version: 66.12
glider: 199
mission: 5
dive: 25
start: 7 29 114 12 36 11
data:
$ID,199
$MISSION,5
$DIVE,25
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-21650.83
$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,26
$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,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
$GPS1,290714,122654,7057.195,-14429.449,32,0.8,52,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.4
$GPS2,290714,123553,7057.087,-14429.270,4,0.8,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,305.6,86145,-21.9,-11.905,-25.13,1887
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.87,-145.9,192,2203,534,470,0.0,0.0,0,94,0.00,0.00,-72.70,0.000,16386,0.000,0.000,190,2203,2332,2343,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.87,-145.9,190,2204,2345,2323,3.5,-3.3,7,143,11.15,2.53,-28.77,0.000,18948,0.483,0.133,2182,787,3946,4004,3889,0,0,0,0,0,0,14.05,14.26,14.48
$GC,303,-0.80,-145.9,2183,787,4003,3895,57.5,-23.4,46,312,0.17,2.50,0.00,0.000,3078,0.360,0.106,2206,2199,3947,4004,3890,0,0,0,0,0,0,14.21,14.31,28.83
$GC,608,-0.77,-145.9,2207,2199,4003,3896,114.9,-17.3,77,615,0.00,2.55,0.00,0.000,260,0.000,0.132,2197,3623,3949,4004,3895,0,0,0,0,0,0,28.83,14.39,28.83
$GC,694,-0.74,-145.9,2196,3625,4005,3896,131.3,-18.5,94,704,0.15,2.45,0.00,0.000,3078,0.314,0.095,2226,2201,3949,4004,3895,0,0,0,0,0,0,14.31,14.42,28.83
$GC,999,-0.74,-145.9,2226,2201,4005,3896,176.0,-13.5,125,1007,0.00,2.55,0.00,0.000,260,0.000,0.132,2217,3617,3949,4004,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1091,-0.74,-145.9,2214,3622,4003,3895,188.7,-13.5,143,1101,0.00,2.45,0.00,0.000,1030,0.000,0.092,2217,2191,3949,4004,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1405,-0.74,-145.9,2218,2192,4003,3895,227.5,-11.8,175,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2191,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.76,-145.9,2218,2192,4003,3894,264.5,-11.4,199,1736,0.00,2.58,0.00,0.000,260,0.000,0.134,2206,3621,3948,4003,3893,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1854,-0.76,-145.9,2207,3621,4003,3894,280.7,-12.7,224,1862,0.00,2.45,0.00,0.000,1030,0.000,0.093,2206,2191,3948,4004,3893,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2182,-0.79,-145.9,2206,2192,4005,3893,318.6,-11.5,239,2191,0.00,2.55,0.00,0.000,260,0.000,0.133,2196,3619,3948,4004,3892,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2270,-0.79,-145.9,2195,3620,4005,3892,329.6,-12.3,256,2279,0.00,2.42,0.00,0.000,1030,0.000,0.092,2195,2197,3947,4003,3892,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2576,-0.79,-145.9,2196,2198,4003,3892,365.9,-11.8,267,2585,0.00,2.53,0.00,0.000,260,0.000,0.132,2185,3616,3946,4003,3890,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2664,-0.79,-145.9,2186,3617,4003,3891,377.3,-13.3,284,2674,0.12,2.42,0.00,0.000,3078,0.314,0.093,2208,2195,3946,4003,3890,0,0,0,0,0,0,14.44,14.54,28.83
$GC,2970,-0.82,-145.9,2208,2195,4004,3891,410.5,-10.7,295,2980,0.00,2.53,0.00,0.000,260,0.000,0.132,2199,3615,3946,4003,3889,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3089,-0.82,-145.9,2200,3616,4005,3890,424.5,-11.9,318,3098,0.00,2.42,0.00,0.000,1030,0.000,0.093,2199,2192,3946,4003,3889,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3395,-0.84,-145.9,2200,2192,4003,3890,458.7,-11.2,329,3402,0.00,2.53,0.00,0.000,260,0.000,0.131,2188,3617,3946,4003,3889,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3501,-0.84,-145.9,2189,3617,4004,3890,471.7,-12.3,350,3510,0.00,2.42,0.00,0.000,1030,0.000,0.093,2188,2193,3946,4003,3889,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,3758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3758,begin apogee
$GC,3761,-0.16,0.0,2184,2807,4005,3890,501.2,-11.3,361,3951,0.90,0.00,184.52,1.421,10246,0.295,0.000,2410,2805,3346,3400,3292,0,0,0,0,0,0,14.45,28.83,13.28
$STATE,3953,end apogee,CONTROL_FINISHED_OK
$STATE,3953,begin climb
$GC,3954,0.87,145.9,2410,2806,3396,3285,506.5,0.0,367,4098,1.12,1.90,127.28,1.624,10500,0.161,0.134,2739,3767,2737,2786,2688,0,0,0,0,0,0,13.81,13.60,13.00
$GC,4167,0.76,145.9,2739,3768,2775,2677,485.5,18.5,402,4176,0.10,1.75,0.00,0.000,5126,0.314,0.090,2724,2807,2725,2773,2677,0,0,0,0,0,0,13.78,13.92,28.83
$GC,4472,0.70,145.9,2724,2808,2774,2675,439.7,14.8,413,4481,0.00,2.53,0.00,0.000,516,0.000,0.106,2733,1385,2723,2773,2674,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4500,0.65,145.9,2734,1386,2773,2674,435.7,14.1,418,4509,0.22,2.55,0.00,0.000,5126,0.306,0.112,2685,2806,2723,2773,2674,0,0,1,0,0,0,14.12,14.21,28.83
$GC,4805,0.61,145.9,2687,2806,2773,2674,396.7,12.7,429,4813,0.00,2.50,0.00,0.000,516,0.000,0.102,2694,1387,2723,2773,2673,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4892,0.62,149.4,2696,1388,2773,2674,386.2,11.7,446,4901,0.00,2.55,0.00,0.000,1030,0.000,0.112,2694,2807,2723,2773,2673,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5198,0.58,149.4,2695,2807,2773,2673,347.0,13.0,457,5207,0.12,2.50,0.00,0.000,4612,0.307,0.100,2672,1383,2723,2773,2673,0,0,0,0,0,0,14.33,14.42,28.83
$GC,5271,0.61,174.6,2677,1382,2773,2673,338.9,10.5,471,5306,0.00,2.53,25.25,1.481,9222,0.000,0.112,2675,2801,2625,2682,2569,0,0,0,0,0,0,28.83,14.42,13.66
$GC,5630,0.61,174.6,2676,2802,2676,2552,293.6,12.9,491,5639,0.00,2.50,0.00,0.000,516,0.000,0.103,2685,1383,2613,2676,2551,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5713,0.61,174.6,2686,1383,2677,2551,283.4,11.9,507,5723,0.00,2.53,0.00,0.000,1030,0.000,0.112,2685,2801,2613,2676,2551,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6027,0.61,174.6,2687,2801,2676,2551,242.9,12.6,521,6035,0.00,2.47,0.00,0.000,516,0.000,0.102,2696,1384,2613,2675,2551,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6129,0.61,175.4,2697,1384,2675,2551,230.7,11.9,541,6137,0.00,2.55,0.00,0.000,1030,0.000,0.112,2696,2807,2613,2676,2550,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6442,0.60,179.9,2696,2807,2677,2552,192.4,11.7,573,6450,0.12,2.47,0.00,0.000,4612,0.310,0.099,2677,1388,2613,2676,2551,0,0,0,0,0,0,14.38,14.46,28.83
$GC,6614,0.70,247.2,2676,1389,2677,2551,176.3,8.2,607,6690,0.00,2.50,65.80,1.317,9222,0.000,0.112,2677,2801,2332,2400,2264,0,0,0,0,0,0,28.83,14.45,13.55
$GC,6994,0.79,304.3,2678,2801,2387,2239,139.2,8.8,649,7056,0.12,2.58,52.30,1.275,10756,0.177,0.101,2731,1387,2093,2176,2010,0,0,0,0,0,0,14.31,14.00,13.53
$GC,7214,0.81,316.5,2732,1387,2163,1990,113.6,11.2,690,7224,0.00,2.58,2.75,0.651,9222,0.000,0.112,2731,2802,2055,2143,1968,0,0,0,0,0,0,28.83,14.21,13.57
$GC,7520,0.82,325.2,2731,2803,2159,1978,76.7,11.4,721,7535,0.00,2.50,6.18,0.294,8708,0.000,0.101,2741,1388,2026,2117,1936,0,0,0,0,0,0,28.83,14.31,14.16
$GC,7633,0.84,337.7,2741,1389,2142,1958,63.9,11.2,743,7651,0.00,2.55,9.77,0.324,9222,0.000,0.113,2741,2807,1971,2061,1882,0,0,0,0,0,0,28.83,14.34,14.19
$GC,7945,0.94,418.7,2742,2807,2086,1909,34.4,7.5,775,7998,0.00,0.00,43.85,0.270,8710,0.000,0.000,2741,2807,1640,1735,1546,0,0,0,0,0,0,28.83,28.83,14.23
$GC,8295,1.30,635.0,2738,2807,1753,1555,12.8,0.1,811,8419,0.43,2.53,113.57,0.210,11012,0.113,0.104,2901,1389,758,839,677,0,0,0,0,0,0,14.41,14.25,14.21
$GC,8473,1.43,708.1,2900,1389,849,678,5.1,7.9,840,8510,0.00,2.55,30.55,0.194,9218,0.000,0.112,2900,2803,525,587,463,0,0,0,0,0,0,28.83,14.30,28.83
$STATE,8510,end climb,SURFACE_DEPTH_REACHED
$STATE,8511,begin surface coast
$FINISH,0.9,1.020027
$STATE,8513,end surface coast,CONTROL_FINISHED_OK
$STATE,8513,begin surface
$SM_CCo,8594,0.00,0.000,0,0,526,692.48
$SM_GC,1.81,8.43,1.08,0.00,0.112,0.093,0.000,197,2198,526,-7.06,0.85,692.48,0,0,0,0,0,0,14.29,14.33,28.83
$RAFOS_CLK,361
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14445.36,290714,095301
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.16
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4014076
$TM_FREEKB,7684480
$24V_AH,13.00,59.487
$10V_AH,12.74,0.000
$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,23.175,91.175,661.825,0.000,0.000,0.000,0.000,329.475,0.000,0.000,27.380,0.000,5966.232,816.512,2281.298,76.683,0.000,1916.156,0.000,1249.341,0.000,0.537,0.000
$DEVICE_MAMPS,482.715,133.875,1624.095,0.000,0.000,0.000,0.000,187.425,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8536.000,8564.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.784,1000.000,0.000,0.000
$MEM,301964
$DATA_FILE_SIZE,30045,846
$CAP_FILE_SIZE,130212,0
$CFSIZE,2097872896,2088140800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,9405.33,0x2378b6,7,5
$SOUNDSPEED,1450.1
$EKF,8676,4258.111328,-8670.612305,0.908212,-0.220596,0.215900,-0.019980,0.000111,0.001040,0.000100,0.002125,0.002125,0.000073
$CURRENT,0.055,148.19,1
$GPS,290714,150044,7057.871,-14430.134,17,0.8,37,22.3