version: 66.12
glider: 198
mission: 5
dive: 93
start: 8 10 114 4 33 33
data:
$ID,198
$MISSION,5
$DIVE,93
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,658.87579
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$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,-3426.8726
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$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,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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
$GPS1,100814,033942,7156.733,-14442.294,37,0.8,58,22.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-72.9
$GPS2,100814,043314,7156.942,-14443.289,5,1.1,25,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,130.9,43392,-21.4,-11.628,-26.45,1932
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.70,-145.9,198,2688,453,536,0.0,0.0,0,113,0.00,0.00,-57.45,0.000,16386,0.000,0.000,198,2688,1932,1960,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.70,-145.9,198,2688,1962,1903,3.3,-3.2,7,190,10.95,2.50,-29.77,0.000,18948,0.444,0.103,2353,1265,3783,3907,3659,0,0,0,0,0,0,14.09,14.31,14.53
$GC,326,-0.63,-145.9,2353,1266,3881,3703,52.9,-22.7,44,356,0.15,2.50,0.00,0.000,3078,0.350,0.099,2379,2685,3785,3874,3696,0,0,0,0,0,0,14.25,14.38,28.83
$GC,650,-0.63,-145.9,2380,2686,3880,3698,109.5,-15.6,75,679,0.00,2.38,0.00,0.000,516,0.000,0.077,2379,1270,3788,3880,3697,0,0,0,0,0,0,28.83,14.48,28.83
$GC,708,-0.63,-145.9,2380,1270,3880,3695,118.2,-14.5,82,737,0.00,2.47,0.00,0.000,1030,0.000,0.101,2374,2682,3787,3880,3695,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1032,-0.63,-145.9,2375,2683,3879,3696,165.9,-14.1,113,1060,0.00,2.38,0.00,0.000,516,0.000,0.079,2374,1264,3787,3878,3697,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1109,-0.63,-145.9,2375,1266,3878,3694,176.1,-12.2,124,1139,0.00,2.47,0.00,0.000,1030,0.000,0.105,2374,2679,3784,3872,3697,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1434,-0.63,-145.9,2374,2679,3876,3697,216.9,-11.9,155,1462,0.00,1.95,0.00,0.000,260,0.000,0.122,2374,3787,3786,3875,3697,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1667,-0.63,-145.9,2374,3787,3873,3697,245.5,-12.4,197,1696,0.00,1.83,0.00,0.000,1030,0.000,0.073,2374,2675,3784,3871,3697,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2011,-0.65,-145.9,2375,2676,3871,3698,281.8,-10.3,210,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3783,3870,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.68,-145.9,2374,2675,3870,3697,313.1,-10.3,220,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3782,3868,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-0.71,-145.9,2375,2675,3867,3697,343.5,-9.8,230,2648,0.00,1.98,0.00,0.000,260,0.000,0.125,2374,3791,3781,3866,3697,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2702,-0.71,-145.9,2375,3793,3867,3697,352.3,-10.6,242,2731,0.00,1.83,0.00,0.000,1030,0.000,0.073,2374,2677,3781,3865,3697,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3055,-0.74,-145.9,2375,2678,3865,3698,386.5,-9.6,258,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3780,3864,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-0.78,-145.9,2375,2677,3864,3697,415.3,-9.6,268,3388,0.12,0.00,0.00,0.000,4102,0.157,0.000,2323,2678,3780,3863,3697,0,0,0,0,0,0,14.73,28.83,28.83
$GC,3663,-0.78,-145.9,2324,2678,3864,3698,451.0,-11.9,278,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2678,3779,3862,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3966,-0.78,-145.9,2324,2678,3870,3697,487.2,-11.9,288,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2677,3779,3862,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.78,-145.9,2324,2678,3863,3697,522.8,-11.8,298,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2677,3779,3862,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,-0.78,-145.9,2324,2678,3863,3697,558.1,-11.5,308,4601,0.00,1.95,0.00,0.000,260,0.000,0.122,2316,3790,3778,3860,3697,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4636,-0.75,-145.9,2315,3791,3862,3698,566.1,-13.0,316,4665,0.12,1.83,0.00,0.000,3078,0.311,0.073,2340,2675,3779,3861,3697,0,0,0,0,0,0,14.61,14.77,28.83
$GC,4979,-0.75,-145.9,2341,2674,3862,3698,602.9,-10.4,330,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2679,3779,3861,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5283,-0.75,-145.9,2341,2674,3862,3697,634.5,-10.3,340,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2674,3779,3861,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5587,-0.75,-145.9,2341,2675,3861,3698,665.8,-10.3,350,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2674,3779,3861,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5890,-0.75,-145.9,2340,2673,3861,3697,696.4,-10.0,360,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2674,3778,3860,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6194,-0.75,-145.9,2340,2674,3861,3697,726.3,-9.9,370,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2674,3777,3859,3696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6435,begin apogee
$GC,6439,-0.14,0.0,2335,3061,3860,3697,750.3,-9.9,378,6588,0.75,0.00,122.78,1.794,10246,0.272,0.000,2538,3061,3186,3265,3107,0,0,0,0,0,0,14.64,28.83,13.34
$STATE,6589,end apogee,CONTROL_FINISHED_OK
$STATE,6589,begin climb
$GC,6590,0.70,145.9,2535,3061,3259,3103,754.0,0.0,382,6758,0.93,0.00,123.28,1.786,10502,0.187,0.000,2806,3061,2582,2647,2518,0,0,0,0,0,0,14.00,28.83,13.08
$GC,7044,0.70,145.9,2806,3061,2644,2513,705.4,13.1,400,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3061,2577,2642,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7378,0.70,145.9,2807,3061,2649,2513,662.3,12.7,411,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3061,2577,2642,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7713,0.70,145.9,2807,3061,2643,2512,619.8,12.8,422,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2576,2642,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8048,0.70,145.9,2806,3061,2644,2510,576.8,12.9,433,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3060,2576,2642,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8382,0.70,145.9,2806,3061,2643,2511,533.7,12.9,444,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3060,2576,2642,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8717,0.70,145.9,2806,3061,2643,2510,491.5,12.6,455,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2576,2642,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9051,0.70,145.9,2807,3061,2642,2512,449.7,12.4,466,9100,0.00,1.30,0.00,0.000,260,0.000,0.121,2806,3783,2576,2641,2511,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9153,0.67,145.9,2806,3784,2642,2512,436.5,13.5,470,9201,0.00,1.23,0.00,0.000,1030,0.000,0.076,2810,3058,2576,2641,2511,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9517,0.67,145.9,2811,3058,2642,2511,388.6,12.9,482,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3058,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,0.67,145.9,2811,3058,2642,2511,345.7,12.8,493,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3058,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10186,0.67,145.9,2812,3059,2642,2512,304.1,12.3,504,10235,0.00,2.35,0.00,0.000,516,0.000,0.078,2820,1634,2576,2641,2511,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10253,0.67,145.9,2821,1635,2642,2511,296.5,12.1,506,10302,0.00,2.45,0.00,0.000,1030,0.000,0.106,2820,3048,2576,2641,2511,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10651,0.67,145.9,2821,3048,2642,2511,247.8,11.9,520,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,3048,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11204,0.71,204.7,2821,3048,2642,2511,193.1,8.5,551,11287,0.00,1.35,48.42,1.147,8452,0.000,0.116,2820,3781,2342,2406,2279,0,0,0,0,0,0,28.83,14.29,13.88
$GC,11708,0.73,235.6,2821,3782,2398,2272,140.7,10.0,579,11775,0.00,1.25,25.00,1.142,9222,0.000,0.077,2825,3050,2218,2282,2154,0,0,0,0,0,0,28.83,14.52,13.90
$GC,12279,0.79,284.2,2826,3050,2276,2148,87.8,9.0,611,12345,0.00,2.42,23.60,0.448,8708,0.000,0.079,2834,1645,2033,2104,1963,0,0,0,0,0,0,28.83,14.42,14.23
$GC,12481,0.90,352.9,2834,1646,2102,1963,70.9,8.0,620,12564,0.15,2.50,36.42,0.389,11270,0.135,0.109,2897,3055,1754,1814,1694,0,0,0,0,0,0,14.47,14.43,14.17
$GC,13071,1.03,493.1,2898,3056,1812,1694,16.6,4.2,653,13189,0.00,2.45,74.03,0.239,8708,0.000,0.076,2897,1645,1175,1214,1137,0,0,0,0,0,0,28.83,14.34,14.21
$GC,13223,1.28,680.2,2898,1645,1216,1138,14.6,1.7,660,13358,0.28,2.50,88.45,0.230,11270,0.111,0.108,2996,3050,499,466,533,0,0,0,0,0,0,14.33,14.33,14.15
$FREEZE,8.58,3.950,-1.330,2,2,0
$FREEZE,7.34,3.981,-1.324,2,2,0
$FREEZE,5.95,4.024,-1.319,2,2,0
$FREEZE,4.59,4.024,-1.318,2,2,0
$FREEZE,3.13,4.044,-1.315,2,2,0
$FREEZE,2.00,4.041,-1.313,2,2,0
$STATE,13459,end climb,SURFACE_DEPTH_REACHED
$STATE,13459,begin surface coast
$FREEZE,1.14,3.845,-1.262,2,2,0
$FREEZE,1.13,3.586,-0.799,2,2,0
$FINISH,1.1,1.011736
$STATE,13472,end surface coast,CONTROL_FINISHED_OK
$STATE,13472,begin surface
$SM_CCo,13558,0.00,0.000,0,0,495,660.59
$SM_GC,2.41,8.43,0.65,0.00,0.094,0.092,0.000,202,2675,495,-7.39,0.85,660.59,0,0,0,0,0,0,14.38,14.37,28.83
$RAFOS_CLK,72
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7118.99,-14440.62,100814,040030
$TT8_MAMPS,0.077896,0.077896
$HUMID,48.50
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.20
$XPDR_PINGS,3
$SC_FREEKB,3980192
$24V_AH,13.08,33.735
$10V_AH,12.88,0.000
$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,21.875,47.200,541.975,0.000,0.000,0.000,0.000,2839.150,0.750,0.000,26.835,0.000,6690.964,378.062,9418.797,290.009,0.000,5562.861,0.000,1012.846,1466.000,0.537,0.000
$DEVICE_MAMPS,443.700,126.225,1793.925,0.000,0.000,0.000,0.000,223.380,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13503.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.199,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,318692
$DATA_FILE_SIZE,23415,674
$CAP_FILE_SIZE,206865,0
$CFSIZE,2097872896,2068742144
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,17651.93,0x2378b6,7,5
$INTR,1,9535.36,0x234484,1,24
$SOUNDSPEED,1450.8
$GPS,100814,082124,7155.452,-14440.670,39,0.9,59,22.5
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0