version: 66.12
glider: 198
mission: 5
dive: 33
start: 7 30 114 16 22 54
data:
$ID,198
$MISSION,5
$DIVE,33
$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,-3364.0239
$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
$GPS1,300714,161218,7107.667,-14426.058,37,0.8,57,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-74.8
$GPS2,300714,162236,7107.634,-14425.814,5,0.9,25,22.4
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,345.1,53341,-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,-0.71,-145.9,206,2789,473,531,0.0,0.0,0,84,0.00,0.00,-62.60,0.000,16386,0.000,0.000,205,2791,2106,2149,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.71,-145.9,205,2790,2151,2065,4.0,-4.2,6,135,11.40,2.40,-30.58,0.000,19204,0.464,0.105,2363,1393,3785,3881,3690,0,0,0,0,0,0,14.09,14.28,14.48
$GC,224,-0.64,-145.9,2364,1392,3879,3697,34.9,-19.0,31,233,0.12,2.55,0.00,0.000,3078,0.379,0.113,2382,2809,3787,3877,3697,0,0,0,0,0,0,14.21,14.31,28.83
$GC,530,-0.62,-145.9,2383,2809,3879,3699,89.5,-15.0,62,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2807,3788,3878,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-0.62,-145.9,2383,2813,3879,3699,134.4,-14.2,92,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2809,3788,3877,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1129,-0.62,-145.9,2383,2810,3878,3700,173.4,-11.7,122,1137,0.00,2.40,0.00,0.000,516,0.000,0.083,2382,1392,3787,3876,3699,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1192,-0.65,-145.9,2383,1392,3877,3699,180.4,-10.7,134,1200,0.00,2.50,0.00,0.000,1030,0.000,0.115,2374,2799,3787,3876,3699,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1505,-0.67,-145.9,2375,2800,3875,3700,215.0,-10.8,166,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2799,3786,3874,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1804,-0.70,-145.9,2375,2799,3874,3699,246.0,-10.1,196,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2799,3785,3872,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-0.73,-145.9,2375,2800,3872,3700,278.1,-9.9,210,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2799,3785,3871,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,-0.76,-145.9,2374,2799,3866,3699,307.0,-9.6,220,2431,0.00,1.75,0.00,0.000,260,0.000,0.132,2374,3790,3783,3870,3696,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2471,-0.78,-145.9,2374,3790,3871,3699,311.7,-10.1,229,2481,0.00,1.70,0.00,0.000,1030,0.000,0.082,2374,2793,3784,3870,3699,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2791,-0.81,-145.9,2375,2794,3870,3700,341.6,-9.4,242,2794,0.12,0.00,0.00,0.000,4102,0.155,0.000,2324,2794,3784,3870,3699,0,0,0,0,0,0,14.65,28.83,28.83
$GC,3090,-0.81,-145.9,2325,2794,3870,3700,376.7,-11.8,252,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2793,3784,3869,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.81,-145.9,2325,2794,3869,3700,411.4,-11.4,262,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2793,3784,3869,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3690,-0.81,-145.9,2325,2800,3870,3699,445.9,-11.5,272,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2793,3784,3869,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3990,-0.81,-145.9,2325,2793,3870,3700,480.2,-11.4,282,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2793,3787,3869,3705,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4169,begin apogee
$GC,4172,-0.14,0.0,2323,3052,3870,3699,500.9,-11.5,288,4324,0.88,0.00,138.55,2.483,10246,0.294,0.000,2548,3052,3192,3277,3108,0,0,0,0,1,0,14.55,28.83,12.83
$STATE,4326,end apogee,CONTROL_FINISHED_OK
$STATE,4326,begin climb
$GC,4328,0.71,145.9,2546,3053,3284,3109,505.0,0.0,293,4473,0.95,0.00,128.60,1.527,10502,0.190,0.000,2816,3049,2580,2646,2514,0,0,0,0,0,0,13.74,28.83,13.12
$GC,4787,0.69,145.9,2818,3053,2640,2509,453.4,13.3,327,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,3052,2573,2639,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,0.67,145.9,2817,3052,2641,2507,413.7,13.2,337,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,3052,2573,2639,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,0.64,145.9,2817,3052,2641,2507,374.0,13.4,347,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,3052,2573,2639,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,0.62,145.9,2818,3053,2640,2507,333.9,13.3,357,5696,0.00,2.40,0.00,0.000,516,0.000,0.082,2826,1639,2576,2647,2506,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5740,0.62,145.9,2827,1643,2640,2514,327.2,12.2,367,5748,0.00,2.50,0.00,0.000,1030,0.000,0.112,2826,3050,2573,2640,2506,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6052,0.59,145.9,2827,3051,2640,2507,284.7,13.6,379,6055,0.15,0.00,0.00,0.000,4102,0.287,0.000,2792,3050,2572,2639,2506,0,0,0,0,0,0,14.47,28.83,28.83
$GC,6352,0.60,150.6,2792,3053,2640,2506,249.0,11.6,389,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,3050,2572,2639,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6652,0.60,164.3,2793,3051,2641,2506,214.6,11.2,419,6675,0.00,2.45,15.05,1.255,8708,0.000,0.080,2802,1647,2505,2572,2439,0,0,0,0,0,0,28.83,14.48,13.99
$GC,6743,0.65,193.4,2803,1647,2573,2436,204.9,10.3,436,6780,0.00,2.50,25.88,1.267,9222,0.000,0.113,2802,3054,2386,2454,2318,0,0,0,0,0,0,28.83,14.44,13.89
$GC,7074,0.67,222.3,2803,3055,2445,2311,167.6,10.3,471,7106,0.00,2.42,25.02,1.177,8708,0.000,0.079,2811,1641,2269,2335,2204,0,0,0,0,0,0,28.83,14.32,13.86
$GC,7155,0.73,255.3,2813,1642,2327,2202,159.4,10.1,485,7193,0.00,2.53,29.55,1.134,9222,0.000,0.113,2811,3050,2136,2201,2072,0,0,0,0,0,0,28.83,14.31,13.76
$GC,7487,0.78,290.1,2813,3050,2187,2056,123.9,10.0,520,7530,0.12,2.47,30.12,1.082,10756,0.151,0.083,2868,1647,1988,2049,1928,0,0,0,0,0,0,14.40,14.23,13.83
$GC,7594,0.78,290.1,2876,1647,2043,1924,110.7,12.7,539,7604,0.00,2.53,0.00,0.000,1030,0.000,0.113,2870,3053,1982,2041,1923,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7900,0.78,290.1,2871,3053,2041,1915,70.5,12.8,570,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,3053,1978,2040,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8199,0.83,365.6,2870,3053,2039,1917,40.8,7.8,600,8244,0.00,2.47,38.33,0.286,8708,0.000,0.083,2877,1641,1696,1754,1638,0,0,0,0,0,0,28.83,14.42,14.31
$GC,8348,0.93,429.2,2885,1642,1777,1639,27.6,8.4,627,8398,0.00,2.53,37.33,0.243,9222,0.000,0.116,2874,3058,1437,1492,1383,0,0,0,0,0,0,28.83,14.42,14.31
$GC,8692,1.19,643.1,2878,3059,1505,1384,10.4,0.3,664,8817,0.32,2.50,116.43,0.194,10756,0.112,0.082,2998,1640,562,521,604,0,0,0,0,0,0,14.49,14.37,14.31
$STATE,8900,end climb,SURFACE_DEPTH_REACHED
$STATE,8900,begin surface coast
$FINISH,1.0,1.018108
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,8943,4.18,0.197,0,0,537,649.06
$SM_GC,3.58,8.40,2.15,4.18,0.096,0.118,0.197,206,2810,537,-7.43,-0.34,649.06,0,0,0,0,0,0,14.43,14.39,14.35
$RAFOS_CLK,561
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14424.66,300714,133413
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.37
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,4005600
$TM_FREEKB,7542336
$24V_AH,12.83,11.558
$10V_AH,12.69,0.000
$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,22.475,43.225,584.850,4.175,0.000,0.000,0.000,377.550,0.000,0.000,26.182,0.000,6731.258,677.881,2082.722,75.609,0.000,1699.907,0.000,1048.596,0.000,0.535,0.000
$DEVICE_MAMPS,464.355,143.055,2483.190,197.370,0.000,0.000,0.000,205.785,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8946.000,9000.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.300,13.304,0.000,0.000
$MEM,298048
$DATA_FILE_SIZE,23387,703
$CAP_FILE_SIZE,120708,0
$CFSIZE,2097872896,2085748736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9704.49,0x2378b6,7,5
$SOUNDSPEED,1447.4
$EKF,9047,4268.662598,-8665.116211,0.957756,-0.120111,0.066477,-0.058031,0.000171,0.001634,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.024,32.62,1
$GPS,300714,185338,7108.755,-14424.902,41,0.8,61,22.4