version: 66.12
glider: 198
mission: 4
dive: 5
start: 6 16 114 20 19 55
data:
$ID,198
$MISSION,4
$DIVE,5
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,180
$D_NO_BLEED,50
$D_BOOST,30
$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,55
$T_MISSION,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53931
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.012
$HD_C,5.9999998e-05
$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,450
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2918.6367
$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,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$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,2410
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-84.078575
$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
$GPS1,160614,201307,4743.703,-12224.363,2,0.9,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.4
$GPS2,160614,201915,4743.747,-12224.297,5,1.1,36,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,207.3,988,-20.0,-10.000,-24.70,1991
$D_GRID,173
$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,17,-0.85,-146.6,202,2410,1569,1568,0.0,0.0,0,123,0.00,0.00,-102.20,0.000,16390,0.000,0.000,201,2410,3961,3993,3929,0,0,0,0,0,0,28.83,28.83,14.91
$GC,125,-0.85,-146.6,201,2410,3995,3930,2.9,-3.0,10,143,10.32,0.00,0.00,0.000,2054,0.435,0.000,2333,2409,3962,4001,3923,0,0,0,0,0,0,14.49,28.83,28.83
$GC,319,-0.74,-146.6,2334,2411,4007,3921,43.8,-17.7,30,327,0.17,2.40,0.00,0.000,2308,0.340,0.114,2361,3796,3963,4006,3921,0,0,0,0,0,0,14.60,14.71,28.83
$GC,451,-0.64,-146.6,2362,3797,4007,3922,69.2,-18.2,56,461,0.20,2.25,0.00,0.000,3078,0.321,0.066,2406,2403,3963,4006,3921,0,0,0,0,0,0,14.61,14.73,28.83
$GC,653,-0.64,-146.6,2407,2404,4008,3920,94.0,-10.5,76,663,0.00,2.40,0.00,0.000,260,0.000,0.118,2403,3788,3963,4007,3920,0,0,0,0,0,0,28.83,14.71,28.83
$GC,687,-0.60,-146.6,2403,3788,4008,3921,97.8,-11.6,82,695,0.00,2.22,0.00,0.000,1030,0.000,0.066,2403,2413,3963,4007,3920,0,0,0,0,0,0,28.83,14.75,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a416b54b2;,*52
$MODEM_MSG,CACST,6,0,20140616203000.570188,3,2800,34,0396,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,23.8,9.6,-100,-6.6,-01,0.0,43,900,0025*19
$EKF,range,   -9.6
$GC,882,-0.58,-146.6,2404,2414,4009,3920,117.2,-9.9,102,889,0.00,2.38,0.00,0.000,260,0.000,0.116,2393,3789,3963,4007,3920,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1114,-0.53,-146.6,2394,3789,4008,3920,148.4,-11.4,148,1123,0.22,2.22,0.00,0.000,3078,0.296,0.068,2447,2411,3961,4003,3920,0,0,0,0,0,0,14.64,14.78,28.83
$GC,1308,-0.55,-146.6,2447,2411,4009,3920,163.6,-6.5,168,1316,0.00,2.40,0.00,0.000,260,0.000,0.119,2443,3793,3964,4008,3920,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,1329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1329,begin apogee
$GC,1333,-0.17,0.0,2444,2683,4009,3925,165.3,-7.9,172,1485,0.43,0.00,142.50,0.965,10246,0.259,0.000,2557,2681,3401,3473,3330,0,0,0,0,1,0,14.66,28.83,13.67
$STATE,1487,end apogee,CONTROL_FINISHED_OK
$STATE,1487,begin climb
$GC,1488,0.85,146.6,2558,2681,3484,3331,167.1,0.0,187,1619,1.12,2.38,113.25,0.966,10756,0.198,0.083,2895,1301,2789,2851,2727,0,0,0,0,0,0,14.24,14.20,13.81
$GC,1704,0.79,146.6,2897,1300,2846,2728,140.6,16.6,222,1712,0.00,2.45,0.00,0.000,1030,0.000,0.103,2896,2700,2785,2845,2726,0,0,0,0,0,0,28.83,14.40,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3fab54a8;,*5C
$MODEM_MSG,CACST,6,0,20140616204500.937569,3,171,10,0155,0150,100,00,00,02,02,1,000,000,0,5,1,0,150,-0.3,3.7,-100,-0.7,-01,0.1,54,900,0025*35
$EKF,range,  105.7
$GC,1889,0.69,146.6,2896,2701,2847,2725,109.1,17.4,241,1896,0.20,1.88,0.00,0.000,4356,0.291,0.110,2848,3791,2785,2845,2725,0,0,0,0,0,0,14.49,14.58,28.83
$GC,2101,0.60,146.6,2849,3792,2846,2725,71.6,17.5,283,2108,0.17,1.75,0.00,0.000,5126,0.299,0.066,2815,2695,2784,2845,2724,0,0,0,0,0,0,14.57,14.71,28.83
$GC,2292,0.60,146.6,2816,2695,2846,2724,50.0,11.7,303,2300,0.00,1.92,0.00,0.000,260,0.000,0.115,2815,3805,2784,2845,2724,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2497,0.54,146.6,2814,3805,2846,2724,23.5,13.9,341,2505,0.00,1.77,0.00,0.000,1030,0.000,0.067,2823,2697,2784,2845,2723,0,0,0,0,0,0,28.83,14.70,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3fab54a8;,*5E
$MODEM_MSG,CACST,6,0,20140616210000.920961,3,830,29,0180,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,20.7,4.4,-100,-1.4,-01,-0.2,36,900,0025*0C
$EKF,range,  237.5
$GC,2689,0.54,146.6,2823,2697,2846,2723,2.9,10.3,361,2696,0.00,1.92,0.00,0.000,260,0.000,0.114,2823,3784,2784,2845,2723,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,2699,end climb,SURFACE_DEPTH_REACHED
$STATE,2699,begin surface coast
$FINISH,0.4,1.021503
$STATE,2710,end surface coast,CONTROL_FINISHED_OK
$STATE,2710,begin surface
$SM_CCo,2730,144.43,0.151,0,0,1565,450.13
$SM_GC,1.35,7.57,2.30,144.43,0.090,0.074,0.151,205,2422,1565,-7.48,1.19,450.13,0,0,0,0,0,0,14.77,14.73,14.62
$RAFOS_CLK,27
$MODEM,0,1402952400,21.00000,20.98806,47.71720,-122.40320,0.921,1368.9
$MODEM,3,1402951500,20.75000,20.73833,47.71720,-122.40320,0.938,1393.6
$MODEM,2,1402950600,20.50000,20.49028,47.72280,-122.39920,0.570,847.5
$RAFOS_FIX,4748.235840,-12215.396484,160614,191931,2,255,7.08
$IRIDIUM_FIX,4726.11,-12223.37,160614,191955
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.75
$INTERNAL_PRESSURE,9.01325
$TCM_TEMP,17.80
$XPDR_PINGS,0
$SC_FREEKB,4017856
$TM_FREEKB,7880320
$24V_AH,13.67,0.916
$10V_AH,13.04,0.000
$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,20.425,34.475,255.750,144.425,0.000,0.000,0.000,200.100,0.000,0.000,37.674,0.000,1506.597,506.906,1195.162,41.968,0.000,1077.266,0.000,547.267,900.000,0.541,0.000
$DEVICE_MAMPS,434.520,118.575,966.195,150.705,0.000,0.000,0.000,166.770,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2717.000,2717.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.781,13.509,0.000,0.000
$MEM,308376
$DATA_FILE_SIZE,13444,365
$CAP_FILE_SIZE,74582,0
$CFSIZE,2097872896,2094039040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,3588.26,0x237952,7,5
$INTR,1,86.00,0x234520,0,24
$SOUNDSPEED,1486.3
$EKF,2973,2863.605469,-7344.602539,0.435106,-0.019283,0.006590,-0.117989,0.000401,0.001150,0.001934,0.008986,0.008986,0.000120
$CURRENT,0.091, 25.4,1
$GPS,160614,210905,4743.699,-12224.482,2,1.0,33,16.3