version: 66.12
glider: 199
mission: 5
dive: 26
start: 7 29 114 15 10 38
data:
$ID,199
$MISSION,5
$DIVE,26
$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,-21652.088
$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,24
$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
$GPS1,290714,150044,7057.871,-14430.134,17,0.8,37,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.2
$GPS2,290714,151021,7057.787,-14430.146,3,0.8,21,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,304.6,84779,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.87,-145.9,185,2198,575,489,0.0,0.0,0,95,0.00,0.00,-73.55,0.000,16386,0.000,0.000,183,2198,2434,2440,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.87,-145.9,183,2199,2442,2428,4.4,-5.3,7,144,11.10,2.65,-26.30,0.000,19204,0.479,0.152,2171,3616,3945,4002,3889,0,0,0,0,0,0,14.04,14.23,14.47
$GC,358,-0.77,-145.9,2173,3617,4002,3894,76.6,-22.0,57,366,0.20,2.45,0.00,0.000,3078,0.335,0.094,2213,2200,3947,4002,3893,0,0,0,0,0,0,14.22,14.35,28.83
$GC,670,-0.77,-145.9,2213,2200,4004,3892,132.9,-17.0,89,679,0.00,2.50,0.00,0.000,260,0.000,0.129,2204,3618,3946,4002,3890,0,0,0,0,0,0,28.83,14.38,28.83
$GC,693,-0.77,-145.9,2205,3619,4001,3894,136.9,-17.6,93,701,0.00,2.45,0.00,0.000,1030,0.000,0.089,2204,2196,3948,4003,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1005,-0.77,-145.9,2204,2196,4004,3895,185.1,-14.3,125,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2195,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1305,-0.77,-145.9,2206,2195,4002,3894,224.3,-13.0,155,1313,0.00,2.55,0.00,0.000,260,0.000,0.131,2194,3613,3951,4009,3893,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1401,-0.77,-145.9,2194,3614,4004,3894,237.4,-13.2,174,1412,0.00,2.45,0.00,0.000,1030,0.000,0.093,2190,2189,3947,4002,3893,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1716,-0.77,-145.9,2195,2190,4002,3893,276.6,-12.2,192,1725,0.00,2.55,0.00,0.000,260,0.000,0.132,2183,3612,3947,4002,3892,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1789,-0.77,-145.9,2183,3613,4004,3893,286.3,-13.5,206,1799,0.15,2.45,0.00,0.000,3078,0.316,0.093,2213,2204,3947,4002,3892,0,0,0,0,0,0,14.39,14.50,28.83
$GC,2114,-0.80,-145.9,2214,2205,4001,3892,321.4,-10.6,220,2121,0.00,2.53,0.00,0.000,260,0.000,0.133,2203,3615,3946,4002,3890,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2185,-0.80,-145.9,2203,3615,4004,3891,329.9,-11.6,234,2196,0.00,2.42,0.00,0.000,1030,0.000,0.091,2203,2191,3946,4002,3890,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2510,-0.83,-145.9,2203,2191,4004,3891,366.2,-11.3,248,2518,0.00,2.53,0.00,0.000,260,0.000,0.132,2193,3613,3945,4002,3889,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2602,-0.83,-145.9,2193,3610,4004,3889,377.8,-12.4,266,2612,0.00,2.40,0.00,0.000,1030,0.000,0.092,2193,2200,3945,4002,3889,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2936,-0.83,-145.9,2194,2200,4002,3891,417.3,-11.7,282,2945,0.00,2.53,0.00,0.000,260,0.000,0.132,2183,3617,3943,3998,3889,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3009,-0.83,-145.9,2184,3617,4002,3890,426.8,-13.3,296,3017,0.00,2.42,0.00,0.000,1030,0.000,0.091,2182,2198,3945,4002,3889,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3331,-0.83,-145.9,2184,2199,4002,3889,466.7,-12.3,310,3341,0.00,2.55,0.00,0.000,260,0.000,0.130,2172,3621,3945,4002,3889,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3380,-0.83,-145.9,2171,3621,4001,3889,473.3,-13.9,319,3388,0.12,2.42,0.00,0.000,3078,0.323,0.091,2195,2201,3945,4002,3889,0,0,0,0,0,0,14.36,14.47,28.83
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3636,begin apogee
$GC,3640,-0.16,0.0,2193,2809,4002,3889,502.8,-11.2,330,3831,0.88,0.00,186.00,1.423,10246,0.292,0.000,2410,2808,3348,3403,3294,0,0,0,0,0,0,14.35,28.83,13.21
$STATE,3833,end apogee,CONTROL_FINISHED_OK
$STATE,3833,begin climb
$GC,3834,0.87,145.9,2412,2809,3394,3287,508.8,0.0,336,3976,1.12,1.90,127.93,1.629,10500,0.161,0.133,2739,3767,2745,2793,2697,0,0,0,0,0,0,13.76,13.54,12.95
$GC,4030,0.76,145.9,2740,3765,2774,2679,491.9,17.6,368,4038,0.10,1.77,0.00,0.000,5126,0.312,0.090,2724,2795,2726,2774,2679,0,0,0,0,0,0,13.68,13.83,28.83
$GC,4352,0.70,145.9,2725,2796,2775,2677,443.9,14.7,382,4361,0.00,2.50,0.00,0.000,516,0.000,0.103,2733,1397,2723,2774,2673,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4395,0.65,145.9,2735,1394,2774,2674,437.7,14.0,390,4405,0.22,2.55,0.00,0.000,5126,0.306,0.111,2686,2800,2722,2774,2670,0,0,0,0,0,0,14.05,14.14,28.83
$GC,4719,0.62,145.9,2687,2800,2774,2672,396.8,12.5,404,4727,0.00,2.47,0.00,0.000,516,0.000,0.100,2694,1397,2723,2774,2672,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4806,0.62,148.5,2695,1398,2776,2670,386.4,11.8,421,4815,0.00,2.53,0.00,0.000,1030,0.000,0.111,2695,2808,2723,2774,2672,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5112,0.59,148.5,2694,2809,2776,2673,347.4,12.9,432,5120,0.12,2.50,0.00,0.000,4612,0.307,0.099,2676,1394,2723,2774,2673,0,0,0,0,0,0,14.31,14.40,28.83
$GC,5164,0.61,164.2,2676,1394,2776,2673,341.4,11.0,442,5186,0.00,2.50,14.23,1.459,9222,0.000,0.111,2676,2801,2672,2728,2616,0,0,0,0,0,0,28.83,14.40,13.72
$GC,5510,0.61,164.2,2677,2802,2717,2598,298.8,12.2,460,5518,0.00,2.45,0.00,0.000,516,0.000,0.101,2686,1398,2657,2718,2597,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5602,0.62,176.2,2686,1399,2717,2598,288.0,11.2,478,5612,0.00,2.50,3.42,0.926,9222,0.000,0.112,2686,2801,2628,2689,2568,0,0,0,0,0,0,28.83,14.40,13.71
$GC,5916,0.60,176.2,2686,2802,2709,2587,248.3,12.8,494,5926,0.00,2.53,2.12,0.367,8708,0.000,0.100,2696,1396,2629,2690,2568,0,0,0,0,0,0,28.83,14.47,13.65
$GC,5965,0.61,184.7,2697,1397,2701,2575,242.6,11.4,503,5988,0.00,2.47,15.10,1.320,9222,0.000,0.111,2696,2801,2590,2652,2529,0,0,0,0,0,0,28.83,14.45,13.80
$GC,6282,0.59,184.7,2696,2802,2641,2511,201.9,12.2,536,6290,0.12,2.47,0.00,0.000,4612,0.307,0.098,2677,1392,2574,2639,2510,0,0,0,0,0,0,14.32,14.39,28.83
$GC,6360,0.63,216.6,2678,1392,2634,2510,193.7,10.2,551,6401,0.00,2.53,32.33,1.285,9222,0.000,0.112,2677,2809,2458,2526,2391,0,0,0,0,0,0,28.83,14.42,13.70
$GC,6705,0.70,279.6,2678,2809,2516,2374,158.1,8.5,588,6773,0.00,2.55,58.75,1.271,8708,0.000,0.099,2687,1399,2193,2271,2115,0,0,0,0,0,0,28.83,14.01,13.50
$GC,6918,0.79,315.6,2687,1400,2264,2100,137.5,9.9,627,6959,0.00,2.55,32.50,1.240,9222,0.000,0.112,2687,2806,2053,2141,1966,0,0,0,0,0,0,28.83,14.20,13.53
$GC,7263,0.88,355.6,2686,2806,2129,1943,101.5,9.7,664,7312,0.20,2.62,35.88,1.222,10756,0.142,0.103,2762,1394,1880,1972,1789,0,0,0,0,0,0,14.26,14.07,13.60
$GC,7536,0.88,355.6,2764,1395,1959,1779,65.4,12.7,716,7544,0.00,2.55,0.00,0.000,1030,0.000,0.113,2763,2802,1868,1959,1778,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7848,0.94,402.7,2764,2802,1958,1776,29.9,9.3,748,7877,0.00,2.50,20.45,0.262,8708,0.000,0.102,2774,1395,1706,1798,1614,0,0,0,0,0,0,28.83,14.32,14.22
$GC,7972,1.09,491.1,2774,1393,1814,1626,18.6,7.1,771,8027,0.15,2.53,47.30,0.229,11270,0.159,0.113,2821,2803,1343,1442,1245,0,0,0,0,0,0,14.35,14.31,14.23
$GC,8332,1.33,650.1,2822,2804,1452,1256,7.7,3.2,810,8422,0.25,1.80,83.47,0.198,10500,0.132,0.135,2903,3768,694,778,610,0,0,0,0,0,0,14.40,14.26,14.24
$STATE,8440,end climb,SURFACE_DEPTH_REACHED
$STATE,8440,begin surface coast
$FINISH,0.7,1.010260
$STATE,8460,end surface coast,CONTROL_FINISHED_OK
$STATE,8460,begin surface
$SM_CCo,8483,20.83,0.191,0,0,538,689.29
$SM_GC,1.27,8.43,2.80,20.83,0.113,0.094,0.191,197,2199,538,-7.06,0.71,689.29,0,0,0,0,0,0,14.33,14.33,14.26
$RAFOS_CLK,236
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14436.17,290714,123018
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.95
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4013980
$TM_FREEKB,7670944
$24V_AH,12.95,59.860
$10V_AH,12.66,0.000
$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,23.175,94.550,659.475,20.825,0.000,0.000,0.000,375.025,0.000,0.000,22.916,0.000,5872.823,832.576,2299.709,79.510,0.000,1965.564,0.000,1226.787,1498.000,0.537,0.000
$DEVICE_MAMPS,478.890,152.235,1628.685,191.250,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8485.000,8512.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.786,19.881,0.000,0.000
$MEM,301616
$DATA_FILE_SIZE,30031,831
$CAP_FILE_SIZE,130935,0
$CFSIZE,2097872896,2087878656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9266.41,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,8578,4258.807129,-8671.435547,0.655157,-0.509839,-0.456742,0.020143,0.000117,0.001101,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.047,114.31,1
$GPS,290714,173333,7058.684,-14430.915,16,0.8,36,22.3