version: 66.12
glider: 199
mission: 5
dive: 36
start: 7 30 114 16 38 9
data:
$ID,199
$MISSION,5
$DIVE,36
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21666.412
$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,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
$GPS1,300714,162825,7107.262,-14442.842,14,0.8,34,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-73.7
$GPS2,300714,163745,7107.205,-14442.827,4,0.9,24,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,298.3,66225,-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,-145.9,197,2193,570,516,0.0,0.0,0,75,0.00,0.00,-53.72,0.000,16386,0.000,0.000,195,2193,1922,1930,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.87,-145.9,197,2194,1931,1914,3.3,-3.4,5,134,11.10,2.65,-39.28,0.000,18692,0.480,0.149,2174,3612,3947,4002,3892,0,0,0,0,0,0,14.04,14.23,14.47
$GC,358,-0.77,-145.9,2174,3613,4003,3896,75.8,-22.8,58,367,0.20,2.45,0.00,0.000,3078,0.333,0.090,2214,2195,3949,4002,3896,0,0,0,0,0,0,14.21,14.35,28.83
$GC,663,-0.77,-145.9,2214,2195,4004,3899,128.9,-16.2,89,671,0.00,2.55,0.00,0.000,260,0.000,0.128,2205,3612,3949,4002,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,725,-0.75,-145.9,2206,3612,3999,3896,139.4,-17.0,101,733,0.00,2.42,0.00,0.000,1030,0.000,0.088,2205,2195,3949,4002,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1037,-0.75,-145.9,2204,2198,4003,3897,185.5,-13.0,133,1045,0.00,2.55,0.00,0.000,260,0.000,0.128,2194,3618,3949,4002,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1109,-0.75,-145.9,2194,3618,4002,3897,196.2,-14.6,147,1119,0.15,2.42,0.00,0.000,3078,0.301,0.088,2225,2199,3949,4002,3896,0,0,0,0,0,0,14.35,14.45,28.83
$GC,1423,-0.78,-145.9,2226,2199,4003,3897,231.7,-10.8,179,1433,0.00,2.53,0.00,0.000,260,0.000,0.129,2215,3612,3949,4002,3896,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1582,-0.78,-145.9,2215,3613,4003,3897,250.6,-12.2,210,1591,0.00,2.40,0.00,0.000,1030,0.000,0.088,2215,2201,3948,4001,3896,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1887,-0.81,-145.9,2215,2202,4003,3896,284.0,-10.9,221,1895,0.00,2.53,0.00,0.000,260,0.000,0.129,2204,3617,3951,4002,3901,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1969,-0.81,-145.9,2205,3618,4003,3896,293.8,-11.9,237,1977,0.00,2.42,0.00,0.000,1030,0.000,0.088,2205,2193,3948,4001,3895,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2282,-0.83,-145.9,2204,2194,4003,3895,328.8,-11.0,249,2289,0.00,2.53,0.00,0.000,260,0.000,0.129,2194,3610,3948,4001,3895,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2404,-0.83,-145.9,2196,3611,4001,3895,343.6,-12.2,273,2411,0.00,2.40,0.00,0.000,1030,0.000,0.089,2194,2196,3947,4001,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2736,-0.83,-145.9,2196,2196,4001,3895,380.9,-11.1,289,2744,0.00,2.53,0.00,0.000,260,0.000,0.129,2184,3617,3948,4002,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2828,-0.83,-145.9,2185,3617,4001,3895,392.3,-12.5,307,2837,0.00,2.40,0.00,0.000,1030,0.000,0.089,2184,2199,3947,4001,3894,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3162,-0.83,-145.9,2185,2199,4001,3894,432.2,-11.9,323,3171,0.00,2.53,0.00,0.000,260,0.000,0.129,2173,3619,3948,4002,3894,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3270,-0.83,-145.9,2173,3620,4003,3895,446.8,-13.7,344,3279,0.12,2.42,0.00,0.000,3078,0.322,0.089,2196,2191,3947,4001,3894,0,0,0,0,0,0,14.40,14.52,28.83
$GC,3589,-0.85,-145.9,2197,2192,4001,3895,482.8,-11.1,357,3596,0.00,2.53,0.00,0.000,260,0.000,0.129,2187,3615,3947,4001,3894,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3690,-0.85,-145.9,2187,3615,4003,3895,495.4,-12.6,377,3698,0.00,2.40,0.00,0.000,1030,0.000,0.089,2187,2197,3947,4001,3894,0,0,0,0,0,0,28.83,14.53,28.83
$STATE,3741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3741,begin apogee
$GC,3745,-0.16,0.0,2183,2802,4003,3895,501.7,-12.1,382,3934,0.90,0.00,183.80,1.532,10246,0.295,0.000,2409,2801,3347,3401,3294,0,0,0,0,0,0,14.43,28.83,13.22
$STATE,3936,end apogee,CONTROL_FINISHED_OK
$STATE,3936,begin climb
$GC,3937,0.87,145.9,2411,2801,3395,3288,507.8,0.0,388,4079,1.12,1.83,126.95,1.711,10500,0.161,0.128,2738,3763,2743,2790,2696,0,0,0,0,0,0,13.77,13.54,12.97
$GC,4158,0.76,145.9,2738,3764,2780,2685,486.0,17.6,425,4167,0.10,1.75,0.00,0.000,5126,0.308,0.087,2723,2804,2732,2780,2684,0,0,0,0,0,0,13.74,13.88,28.83
$GC,4486,0.70,145.9,2724,2804,2780,2682,437.5,14.6,440,4495,0.00,2.50,0.00,0.000,516,0.000,0.098,2732,1387,2730,2780,2681,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4524,0.65,145.9,2733,1387,2779,2681,432.3,14.1,447,4534,0.22,2.55,0.00,0.000,5126,0.306,0.109,2684,2796,2730,2780,2680,0,0,0,0,0,0,14.10,14.19,28.83
$GC,4853,0.62,145.9,2684,2797,2782,2680,390.4,12.7,462,4860,0.00,2.47,0.00,0.000,516,0.000,0.096,2694,1385,2730,2780,2680,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4949,0.62,145.9,2695,1386,2787,2680,378.6,12.1,481,4957,0.00,2.55,0.00,0.000,1030,0.000,0.109,2694,2810,2731,2782,2680,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5277,0.59,145.9,2695,2810,2779,2680,335.3,13.2,496,5285,0.12,2.47,0.00,0.000,4612,0.304,0.094,2675,1386,2729,2780,2679,0,0,0,0,0,0,14.33,14.42,28.83
$GC,5369,0.61,163.2,2676,1384,2780,2680,324.9,11.0,514,5390,0.00,2.53,13.62,1.451,9222,0.000,0.110,2675,2804,2679,2734,2625,0,0,0,0,0,0,28.83,14.43,13.73
$GC,5704,0.61,163.2,2676,2804,2725,2609,283.9,12.2,530,5712,0.00,2.45,0.00,0.000,516,0.000,0.096,2685,1392,2666,2725,2608,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5821,0.61,163.9,2686,1392,2725,2609,270.3,11.9,553,5831,0.00,2.50,0.00,0.000,1030,0.000,0.109,2685,2801,2666,2725,2608,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6126,0.59,163.9,2685,2802,2726,2609,232.4,12.0,572,6134,0.00,2.45,0.00,0.000,516,0.000,0.096,2695,1387,2666,2725,2608,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6223,0.61,181.3,2696,1388,2725,2608,221.4,11.0,591,6247,0.00,2.50,15.93,1.358,9222,0.000,0.108,2695,2804,2603,2663,2544,0,0,0,0,0,0,28.83,14.47,13.78
$GC,6541,0.62,190.2,2695,2804,2656,2528,182.2,11.4,624,6550,0.00,2.53,2.20,0.415,8708,0.000,0.095,2705,1391,2572,2636,2508,0,0,0,0,0,0,28.83,14.37,13.69
$GC,6634,0.65,213.1,2704,1392,2652,2522,172.0,10.7,642,6668,0.00,2.50,27.58,1.314,9222,0.000,0.108,2705,2799,2474,2539,2409,0,0,0,0,0,0,28.83,14.38,13.69
$GC,6972,0.68,237.4,2704,2797,2528,2387,134.2,10.6,678,7002,0.00,2.50,20.45,1.264,8708,0.000,0.094,2715,1384,2367,2436,2299,0,0,0,0,0,0,28.83,14.23,13.71
$GC,7121,0.73,278.9,2716,1384,2427,2290,119.6,9.6,706,7164,0.00,2.55,36.58,1.252,9222,0.000,0.109,2715,2805,2206,2281,2132,0,0,0,0,0,0,28.83,14.29,13.59
$GC,7459,0.75,295.3,2717,2806,2259,2105,81.8,11.0,742,7475,0.00,2.50,5.18,0.294,8708,0.000,0.097,2725,1392,2149,2229,2069,0,0,0,0,0,0,28.83,14.26,14.13
$GC,7639,0.83,340.7,2724,1394,2253,2089,63.7,9.4,777,7674,0.00,2.53,26.25,0.349,9222,0.000,0.109,2725,2806,1959,2047,1872,0,0,0,0,0,0,28.83,14.32,14.16
$GC,7969,0.95,412.3,2724,2807,2066,1892,34.1,8.0,812,8016,0.12,2.50,37.83,0.269,10756,0.168,0.099,2780,1387,1668,1759,1577,0,0,0,0,0,0,14.39,14.31,14.22
$GC,8065,1.01,442.2,2781,1388,1768,1585,24.4,10.3,829,8089,0.00,2.53,16.67,0.248,9222,0.000,0.109,2780,2798,1543,1639,1448,0,0,0,0,0,0,28.83,14.32,14.23
$FREEZE,11.70,2.697,-1.427,0,1,0
$STATE,8363,end climb,NO_VERTICAL_VELOCITY
$STATE,8363,begin surface
$SM_CCo,8367,133.43,0.205,0,0,497,698.86
$SM_GC,2.17,7.97,1.08,0.00,0.112,0.089,0.000,204,2189,499,-7.05,0.62,699.10,0,0,0,0,0,0,14.35,14.39,28.83
$RAFOS_CLK,360
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7032.78,-14450.14,300714,135801
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.27
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,4012980
$TM_FREEKB,7536000
$24V_AH,12.97,63.163
$10V_AH,12.71,0.000
$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,22.150,95.500,513.025,133.425,0.000,0.000,0.000,351.275,0.000,0.000,26.075,0.000,6010.832,817.045,2331.028,86.732,0.000,1926.022,0.000,1270.320,0.000,0.537,0.000
$DEVICE_MAMPS,480.420,149.175,1710.540,205.020,0.000,0.000,0.000,188.955,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8387.000,8410.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.499,12.682,0.000,0.000
$MEM,297112
$DATA_FILE_SIZE,30014,860
$CAP_FILE_SIZE,133338,0
$CFSIZE,2097872896,2085224448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9261.41,0x2378b6,7,5
$SOUNDSPEED,1450.2
$EKF,8761,4268.169922,-8684.408203,11.701493,0.002454,0.016877,0.004633,0.000117,0.001117,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.020,107.85,1
$GPS,300714,190407,7108.141,-14444.110,28,0.7,48,22.3