2644,2502,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4817,0.64,145.9,2824,3059,2645,2502,429.6,13.6,432,4826,0.00,1.38,0.00,0.000,260,0.000,0.125,2823,3787,2573,2644,2502,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4880,0.59,145.9,2824,3787,2644,2503,420.2,15.2,444,4890,0.12,1.30,0.00,0.000,5126,0.270,0.080,2794,3045,2572,2643,2501,0,0,0,0,0,0,14.12,14.23,28.83
$GC,5215,0.59,148.3,2794,3045,2644,2501,379.9,11.8,460,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3045,2570,2643,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5514,0.59,148.3,2795,3046,2645,2502,344.0,11.9,470,5522,0.00,1.38,0.00,0.000,260,0.000,0.127,2794,3783,2572,2643,2501,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5595,0.57,148.3,2794,3783,2645,2501,333.3,13.3,486,5603,0.00,1.25,0.00,0.000,1030,0.000,0.083,2799,3057,2572,2643,2501,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5908,0.57,148.3,2800,3057,2644,2502,295.4,12.0,498,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3059,2572,2643,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,0.57,148.3,2800,3057,2644,2501,259.0,12.0,508,6217,0.00,1.33,0.00,0.000,260,0.000,0.125,2799,3780,2572,2643,2501,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6256,0.55,148.3,2800,3781,2644,2502,252.6,13.4,517,6264,0.00,1.25,0.00,0.000,1030,0.000,0.083,2805,3049,2572,2643,2501,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6563,0.55,148.3,2806,3050,2644,2502,216.4,12.1,547,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3050,2572,2643,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6863,0.56,173.9,2805,3049,2644,2502,183.3,10.5,577,6896,0.00,0.00,24.05,1.242,8198,0.000,0.000,2804,3049,2464,2539,2389,0,0,0,0,0,0,28.83,28.83,13.97
$GC,7194,0.60,230.6,2806,3050,2530,2385,150.5,8.8,610,7252,0.00,0.00,49.55,1.114,8710,0.000,0.000,2804,3050,2232,2301,2163,0,0,0,0,0,0,28.83,28.83,13.81
$GC,7546,0.67,272.8,2806,3050,2290,2155,116.8,9.6,647,7590,0.00,2.50,37.17,1.043,8708,0.000,0.083,2815,1644,2063,2131,1995,0,0,0,0,0,0,28.83,14.22,13.82
$GC,7619,0.74,304.4,2815,1644,2123,1988,109.7,10.2,659,7655,0.00,2.55,28.10,1.015,9222,0.000,0.115,2815,3056,1940,2007,1874,0,0,0,0,0,0,28.83,14.24,13.77
$GC,7959,0.82,343.9,2814,3056,1983,1852,74.6,9.7,695,7988,0.12,2.47,18.08,0.375,10756,0.152,0.084,2877,1649,1787,1856,1719,0,0,0,0,0,0,14.40,14.34,14.18
$GC,8047,0.85,343.9,2878,1650,1879,1721,64.0,12.4,711,8056,0.00,2.53,2.72,0.214,9222,0.000,0.116,2877,3056,1781,1848,1715,0,0,0,0,0,0,28.83,14.36,14.29
$GC,8360,0.90,387.6,2878,3057,1878,1716,30.2,9.5,743,8395,0.00,1.38,25.83,0.253,8452,0.000,0.130,2877,3787,1608,1672,1544,0,0,0,0,0,0,28.83,14.38,14.33
$GC,8460,0.93,389.5,2878,3788,1689,1544,19.1,11.8,761,8468,0.00,1.27,3.08,0.210,9222,0.000,0.084,2881,3049,1596,1662,1531,0,0,0,0,0,0,28.83,14.45,14.33
$FREEZE,13.76,3.483,-1.453,0,1,0
$STATE,8721,end climb,NO_VERTICAL_VELOCITY
$STATE,8721,begin surface
$SM_CCo,8725,149.93,0.203,0,0,499,658.88
$SM_GC,2.21,7.85,0.43,0.00,0.076,0.096,0.000,203,2794,503,-7.43,0.82,658.14,0,0,0,0,0,0,14.47,14.48,28.83
$RAFOS_CLK,341
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14424.66,300714,080835
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.55
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4006496
$TM_FREEKB,7570848
$24V_AH,12.59,10.863
$10V_AH,12.59,0.000
$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,21.825,61.850,448.475,149.925,0.000,0.000,0.000,393.675,0.000,0.000,26.109,0.000,6559.253,771.429,2280.910,78.962,0.000,1868.786,0.000,1169.027,1479.000,0.535,0.000
$DEVICE_MAMPS,472.770,156.825,2642.310,202.725,0.000,0.000,0.000,198.135,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8746.000,8796.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.228,13.301,0.000,0.000
$MEM,298872
$DATA_FILE_SIZE,26742,788
$CAP_FILE_SIZE,131487,0
$CFSIZE,2097872896,2086240256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9716.23,0x2378b6,7,5
$SOUNDSPEED,1449.6
$EKF,9156,4266.363770,-8666.881836,13.764092,-0.010046,0.021148,-0.014857,0.000132,0.001253,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.021,28.77,1
$GPS,300714,133024,7106.451,-14426.714,39,0.9,59,22.4