version: 66.12
glider: 199
mission: 5
dive: 294
start: 9 5 114 8 24 14
data:
$ID,199
$MISSION,5
$DIVE,294
$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,-25241.275
$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,26
$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
$GPS1,050914,032127,7438.062,-14716.096,181,99.0,181,22.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-26.8
$GPS2,050914,082355,7435.002,-14717.393,41,0.8,61,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,353.4,221104,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-175.1,190,2355,554,446,0.0,0.0,0,200,0.00,0.00,-174.52,0.000,16390,0.000,0.000,190,2357,3944,4002,3886,0,0,0,0,0,0,28.83,28.83,14.47
$GC,204,-0.72,-175.1,191,2357,4001,3887,1.4,-0.0,18,219,7.60,2.50,0.00,0.000,2564,0.252,0.083,2197,956,3944,4002,3887,0,0,0,0,0,0,14.04,14.07,28.83
$GC,444,-0.72,-175.1,2197,957,4004,3890,1.6,0.5,66,449,0.00,2.50,0.00,0.000,1030,0.000,0.086,2197,2358,3945,4002,3889,0,0,0,0,0,0,28.83,14.17,28.83
$GC,754,-0.72,-175.1,2197,2359,4004,3890,1.6,0.2,98,759,0.00,2.47,0.00,0.000,516,0.000,0.082,2197,950,3945,4002,3889,0,0,0,0,0,0,28.83,14.22,28.83
$GC,984,-0.72,-175.1,2197,951,4002,3890,1.7,-0.3,144,989,0.00,2.50,0.00,0.000,1030,0.000,0.086,2192,2361,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1294,-0.72,-175.1,2195,2361,3997,3890,1.6,0.2,176,1299,0.00,2.47,0.00,0.000,516,0.000,0.082,2194,947,3945,4002,3889,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1319,-0.72,-175.1,2194,948,4004,3890,1.6,-0.1,181,1325,0.00,2.55,0.00,0.000,1030,0.000,0.093,2188,2367,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1624,-0.72,-175.1,2190,2367,4002,3890,1.7,0.0,212,1629,0.00,2.55,0.00,0.000,260,0.000,0.119,2187,3773,3946,4003,3889,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1856,-0.72,-175.1,2187,3772,4004,3890,1.7,0.1,258,1860,0.00,2.45,0.00,0.000,1030,0.000,0.076,2186,2352,3945,4002,3889,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2165,-0.72,-175.1,2187,2353,4004,3890,1.7,-0.2,290,2170,0.00,2.60,0.00,0.000,260,0.000,0.117,2182,3771,3945,4002,3889,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2396,-0.72,-175.1,2184,3770,4001,3890,1.6,0.4,336,2401,0.00,2.45,0.00,0.000,1030,0.000,0.076,2183,2352,3945,4002,3889,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2706,-0.72,-175.1,2184,2352,4002,3890,1.7,-0.2,368,2711,0.00,2.60,0.00,0.000,260,0.000,0.116,2176,3769,3945,4002,3889,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2937,-0.72,-175.1,2177,3769,4002,3890,1.7,0.2,414,2942,0.00,2.45,0.00,0.000,1030,0.000,0.076,2176,2352,3945,4002,3889,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3247,-0.72,-175.1,2175,2352,4004,3890,1.7,-0.0,446,3252,0.00,2.60,0.00,0.000,260,0.000,0.116,2174,3770,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3478,-0.72,-175.1,2176,3771,4002,3889,1.8,-0.3,492,3483,0.00,2.45,0.00,0.000,1030,0.000,0.076,2174,2353,3945,4002,3889,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3788,-0.72,-175.1,2175,2354,4001,3890,1.7,0.2,524,3793,0.00,2.60,0.00,0.000,260,0.000,0.116,2174,3769,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4019,-0.72,-175.1,2175,3770,4002,3890,1.6,-0.0,570,4024,0.00,2.45,0.00,0.000,1030,0.000,0.076,2174,2351,3945,4002,3889,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4329,-0.72,-175.1,2175,2352,4001,3890,1.7,-0.3,602,4334,0.00,2.60,0.00,0.000,260,0.000,0.116,2171,3768,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4560,-0.72,-175.1,2171,3768,4002,3890,1.7,-0.3,648,4565,0.12,2.42,0.00,0.000,3078,0.175,0.076,2203,2359,3945,4002,3889,0,0,0,0,0,0,14.16,14.28,28.83
$GC,4870,-0.72,-175.1,2204,2360,4002,3890,1.7,0.3,680,4875,0.00,2.58,0.00,0.000,260,0.000,0.116,2196,3768,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5102,-0.72,-175.1,2195,3769,4003,3890,1.7,-0.0,726,5106,0.00,2.45,0.00,0.000,1030,0.000,0.075,2194,2353,3945,4002,3889,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5411,-0.72,-175.1,2196,2354,4002,3889,1.8,-0.3,758,5416,0.00,2.60,0.00,0.000,260,0.000,0.117,2188,3770,3945,4002,3889,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5643,-0.72,-175.1,2188,3771,4004,3890,1.7,0.2,804,5647,0.00,2.45,0.00,0.000,1030,0.000,0.076,2188,2356,3945,4002,3889,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5952,-0.72,-175.1,2188,2357,4004,3891,1.6,0.3,836,5957,0.00,2.60,0.00,0.000,260,0.000,0.117,2186,3768,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6184,-0.72,-175.1,2185,3768,4003,3890,1.6,0.1,882,6188,0.00,2.45,0.00,0.000,1030,0.000,0.075,2186,2352,3945,4002,3889,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6493,-0.72,-175.1,2186,2353,4002,3890,1.7,0.0,914,6498,0.00,2.60,0.00,0.000,260,0.000,0.116,2181,3767,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6725,-0.72,-175.1,2183,3767,4002,3890,1.6,0.3,960,6729,0.00,2.45,0.00,0.000,1030,0.000,0.076,2181,2351,3945,4002,3889,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7034,-0.72,-175.1,2183,2351,4001,3890,1.7,-0.0,992,7039,0.00,2.60,0.00,0.000,260,0.000,0.115,2179,3767,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7266,-0.72,-175.1,2179,3768,4003,3890,1.7,-0.2,1038,7270,0.00,2.45,0.00,0.000,1030,0.000,0.076,2179,2357,3945,4002,3889,0,0,0,0,0,0,28.83,14.27,28.83
$STATE,7503,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7503,begin apogee
$FREEZE,1.63,-1.201,-1.438,2,3,0
$GC,7508,-0.14,0.0,2179,2602,4004,3890,1.7,-0.1,1063,7519,0.73,0.00,8.70,0.202,10242,0.175,0.000,2385,2601,3866,3922,3810,0,0,0,0,0,0,14.04,28.83,28.83
$STATE,7520,end apogee,SURFACE_DEPTH_REACHED
$STATE,7520,begin surface coast
$FREEZE,1.68,-1.201,-1.438,2,3,0
$FREEZE,1.70,-1.201,-1.438,2,3,0
$FREEZE,1.78,-1.201,-1.438,2,3,0
$FREEZE,1.70,-1.201,-1.438,2,3,0
$FREEZE,1.69,-1.201,-1.438,2,3,0
$FREEZE,1.66,-1.201,-1.438,2,3,0
$FREEZE,1.68,-1.201,-1.438,2,3,0
$FREEZE,1.74,-1.201,-1.438,2,3,0
$FREEZE,1.61,-1.201,-1.438,2,3,0
$FREEZE,1.66,-1.201,-1.438,2,3,0
$FREEZE,1.67,-1.201,-1.438,2,3,0
$FREEZE,1.67,-1.201,-1.438,2,3,0
$FREEZE,1.71,-1.201,-1.438,2,3,0
$FREEZE,1.71,-1.201,-1.438,2,3,0
$FREEZE,1.67,-1.201,-1.438,2,3,0
$FREEZE,1.65,-1.201,-1.438,2,3,0
$FREEZE,1.75,-1.201,-1.438,2,3,0
$FINISH,1.7,1.021193
$STATE,7683,end surface coast,NO_VERTICAL_VELOCITY
$STATE,7684,begin surface
$SM_CCo,7698,372.23,0.179,0,0,499,669.67
$SM_GC,1.55,6.47,0.43,372.23,0.070,0.094,0.179,189,2368,499,-6.94,1.02,669.67,0,0,0,0,0,0,14.39,14.38,14.08
$RAFOS_CLK,359
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7358.04,-14732.97,050914,031700
$TT8_MAMPS,0.045689,0.045689
$HUMID,46.88
$INTERNAL_PRESSURE,8.4069
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3981992
$24V_AH,14.04,159.400
$10V_AH,13.64,0.000
$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,14.925,71.350,8.700,372.225,0.000,0.000,0.000,426.425,0.000,0.000,62.653,0.000,5451.984,620.240,2556.831,247.461,0.000,1793.994,0.000,1603.465,0.000,0.536,0.000
$DEVICE_MAMPS,252.450,118.575,201.960,179.010,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7566.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,52.694,0.000,0.000,0.000
$MEM,193144
$DATA_FILE_SIZE,33348,1081
$CAP_FILE_SIZE,136731,0
$CFSIZE,2097872896,2027290624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9036.02,0x2378b6,7,5
$SOUNDSPEED,1432.0
$GPS,050914,103956,7433.805,-14719.493,17,0.9,37,22.2