version: 66.12
glider: 199
mission: 5
dive: 30
start: 7 30 114 1 24 49
data:
$ID,199
$MISSION,5
$DIVE,30
$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,-21658.168
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,300714,011449,7101.381,-14434.591,15,0.7,35,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-72.0
$GPS2,300714,012424,7101.376,-14434.540,4,0.7,24,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,299.0,77831,-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,-145.9,191,2198,586,512,0.0,0.0,0,95,0.00,0.00,-73.57,0.000,16386,0.000,0.000,190,2198,2451,2456,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.87,-145.9,189,2199,2459,2448,4.3,-5.4,7,138,11.05,0.00,-25.33,0.000,18950,0.477,0.000,2182,2198,3946,4003,3889,0,0,0,0,0,0,14.06,28.83,14.47
$GC,433,-0.81,-145.9,2183,2199,4003,3895,84.5,-20.8,43,440,0.00,2.55,0.00,0.000,260,0.000,0.127,2173,3614,3949,4004,3895,0,0,0,0,0,0,28.83,14.35,28.83
$GC,549,-0.74,-145.9,2172,3614,4005,3896,110.0,-21.4,66,560,0.25,2.45,0.00,0.000,3078,0.322,0.091,2226,2193,3949,4003,3895,0,0,0,0,0,0,14.28,14.40,28.83
$GC,854,-0.74,-145.9,2228,2194,4003,3895,157.8,-14.3,97,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2193,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1155,-0.76,-145.9,2224,2194,4005,3896,196.7,-11.7,127,1163,0.00,2.55,0.00,0.000,260,0.000,0.132,2217,3613,3949,4003,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1222,-0.76,-145.9,2217,3614,4005,3895,205.3,-12.7,140,1231,0.00,2.42,0.00,0.000,1030,0.000,0.090,2217,2197,3949,4003,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1528,-0.78,-145.9,2216,2195,4004,3895,241.3,-11.4,171,1535,0.00,2.53,0.00,0.000,260,0.000,0.130,2206,3612,3948,4003,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1610,-0.78,-145.9,2207,3613,4002,3894,251.6,-12.9,187,1617,0.00,2.42,0.00,0.000,1030,0.000,0.090,2206,2193,3948,4003,3894,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1922,-0.78,-145.9,2206,2194,4004,3893,288.1,-11.6,199,1930,0.00,2.55,0.00,0.000,260,0.000,0.131,2196,3617,3947,4003,3891,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2014,-0.78,-145.9,2197,3617,4003,3893,299.9,-12.7,217,2022,0.00,2.42,0.00,0.000,1030,0.000,0.091,2196,2196,3947,4003,3892,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2346,-0.78,-145.9,2197,2196,4003,3892,340.1,-12.0,233,2354,0.00,2.53,0.00,0.000,260,0.000,0.130,2185,3613,3947,4003,3891,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2459,-0.78,-145.9,2187,3614,4002,3891,355.0,-13.5,255,2467,0.12,2.40,0.00,0.000,3078,0.309,0.091,2210,2199,3947,4003,3891,0,0,0,0,0,0,14.43,14.54,28.83
$GC,2772,-0.81,-145.9,2211,2199,4004,3890,389.4,-10.9,267,2780,0.00,2.53,0.00,0.000,260,0.000,0.129,2201,3617,3946,4003,3889,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2874,-0.81,-145.9,2201,3617,4004,3890,401.4,-11.6,287,2882,0.00,2.42,0.00,0.000,1030,0.000,0.090,2201,2190,3946,4003,3889,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3196,-0.83,-145.9,2202,2190,4003,3890,437.3,-11.2,301,3204,0.00,2.53,0.00,0.000,260,0.000,0.130,2190,3609,3947,4005,3889,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3278,-0.83,-145.9,2192,3610,4002,3889,447.4,-12.6,317,3286,0.00,2.40,0.00,0.000,1030,0.000,0.090,2190,2198,3949,4010,3889,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3590,-0.83,-145.9,2190,2199,4004,3890,483.8,-11.8,329,3598,0.00,2.53,0.00,0.000,260,0.000,0.129,2180,3621,3946,4003,3889,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3677,-0.83,-145.9,2180,3621,4004,3889,495.0,-12.9,346,3688,0.00,2.42,0.00,0.000,1030,0.000,0.090,2180,2193,3945,4002,3889,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,3741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3741,begin apogee
$GC,3744,-0.16,0.0,2174,2807,4004,3889,503.1,-12.6,349,3886,0.95,0.00,132.20,2.106,10246,0.299,0.000,2411,2806,3348,3401,3295,0,0,0,0,1,0,14.44,28.83,12.86
$STATE,3888,end apogee,CONTROL_FINISHED_OK
$STATE,3888,begin climb
$GC,3889,0.87,145.9,2414,2806,3409,3299,507.2,0.0,353,4038,1.10,1.88,131.23,1.709,10500,0.151,0.132,2738,3757,2741,2787,2696,0,0,0,0,0,0,13.74,13.55,12.97
$GC,4143,0.76,145.9,2738,3758,2784,2687,482.5,17.4,396,4150,0.15,1.70,0.00,0.000,5126,0.327,0.089,2719,2798,2734,2783,2686,0,0,0,0,0,0,13.85,13.96,28.83
$GC,4469,0.70,145.9,2714,2798,2783,2684,434.5,14.7,411,4477,0.00,2.47,0.00,0.000,516,0.000,0.102,2728,1397,2734,2783,2685,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4536,0.66,145.9,2728,1398,2785,2685,425.1,13.5,424,4545,0.20,2.53,0.00,0.000,5126,0.309,0.111,2686,2800,2733,2783,2684,0,0,0,0,0,0,14.14,14.23,28.83
$GC,4864,0.62,145.9,2688,2800,2783,2685,383.3,12.7,439,4871,0.00,2.47,0.00,0.000,516,0.000,0.099,2695,1392,2733,2783,2684,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4950,0.62,145.9,2696,1393,2783,2685,372.7,12.1,456,4959,0.00,2.53,0.00,0.000,1030,0.000,0.111,2695,2802,2733,2783,2684,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5256,0.59,145.9,2694,2803,2785,2684,333.4,12.7,467,5264,0.12,2.47,0.00,0.000,4612,0.307,0.096,2675,1387,2733,2783,2684,0,0,0,0,0,0,14.35,14.43,28.83
$GC,5328,0.61,169.1,2678,1388,2783,2685,325.5,10.6,481,5356,0.00,2.50,19.73,1.463,9222,0.000,0.111,2676,2800,2650,2707,2594,0,0,0,0,0,0,28.83,14.43,13.74
$GC,5648,0.61,169.1,2676,2801,2703,2577,286.1,12.4,495,5656,0.00,2.47,0.00,0.000,516,0.000,0.099,2687,1387,2640,2701,2580,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5730,0.61,169.1,2688,1388,2701,2580,276.2,12.4,511,5738,0.00,2.53,0.00,0.000,1030,0.000,0.111,2687,2807,2640,2701,2580,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6042,0.59,169.1,2687,2807,2700,2580,236.5,12.8,529,6050,0.00,2.47,0.00,0.000,516,0.000,0.099,2697,1390,2640,2701,2580,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6164,0.59,169.1,2696,1391,2703,2580,221.9,12.4,553,6173,0.15,2.50,0.00,0.000,5126,0.306,0.112,2667,2801,2640,2701,2580,0,0,0,0,0,0,14.36,14.45,28.83
$GC,6478,0.62,195.7,2668,2801,2701,2580,188.0,10.5,585,6508,0.00,2.55,22.58,1.319,8708,0.000,0.100,2675,1396,2541,2605,2478,0,0,0,0,0,0,28.83,14.32,13.81
$GC,6607,0.68,239.0,2675,1396,2601,2466,175.2,9.5,609,6656,0.00,2.53,38.72,1.227,9222,0.000,0.112,2675,2804,2360,2429,2292,0,0,0,0,0,0,28.83,14.33,13.66
$GC,6960,0.75,281.1,2675,2804,2423,2278,139.3,9.6,647,7007,0.12,2.58,36.33,1.201,10756,0.175,0.099,2729,1402,2187,2265,2109,0,0,0,0,0,0,14.35,14.11,13.68
$GC,7201,0.78,298.6,2729,1403,2261,2096,112.3,11.0,693,7223,0.00,2.53,14.05,1.168,9222,0.000,0.111,2729,2805,2123,2207,2039,0,0,0,0,0,0,28.83,14.27,13.69
$GC,7528,0.79,309.7,2729,2807,2200,2022,73.5,11.3,727,7543,0.00,2.53,3.10,0.221,8708,0.000,0.100,2740,1404,2090,2177,2003,0,0,0,0,0,0,28.83,14.35,14.26
$GC,7702,0.83,340.3,2740,1404,2193,2019,55.1,10.2,761,7731,0.00,2.53,18.60,0.324,9222,0.000,0.113,2739,2812,1960,2051,1869,0,0,0,0,0,0,28.83,14.37,14.21
$GC,8026,0.95,426.0,2739,2813,2064,1894,25.6,7.2,795,8081,0.12,2.60,45.38,0.244,10756,0.176,0.106,2794,1390,1610,1706,1515,0,0,0,0,0,0,14.40,14.33,14.27
$GC,8165,1.21,588.0,2794,1391,1717,1523,13.9,3.1,820,8260,0.20,2.53,85.68,0.218,11270,0.137,0.111,2861,2801,949,1036,862,0,0,0,0,0,0,14.36,14.33,14.21
$STATE,8404,end climb,SURFACE_DEPTH_REACHED
$STATE,8404,begin surface coast
$FINISH,0.7,1.019992
$STATE,8424,end surface coast,CONTROL_FINISHED_OK
$STATE,8424,begin surface
$SM_CCo,8445,53.45,0.188,0,0,539,689.05
$SM_GC,1.67,8.27,1.08,53.45,0.116,0.102,0.188,201,2199,539,-7.05,0.99,689.05,0,0,0,0,0,0,14.36,14.38,14.28
$RAFOS_CLK,355
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14436.17,290714,224621
$TT8_MAMPS,0.047187,0.047187
$HUMID,53.58
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4013576
$TM_FREEKB,7616864
$24V_AH,12.86,61.185
$10V_AH,12.67,0.000
$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,22.825,90.725,547.575,53.450,0.000,0.000,0.000,364.925,0.000,0.000,26.188,0.000,5910.929,765.689,2327.743,78.534,0.000,1895.962,0.000,1255.152,0.000,0.538,0.000
$DEVICE_MAMPS,476.595,132.345,2106.045,188.190,0.000,0.000,0.000,188.955,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8448.000,8475.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.658,12.655,0.000,0.000
$MEM,299744
$DATA_FILE_SIZE,30004,851
$CAP_FILE_SIZE,131169,0
$CFSIZE,2097872896,2086797312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9344.27,0x2378b6,7,5
$SOUNDSPEED,1450.7
$EKF,8572,4262.330078,-8676.124023,0.698946,-0.001161,0.000094,-0.042331,0.000126,0.001197,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.024,45.13,1
$GPS,300714,034738,7102.410,-14435.878,14,0.8,34,22.3