version: 66.12
glider: 199
mission: 5
dive: 148
start: 8 16 114 5 15 48
data:
$ID,199
$MISSION,5
$DIVE,148
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,669.66901
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$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,-21781.373
$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,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,1
$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
$GPS1,160814,050829,7227.490,-14555.478,31,0.8,51,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-66.6
$GPS2,160814,051529,7227.544,-14555.688,6,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.3,69435,-19.5,-11.628,-22.92,2318
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-175.1,171,2360,513,480,0.0,0.0,0,69,0.00,0.00,-51.85,0.000,16386,0.000,0.000,168,2360,1800,1816,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,170,2361,1817,1786,3.2,-2.1,5,134,10.98,2.60,-43.72,0.000,18692,0.467,0.144,2176,3765,3949,4006,3893,0,0,0,0,0,0,14.09,14.31,14.58
$GC,233,-0.72,-175.1,2179,3766,4007,3898,50.9,-29.1,38,240,0.00,2.47,0.00,0.000,1030,0.000,0.079,2179,2347,3951,4006,3897,0,0,0,0,0,0,28.83,14.39,28.83
$GC,538,-0.72,-175.1,2181,2347,4008,3900,123.8,-21.6,69,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2347,3952,4006,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-0.72,-175.1,2180,2347,4006,3900,184.0,-18.9,99,843,0.00,2.58,0.00,0.000,260,0.000,0.123,2168,3773,3951,4006,3897,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1038,-0.72,-175.1,2169,3773,4006,3900,222.7,-18.2,139,1044,0.15,2.42,0.00,0.000,3078,0.301,0.080,2197,2345,3951,4002,3900,0,0,0,0,0,0,14.34,14.53,28.83
$GC,1348,-0.72,-175.1,2197,2345,4008,3901,266.5,-13.7,163,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2344,3953,4006,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1648,-0.72,-175.1,2197,2345,4007,3898,306.1,-13.1,173,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2344,3952,4006,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1948,-0.72,-175.1,2197,2345,4007,3900,344.1,-12.6,183,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2348,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,-0.72,-175.1,2198,2345,4006,3900,381.4,-12.4,193,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2344,3953,4006,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2548,-0.72,-175.1,2197,2345,4007,3899,417.9,-12.1,203,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2344,3953,4009,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2848,-0.72,-175.1,2198,2345,4005,3899,454.0,-12.0,213,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2344,3950,4006,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-0.72,-175.1,2197,2345,4007,3899,489.8,-11.9,223,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2344,3951,4006,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.72,-175.1,2197,2345,4007,3899,525.1,-11.7,233,3453,0.00,2.55,0.00,0.000,260,0.000,0.124,2188,3768,3951,4005,3897,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3508,-0.72,-175.1,2189,3768,4005,3898,532.9,-13.3,245,3514,0.00,2.42,0.00,0.000,1030,0.000,0.080,2188,2357,3949,4001,3897,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3839,-0.72,-175.1,2188,2357,4007,3898,573.7,-12.2,261,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2356,3951,4006,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4138,-0.72,-175.1,2189,2357,4005,3896,610.6,-12.3,271,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2361,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4438,-0.72,-175.1,2190,2357,4005,3898,647.0,-12.1,281,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2365,3953,4014,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4738,-0.72,-175.1,2188,2357,4007,3898,682.4,-11.8,291,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2356,3950,4006,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5038,-0.72,-175.1,2188,2357,4007,3898,718.2,-12.0,301,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2356,3954,4011,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5307,begin apogee
$GC,5311,-0.14,0.0,2188,2608,4005,3898,750.1,-11.8,310,5520,0.75,0.00,201.88,1.760,10246,0.272,0.000,2379,2607,3226,3278,3174,0,0,0,0,0,0,14.52,28.83,13.08
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5522,0.72,175.1,2380,2607,3277,3176,757.1,0.0,317,5685,0.98,2.35,153.57,1.917,10500,0.164,0.120,2659,3769,2509,2572,2447,0,0,0,0,0,0,13.67,13.11,12.47
$GC,5854,0.72,175.1,2660,3769,2566,2436,721.1,15.6,384,5859,0.00,2.15,0.00,0.000,1030,0.000,0.076,2669,2594,2502,2568,2436,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6180,0.72,175.1,2670,2594,2566,2434,676.6,13.6,399,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6479,0.72,175.1,2670,2595,2567,2434,636.2,13.5,409,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2593,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6779,0.72,175.1,2670,2594,2565,2433,596.1,13.3,419,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2594,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7079,0.72,175.1,2670,2594,2566,2432,556.1,13.2,429,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2593,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7379,0.72,175.1,2667,2595,2568,2433,516.8,13.0,439,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2597,2499,2567,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7679,0.72,175.1,2670,2593,2566,2432,477.7,12.9,449,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2594,2499,2567,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7979,0.72,175.1,2669,2594,2566,2432,438.9,13.0,459,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2594,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8279,0.72,175.1,2670,2594,2566,2432,400.2,12.9,469,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2594,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8579,0.72,175.1,2670,2594,2566,2432,361.6,12.9,479,8585,0.00,2.42,0.00,0.000,516,0.000,0.089,2676,1188,2499,2566,2432,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8604,0.72,175.1,2679,1188,2568,2432,358.4,12.5,484,8611,0.00,2.50,0.00,0.000,1030,0.000,0.100,2679,2596,2498,2565,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8909,0.72,175.1,2679,2597,2567,2432,318.0,13.1,495,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2596,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9209,0.72,175.1,2680,2597,2566,2432,279.4,12.9,505,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2597,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9510,0.72,175.1,2679,2597,2568,2432,242.5,11.4,519,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2597,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9815,0.77,175.1,2679,2597,2567,2433,208.8,10.5,549,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2597,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10114,0.85,253.1,2680,2596,2567,2432,181.9,8.2,579,10197,0.00,2.58,77.70,1.367,8708,0.000,0.087,2689,1193,2197,2267,2128,0,0,0,0,0,0,28.83,14.09,13.54
$GC,10211,0.90,308.1,2692,1194,2267,2121,173.3,9.2,596,10268,0.12,2.60,48.92,1.382,11270,0.151,0.100,2733,2613,1964,2050,1879,0,0,0,0,0,0,14.14,14.10,13.38
$GC,10566,0.90,308.1,2734,2613,2041,1862,125.3,13.2,637,10571,0.00,2.53,0.00,0.000,516,0.000,0.089,2744,1188,1951,2041,1861,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10606,0.90,308.1,2745,1188,2041,1860,119.9,13.8,645,10611,0.00,2.55,0.00,0.000,1030,0.000,0.101,2745,2596,1951,2041,1861,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10916,0.90,308.1,2744,2597,2041,1861,80.0,12.4,677,10921,0.00,2.15,0.00,0.000,260,0.000,0.125,2744,3762,1950,2041,1860,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10991,0.90,308.1,2745,3763,2040,1861,69.7,13.8,692,10997,0.00,2.05,0.00,0.000,1030,0.000,0.083,2752,2595,1954,2048,1860,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11296,1.01,412.9,2753,2593,2042,1860,43.7,7.0,723,11349,0.00,2.50,48.40,0.303,8708,0.000,0.088,2763,1194,1548,1640,1457,0,0,0,0,0,0,28.83,14.28,14.21
$GC,11393,1.05,462.0,2764,1194,1647,1461,35.6,9.5,742,11425,0.00,2.53,25.73,0.278,9222,0.000,0.102,2763,2606,1347,1441,1253,0,0,0,0,0,0,28.83,14.35,14.19
$GC,11729,1.31,719.6,2763,2608,1448,1268,15.4,0.2,779,11842,0.28,2.15,103.82,0.231,11012,0.106,0.126,2860,3771,502,526,478,0,0,0,0,0,0,14.43,14.29,14.23
$FREEZE,8.76,3.929,-1.366,2,1,0
$FREEZE,8.25,3.928,-1.366,2,1,0
$FREEZE,7.77,3.928,-1.365,2,1,0
$FREEZE,7.31,3.922,-1.365,2,1,0
$FREEZE,6.87,3.922,-1.364,2,1,0
$FREEZE,6.81,3.919,-1.364,2,1,0
$FREEZE,6.70,3.919,-1.364,2,1,0
$FREEZE,6.56,3.926,-1.364,2,1,0
$FREEZE,6.00,3.926,-1.364,2,1,0
$FREEZE,5.26,3.924,-1.363,2,1,0
$FREEZE,4.65,3.924,-1.363,2,1,0
$FREEZE,4.07,3.923,-1.362,2,1,0
$FREEZE,3.42,3.923,-1.362,2,1,0
$GC,11937,1.31,719.6,2862,3771,528,474,3.4,12.7,814,11943,0.00,2.08,0.05,1.187,9222,0.000,0.086,2869,2596,497,528,466,0,0,0,0,0,0,28.83,14.33,13.81
$FREEZE,1.72,3.931,-1.361,2,1,0
$STATE,11950,end climb,SURFACE_DEPTH_REACHED
$STATE,11950,begin surface coast
$FREEZE,1.50,3.913,-1.361,2,1,0
$FINISH,1.5,1.019869
$STATE,11961,end surface coast,CONTROL_FINISHED_OK
$STATE,11961,begin surface
$SM_CCo,12035,0.00,0.000,0,0,498,670.16
$SM_GC,2.39,8.00,0.40,0.00,0.079,0.100,0.000,199,2360,498,-6.94,1.05,670.16,0,0,0,0,0,0,14.40,14.40,28.83
$RAFOS_CLK,98
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7146.24,-14556.93,160814,013959
$TT8_MAMPS,0.050932,0.050932
$HUMID,51.22
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4000188
$24V_AH,12.47,110.847
$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,21.250,49.050,660.075,0.000,0.000,0.000,0.000,257.375,0.000,0.000,27.207,0.000,9687.490,701.164,1927.621,140.253,0.000,1635.629,0.000,1214.749,1495.000,0.537,0.000
$DEVICE_MAMPS,466.650,143.820,1917.090,0.000,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11997.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.872,0.000,0.000,0.000
$MEM,273308
$DATA_FILE_SIZE,26686,817
$CAP_FILE_SIZE,127866,0
$CFSIZE,2097872896,2054914048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12407.43,0x2378b6,7,5
$SOUNDSPEED,1451.2
$GPS,160814,083751,7229.390,-14555.599,37,0.7,57,22.2