version: 66.12
glider: 198
mission: 3
dive: 3
start: 6 10 114 21 22 22
data:
$ID,198
$MISSION,3
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,30
$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,666.53741
$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,-2729.8032
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$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,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2410
$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,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,-84.087852
$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,48
$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
$GPS1,100614,211806,4742.930,-12224.363,5,1.1,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.8
$GPS2,100614,212204,4742.900,-12224.348,5,1.1,36,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,352.5,1377,-20.0,-10.000,-24.70,1991
$D_GRID,176
$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,-1.01,-146.6,205,2397,495,589,0.0,0.0,0,144,0.00,0.00,-123.15,0.000,16386,0.000,0.000,202,2394,3560,3615,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,145,-1.01,-146.6,203,2397,3615,3508,3.3,-3.5,12,174,9.80,2.35,-9.15,0.000,18948,0.422,0.116,2283,1000,3962,4011,3913,0,0,0,0,0,0,14.49,14.72,14.92
$GC,318,-0.57,-146.6,2283,999,4011,3918,37.4,-15.8,45,328,0.62,2.42,0.00,0.000,3078,0.336,0.103,2426,2414,3964,4011,3917,0,0,0,0,0,0,14.55,14.71,28.83
$GC,509,-0.52,-146.6,2427,2415,4012,3917,59.1,-10.5,64,519,0.00,2.38,0.00,0.000,260,0.000,0.114,2417,3792,3964,4011,3917,0,0,0,0,0,0,28.83,14.69,28.83
$GC,707,-0.43,-146.6,2417,3793,4012,3913,83.2,-12.0,103,717,0.22,2.28,0.00,0.000,3078,0.273,0.073,2472,2401,3963,4011,3915,0,0,0,0,0,0,14.56,14.71,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f9b54a4;,*0E
$RAFOS_MSG,CACST,6,0,20140610212959.680375,3,2763,34,0351,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,23.4,8.1,-100,-5.1,-01,-0.1,47,900,0025*37
$GC,893,-0.57,-146.6,2473,2406,4011,3917,95.4,-6.0,122,901,0.10,2.40,0.00,0.000,4356,0.170,0.116,2413,3787,3964,4011,3917,0,0,0,0,0,0,14.71,14.69,28.83
$GC,1050,-0.49,-146.6,2413,3788,4012,3917,112.5,-12.3,153,1059,0.17,2.25,0.00,0.000,3078,0.282,0.074,2454,2413,3963,4011,3916,0,0,0,0,0,0,14.61,14.76,28.83
$GC,1235,-0.61,-146.6,2455,2413,4010,3917,128.4,-8.6,172,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2413,3964,4012,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1421,-0.71,-146.6,2456,2413,4011,3916,145.0,-9.1,190,1424,0.20,0.00,0.00,0.000,4102,0.110,0.000,2371,2413,3963,4011,3915,0,0,0,0,0,0,14.77,28.83,28.83
$STATE,1590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1590,begin apogee
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f7b54a6;,*02
$RAFOS_MSG,CACST,6,0,20140610214459.632460,3,3157,34,0414,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,35.2,10.5,-100,-7.5,-01,0.4,34,900,0025*26
$GC,1592,-0.21,0.0,2371,2413,4012,3915,166.0,-12.5,207,1706,0.68,0.00,107.05,1.141,10246,0.272,0.000,2547,2412,3395,3465,3326,0,0,0,0,0,0,14.51,28.83,13.85
$STATE,1707,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1708,1.01,146.6,2548,2413,3463,3327,169.7,0.0,218,1830,1.30,2.53,108.65,0.972,11012,0.189,0.108,2934,3786,2794,2863,2726,0,0,0,0,0,0,14.27,14.19,13.82
$GC,1885,0.48,146.6,2935,3786,2850,2726,143.6,23.7,245,1893,0.68,2.33,0.00,0.000,5126,0.305,0.076,2780,2408,2788,2850,2726,0,0,0,0,0,0,14.26,14.37,28.83
$GC,2077,0.48,146.6,2782,2408,2850,2725,119.8,10.9,265,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2406,2787,2850,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,0.48,148.9,2780,2408,2851,2725,100.0,9.9,283,2271,0.00,2.38,0.00,0.000,260,0.000,0.112,2780,3786,2787,2850,2724,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2430,0.40,148.9,2782,3786,2849,2723,78.7,12.4,316,2441,0.12,2.33,0.00,0.000,5126,0.243,0.074,2743,2402,2786,2850,2722,0,0,0,0,0,0,14.54,14.66,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f4b54a8;,*0F
$RAFOS_MSG,CACST,6,0,20140610215959.852703,3,2690,34,0356,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,32.5,11.0,-100,-8.0,-01,0.4,32,900,0025*20
$GC,2615,0.56,169.3,2743,2403,2855,2723,62.8,9.0,335,2645,0.17,2.50,22.70,0.823,10500,0.116,0.112,2819,3790,2705,2772,2638,0,0,0,0,0,0,14.76,14.57,14.22
$GC,2819,0.41,169.3,2819,3790,2767,2636,33.9,14.6,374,2828,0.28,2.28,0.00,0.000,5126,0.259,0.077,2758,2407,2697,2760,2635,0,0,0,0,0,0,14.58,14.69,28.83
$GC,3004,0.56,184.3,2759,2407,2769,2635,19.1,9.2,393,3018,0.12,0.00,7.60,0.222,10246,0.143,0.000,2817,2406,2653,2726,2581,0,0,0,0,0,0,14.76,28.83,14.59
$GC,3201,0.60,184.6,2818,2407,2751,2582,4.7,10.0,412,3206,0.00,0.00,2.50,0.191,8198,0.000,0.000,2815,2406,2645,2718,2573,0,0,0,0,0,0,28.83,28.83,14.63
$STATE,3250,end climb,SURFACE_DEPTH_REACHED
$STATE,3250,begin surface coast
$FINISH,2.1,1.018957
$STATE,3290,end surface coast,CONTROL_FINISHED_OK
$STATE,3291,begin surface
$SM_CCo,3293,269.92,0.153,0,0,499,711.37
$SM_GC,1.33,7.50,0.00,0.00,0.076,0.000,0.000,199,2406,502,-7.50,-0.11,710.88,0,0,0,0,0,0,14.68,28.83,28.83
$RAFOS_CLK,32
$MODEM,0,22.00000,21.98917,47.71600,-122.40320,-1.647,-2413.3
$MODEM,3,21.75000,21.73861,47.71660,-122.40400,-1.868,-2735.9
$MODEM,2,21.50000,21.48806,47.71700,-122.40480,-1.820,-2665.8
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12207.44,100614,212152
$TT8_MAMPS,0.043442,0.043442
$HUMID,51.57
$INTERNAL_PRESSURE,9.05232
$TCM_TEMP,17.70
$XPDR_PINGS,3
$SC_FREEKB,4018752
$TM_FREEKB,7891520
$24V_AH,13.8,6.576
$10V_AH,13.0,0.000
$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,21.975,28.400,248.500,269.925,0.000,0.000,0.000,0.000,0.750,0.000,37.036,0.000,2026.441,657.595,1051.469,27.503,0.000,1044.488,0.000,628.433,1200.000,0.543,0.000
$DEVICE_MAMPS,421.515,115.515,1140.615,153.000,0.000,0.000,0.000,0.000,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3271.000,3274.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.188,13.455,0.000,0.000
$MEM,310148
$DATA_FILE_SIZE,13427,421
$CAP_FILE_SIZE,90257,0
$CFSIZE,2097872896,2094563328
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3571.31,0x237922,7,5
$INTR,1,1590.90,0x237922,2,5
$INTR,2,3598.63,0x237922,7,5
$SOUNDSPEED,1485.7
$EKF,3740,2863.122314,-7344.318848,2.100667,0.000000,0.000000,0.016206,0.000696,0.001539,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.123,234.5,1
$GPS,100614,222439,4742.978,-12224.621,6,0.8,37,16.3