version: 66.12
glider: 197
mission: 6
dive: 14
start: 7 28 114 13 52 44
data:
$ID,197
$MISSION,6
$DIVE,14
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,90
$T_MISSION,115
$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,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54283
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0029
$HD_B,0.013
$HD_C,1.7e-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,674.87756
$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,-6954.4097
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3292
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$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,-65.523643
$PRESSURE_SLOPE,0.000117962
$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,0.69999999
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$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
$GPS1,280714,134026,7055.117,-14431.148,67,0.9,87,28.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.4
$GPS2,280714,135227,7055.130,-14431.456,13,1.0,33,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,351.7,9062,-20.9,-11.111,-24.89,2022
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.05,-145.9,176,2708,465,642,0.0,0.0,0,83,0.00,0.00,-63.05,0.000,16386,0.000,0.000,176,2708,2134,2140,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.05,-145.9,176,2708,2138,2130,3.3,-3.0,6,134,10.80,1.88,-32.50,0.000,18692,0.468,0.155,2178,3716,3892,3866,3918,0,0,0,0,0,0,14.23,14.42,14.66
$GC,358,-0.80,-145.9,2178,3717,3867,3922,79.3,-25.7,58,366,0.30,1.75,0.00,0.000,3078,0.307,0.078,2261,2692,3894,3867,3921,0,0,0,0,0,0,14.37,14.54,28.83
$GC,670,-0.80,-145.9,2262,2692,3868,3923,131.1,-15.2,90,678,0.00,1.83,0.00,0.000,260,0.000,0.129,2258,3716,3894,3867,3922,0,0,0,0,0,0,28.83,14.50,28.83
$GC,777,-0.78,-145.9,2258,3717,3866,3923,148.3,-15.1,111,786,0.00,1.73,0.00,0.000,1030,0.000,0.080,2258,2710,3895,3867,3923,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1082,-0.78,-145.9,2258,2711,3868,3923,190.8,-13.0,142,1090,0.00,2.45,0.00,0.000,516,0.000,0.095,2258,1289,3894,3867,3922,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1239,-0.83,-145.9,2258,1289,3867,3922,209.5,-11.9,173,1248,0.00,2.55,0.00,0.000,1030,0.000,0.124,2253,2700,3894,3866,3922,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1545,-0.86,-145.9,2253,2701,3865,3923,246.1,-11.6,204,1554,0.00,2.42,0.00,0.000,516,0.000,0.092,2253,1290,3893,3865,3922,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1648,-0.92,-145.9,2253,1291,3865,3922,257.6,-11.1,224,1658,0.00,2.55,0.00,0.000,1030,0.000,0.123,2247,2706,3893,3865,3922,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1972,-0.95,-145.9,2248,2706,3864,3923,294.6,-11.5,238,1980,0.00,2.42,0.00,0.000,516,0.000,0.092,2247,1292,3892,3863,3922,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,2018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2018,begin apogee
$GC,2022,-0.21,0.0,2245,2404,3864,3923,300.0,-11.4,247,2205,0.80,0.00,177.77,1.095,10246,0.263,0.000,2456,2403,3290,3245,3335,0,0,0,0,0,0,14.57,28.83,13.56
$STATE,2207,end apogee,CONTROL_FINISHED_OK
$STATE,2207,begin climb
$GC,2208,1.05,145.9,2457,2403,3238,3330,306.6,0.0,253,2343,1.35,0.00,124.10,1.180,10246,0.135,0.000,2868,2403,2692,2628,2757,0,0,0,0,0,0,14.06,28.83,13.41
$GC,2619,0.77,145.9,2869,2403,2603,2738,252.7,17.6,267,2627,0.38,2.53,0.00,0.000,4612,0.314,0.098,2793,986,2670,2603,2738,0,0,0,0,0,0,14.23,14.36,28.83
$GC,2681,0.64,145.9,2793,987,2603,2739,243.9,13.1,279,2689,0.25,2.55,0.00,0.000,5126,0.297,0.108,2739,2403,2670,2602,2738,0,0,0,0,0,0,14.26,14.38,28.83
$GC,2994,0.58,158.7,2739,2403,2602,2738,208.9,10.5,311,3008,0.00,0.00,9.30,1.027,8198,0.000,0.000,2738,2403,2641,2571,2711,0,0,0,0,0,0,28.83,28.83,13.94
$GC,3304,0.56,188.0,2739,2404,2556,2705,177.1,9.6,342,3340,0.00,0.00,27.60,1.047,8198,0.000,0.000,2739,2402,2510,2434,2587,0,0,0,0,0,0,28.83,28.83,13.92
$GC,3634,0.59,235.3,2739,2403,2424,2578,147.7,8.7,375,3684,0.00,2.60,41.80,1.012,8708,0.000,0.099,2747,989,2321,2245,2398,0,0,0,0,0,0,28.83,14.25,13.88
$GC,3708,0.64,279.1,2747,989,2237,2386,141.3,8.9,387,3757,0.00,2.58,39.78,0.987,9222,0.000,0.108,2747,2404,2144,2057,2231,0,0,0,0,0,0,28.83,14.27,13.72
$GC,4061,0.66,294.9,2747,2405,2036,2215,104.3,10.3,425,4081,0.00,2.38,12.15,0.944,8452,0.000,0.121,2747,3711,2078,1986,2171,0,0,0,0,0,0,28.83,14.35,13.95
$GC,4095,0.66,294.9,2748,3711,1982,2165,100.5,11.1,431,4103,0.00,2.22,0.00,0.000,1030,0.000,0.073,2756,2398,2072,1981,2163,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4407,0.68,311.4,2757,2397,1977,2160,67.8,10.3,463,4421,0.00,0.00,5.62,0.278,8198,0.000,0.000,2756,2396,2022,1929,2116,0,0,0,0,0,0,28.83,28.83,14.31
$GC,4717,0.87,415.3,2757,2397,1956,2142,41.0,5.8,494,4780,0.15,2.42,50.55,0.293,10500,0.130,0.122,2827,3708,1598,1495,1702,0,0,0,0,0,0,14.59,14.44,14.31
$GC,4844,0.81,415.3,2824,3707,1521,1703,27.8,14.2,516,4854,0.17,2.25,1.92,0.223,13318,0.286,0.075,2793,2403,1596,1496,1697,0,0,0,0,0,0,14.40,14.51,14.42
$GC,5159,1.21,621.1,2794,2403,1517,1708,14.2,0.6,548,5264,0.38,2.42,96.47,0.215,10500,0.085,0.119,2931,3710,757,638,876,0,0,0,0,0,0,14.60,14.42,14.38
$STATE,5347,end climb,SURFACE_DEPTH_REACHED
$STATE,5348,begin surface coast
$FINISH,1.0,1.019488
$STATE,5358,end surface coast,CONTROL_FINISHED_OK
$STATE,5358,begin surface
$SM_CCo,5380,26.35,0.184,0,0,537,675.07
$SM_GC,1.49,8.30,1.75,26.35,0.094,0.076,0.184,176,2695,537,-7.32,0.96,675.07,0,0,0,0,0,0,14.50,14.53,14.42
$RAFOS_CLK,519586
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,280714,134322
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.53
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3931904
$TM_FREEKB,7801856
$24V_AH,13.41,13.366
$10V_AH,13.42,0.000
$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,22.875,45.325,587.075,26.350,0.000,0.000,0.000,464.025,0.000,0.000,35.545,0.000,3483.326,733.097,1855.230,56.754,0.000,1714.233,0.000,865.704,0.000,0.532,0.000
$DEVICE_MAMPS,468.180,154.530,1180.395,184.365,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5363.000,5393.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.645,13.368,0.000,0.000
$MEM,308824
$DATA_FILE_SIZE,20076,580
$CAP_FILE_SIZE,97018,0
$CFSIZE,1047117824,1040302080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6317.30,0x2378b6,7,5
$SOUNDSPEED,1445.7
$EKF,5470,4255.734375,-8670.708984,0.976111,0.224981,-0.035344,-0.015401,0.000051,0.000481,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.132,198.14,1
$GPS,280714,152351,7055.375,-14431.091,8,1.7,29,28.3