version: 66.12
glider: 199
mission: 5
dive: 19
start: 7 28 114 22 27 47
data:
$ID,199
$MISSION,5
$DIVE,19
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,480
$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,115
$T_MISSION,145
$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,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-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,688.85968
$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,-21642.227
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2470
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,3349
$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,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,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,280714,221951,7053.551,-14426.880,2,0.7,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.4
$GPS2,280714,222729,7053.498,-14426.865,5,0.8,25,22.3
$SPEED_LIMITS,0.145,0.255
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,321.9,92508,-22.4,-12.174,-25.50,1846
$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,-0.88,-145.9,201,2197,580,515,0.0,0.0,0,85,0.00,0.00,-63.78,0.000,16386,0.000,0.000,196,2197,2151,2160,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.88,-145.9,196,2197,2162,2145,3.3,-3.4,6,142,11.00,2.65,-33.08,0.000,18692,0.478,0.155,2169,3609,3946,4001,3891,0,0,0,0,0,0,14.05,14.19,14.47
$GC,366,-0.79,-145.9,2171,3610,4001,3894,79.0,-23.6,59,377,0.17,2.47,0.00,0.000,3078,0.340,0.100,2205,2194,3947,4001,3893,0,0,0,0,0,0,14.21,14.33,28.83
$GC,671,-0.79,-145.9,2204,2195,4002,3895,134.7,-16.9,90,680,0.00,2.55,0.00,0.000,260,0.000,0.137,2196,3606,3947,4001,3893,0,0,0,0,0,0,28.83,14.33,28.83
$GC,769,-0.77,-145.9,2196,3607,4002,3895,152.4,-17.1,109,778,0.00,2.45,0.00,0.000,1030,0.000,0.100,2196,2198,3948,4001,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1074,-0.77,-145.9,2197,2198,4000,3894,199.1,-13.4,140,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2198,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.77,-145.9,2198,2198,4000,3894,237.9,-12.5,170,1382,0.00,2.58,0.00,0.000,260,0.000,0.138,2189,3618,3947,4000,3894,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1510,-0.77,-145.9,2187,3618,4000,3894,257.1,-13.7,197,1519,0.15,2.45,0.00,0.000,3078,0.305,0.099,2217,2198,3946,4000,3893,0,0,0,0,0,0,14.35,14.46,28.83
$GC,1828,-0.80,-145.9,2217,2198,4000,3894,293.7,-11.4,210,1836,0.00,2.55,0.00,0.000,260,0.000,0.138,2206,3613,3946,4000,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1925,-0.83,-145.9,2207,3614,4000,3893,305.6,-12.4,229,1933,0.00,2.45,0.00,0.000,1030,0.000,0.099,2206,2193,3946,4000,3893,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2252,-0.85,-145.9,2206,2199,4002,3893,343.5,-11.4,244,2262,0.00,2.55,0.00,0.000,260,0.000,0.138,2196,3612,3946,4000,3892,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2341,-0.85,-145.9,2197,3613,3998,3893,354.7,-12.4,261,2350,0.00,2.42,0.00,0.000,1030,0.000,0.098,2196,2202,3946,4000,3892,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2646,-0.87,-145.9,2196,2202,4000,3893,391.2,-11.8,272,2656,0.00,2.53,0.00,0.000,260,0.000,0.138,2186,3612,3946,4000,3892,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2725,-0.87,-145.9,2188,3612,4002,3893,401.5,-12.6,287,2733,0.00,2.45,0.00,0.000,1030,0.000,0.098,2186,2190,3946,4000,3892,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,2891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2891,begin apogee
$GC,2895,-0.16,0.0,2182,2810,4000,3891,422.4,-12.4,295,3086,0.93,0.00,186.02,1.414,10246,0.297,0.000,2411,2810,3347,3401,3294,0,0,0,0,0,0,14.42,28.83,13.21
$STATE,3088,end apogee,CONTROL_FINISHED_OK
$STATE,3088,begin climb
$GC,3089,0.88,145.9,2412,2811,3397,3288,428.9,0.0,301,3231,1.15,1.90,128.65,1.583,10500,0.159,0.137,2748,3767,2742,2789,2696,0,0,0,0,0,0,13.78,13.59,13.02
$GC,3255,0.77,145.9,2748,3768,2779,2682,418.8,16.6,327,3263,0.17,1.75,0.00,0.000,5126,0.324,0.093,2723,2793,2728,2777,2679,0,0,0,0,0,0,13.64,13.78,28.83
$GC,3578,0.72,145.9,2728,2794,2778,2673,372.7,14.1,341,3586,0.00,2.50,0.00,0.000,516,0.000,0.108,2732,1394,2724,2777,2672,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3649,0.67,145.9,2733,1394,2777,2672,362.9,13.5,355,3658,0.20,2.58,0.00,0.000,5126,0.308,0.116,2691,2806,2724,2777,2672,0,0,0,0,0,0,14.12,14.21,28.83
$GC,3972,0.64,145.9,2694,2807,2776,2672,322.1,12.5,369,3980,0.00,2.47,0.00,0.000,516,0.000,0.107,2699,1386,2724,2777,2672,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4044,0.64,145.9,2699,1387,2779,2672,313.3,12.4,383,4052,0.00,2.55,0.00,0.000,1030,0.000,0.116,2699,2799,2724,2777,2671,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4367,0.61,145.9,2699,2800,2779,2672,272.4,12.5,397,4375,0.12,2.50,0.00,0.000,4612,0.311,0.104,2688,1386,2724,2777,2671,0,0,0,0,0,0,14.33,14.40,28.83
$GC,4449,0.64,175.0,2681,1386,2778,2677,263.3,10.6,413,4482,0.00,2.55,25.33,1.391,9222,0.000,0.116,2682,2812,2627,2685,2569,0,0,0,0,0,0,28.83,14.42,13.73
$GC,4786,0.64,175.5,2681,2812,2674,2547,222.5,12.1,444,4796,0.00,2.53,0.00,0.000,516,0.000,0.107,2692,1389,2609,2672,2546,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4875,0.67,196.4,2693,1389,2672,2546,212.5,11.0,461,4904,0.00,2.53,18.12,1.319,9222,0.000,0.117,2691,2800,2535,2600,2470,0,0,0,0,0,0,28.83,14.33,13.70
$GC,5208,0.71,231.4,2694,2800,2593,2457,173.2,10.2,496,5252,0.00,2.58,31.95,1.281,8708,0.000,0.106,2702,1404,2388,2458,2319,0,0,0,0,0,0,28.83,14.14,13.67
$GC,5396,0.80,281.4,2701,1405,2449,2308,154.2,9.4,531,5451,0.00,2.53,44.85,1.259,9222,0.000,0.116,2701,2800,2189,2266,2113,0,0,0,0,0,0,28.83,14.21,13.54
$GC,5766,0.86,313.9,2702,2798,2256,2092,113.1,10.4,570,5801,0.15,2.62,28.58,1.217,10756,0.158,0.109,2759,1395,2064,2149,1980,0,0,0,0,0,0,14.26,14.03,13.61
$GC,5965,0.86,313.9,2758,1397,2135,1950,88.2,12.7,608,5975,0.00,2.55,0.00,0.000,1030,0.000,0.116,2758,2798,2041,2134,1949,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6279,0.89,343.3,2758,2799,2135,1949,48.0,10.5,640,6295,0.00,0.00,11.88,0.290,8198,0.000,0.000,2759,2798,1948,2041,1856,0,0,0,0,0,0,28.83,28.83,14.14
$GC,6589,0.99,417.3,2760,2795,2060,1888,22.7,8.1,671,6637,0.00,2.53,39.90,0.237,8708,0.000,0.109,2768,1398,1648,1742,1555,0,0,0,0,0,0,28.83,14.23,14.15
$GC,6682,1.09,456.0,2771,1398,1751,1564,14.6,10.0,687,6711,0.17,2.55,21.52,0.217,11270,0.152,0.119,2826,2802,1487,1584,1391,0,0,0,0,0,0,14.28,14.26,14.18
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b5b3a867a;,*00
$MODEM_MSG,CACST,6,0,20140729000506.733666,3,734,04,0169,0150,100,00,00,04,06,1,004,000,0,5,1,0,150,-0.1,2.6,-100,0.4,-01,-0.2,12,900,0025*3B
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5a967a6969;,*38
$MODEM_MSG,CACST,6,0,20140729001621.420310,3,1002,05,0155,0150,100,00,00,04,07,1,010,000,0,5,1,0,150,1.8,2.4,-100,0.6,-01,-0.3,13,900,0025*2F
$EKF,range, 4110.6
$EKF,range, 2403.9
$EKF,7016,4254.450195,-8667.023438,10.737997,-0.005005,0.009147,-0.006070,0.000091,0.000846,0.000099,0.000025,0.000025,0.000050
$GC,7005,1.36,646.9,2826,2803,1597,1404,10.7,1.5,721,7114,0.25,2.62,101.28,0.200,10756,0.133,0.113,2921,1394,711,788,635,0,0,0,0,0,0,14.34,14.21,14.15
$STATE,7143,end climb,SURFACE_DEPTH_REACHED
$STATE,7143,begin surface coast
$FINISH,0.9,1.019835
$STATE,7152,end surface coast,CONTROL_FINISHED_OK
$STATE,7152,begin surface
$SM_CCo,7174,23.17,0.190,0,0,537,689.05
$SM_GC,1.44,8.40,1.50,23.17,0.103,0.108,0.190,200,2205,537,-7.06,-0.48,689.05,0,0,0,0,0,0,14.26,14.26,14.22
$RAFOS_CLK,71
$MODEM,10,1406592981,74.20940,-146.49240,260.420,376741.9
$MODEM,4,1406592306,74.83900,-143.51601,305.734,442295.3
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7019.90,-14443.79,280714,204215
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.39
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,4014688
$TM_FREEKB,7761440
$24V_AH,13.02,44.276
$10V_AH,12.68,0.000
$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,22.875,75.125,638.075,23.175,0.000,0.000,0.000,283.450,0.000,0.000,27.025,0.000,4815.144,777.502,2009.197,67.665,0.000,1739.625,0.000,1101.918,1440.000,0.537,0.000
$DEVICE_MAMPS,478.125,154.530,1582.785,189.720,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7170.000,7180.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.603,1000.000,0.000,0.000
$MEM,304760
$DATA_FILE_SIZE,26661,744
$CAP_FILE_SIZE,116473,0
$CFSIZE,2097872896,2089713664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$EKF,7300,4254.443359,-8667.007812,0.894566,-0.219680,0.075115,-0.093367,0.000091,0.000851,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.098,188.08,1
$GPS,290714,002924,7054.041,-14427.156,36,0.9,56,22.3