version: 66.12
glider: 199
mission: 5
dive: 296
start: 9 5 114 13 12 40
data:
$ID,199
$MISSION,5
$DIVE,296
$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,-25243.797
$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,25
$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
$GPS1,050914,130501,7432.715,-14722.186,17,0.8,37,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-26.0
$GPS2,050914,131223,7432.667,-14722.289,3,0.9,23,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,353.6,225840,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-175.1,190,2370,546,455,0.0,0.0,0,191,0.00,0.00,-172.10,0.000,16390,0.000,0.000,189,2370,3941,4001,3882,0,0,0,0,0,0,28.83,28.83,14.47
$GC,195,-0.72,-175.1,191,2370,4001,3887,1.6,-0.3,17,210,7.65,2.53,0.00,0.000,2564,0.257,0.080,2195,953,3945,4002,3888,0,0,0,0,0,0,13.96,14.16,28.83
$GC,436,-0.72,-175.1,2196,954,4004,3890,1.7,0.0,65,440,0.00,2.50,0.00,0.000,1030,0.000,0.085,2201,2363,3946,4003,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,745,-0.72,-175.1,2197,2363,4003,3889,1.7,-0.0,97,750,0.00,2.47,0.00,0.000,516,0.000,0.084,2196,949,3945,4002,3889,0,0,0,0,0,0,28.83,14.13,28.83
$GC,975,-0.72,-175.1,2197,949,4002,3890,1.7,0.0,143,980,0.00,2.50,0.00,0.000,1030,0.000,0.086,2195,2359,3945,4002,3889,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1285,-0.72,-175.1,2195,2360,4004,3890,1.7,-0.0,175,1290,0.00,2.55,0.00,0.000,260,0.000,0.119,2188,3766,3945,4002,3889,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1517,-0.72,-175.1,2189,3766,4002,3890,1.7,-0.2,221,1521,0.00,2.45,0.00,0.000,1030,0.000,0.075,2188,2345,3944,4000,3889,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1826,-0.72,-175.1,2189,2346,4002,3889,1.7,-0.1,253,1831,0.00,2.60,0.00,0.000,260,0.000,0.117,2187,3762,3946,4003,3889,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1941,-0.72,-175.1,2188,3762,4002,3890,1.8,-0.4,276,1947,0.00,2.42,0.00,0.000,1030,0.000,0.074,2187,2359,3945,4002,3888,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2246,-0.72,-175.1,2186,2360,4003,3890,1.7,-0.0,307,2251,0.00,2.45,0.00,0.000,516,0.000,0.084,2187,951,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2478,-0.72,-175.1,2188,952,4002,3890,1.7,0.3,353,2482,0.00,2.50,0.00,0.000,1030,0.000,0.083,2186,2367,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2787,-0.72,-175.1,2187,2368,4002,3893,1.7,-0.1,385,2792,0.00,2.55,0.00,0.000,260,0.000,0.119,2178,3767,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2797,-0.72,-175.1,2178,3768,4004,3890,1.8,0.1,387,2802,0.00,2.42,0.00,0.000,1030,0.000,0.076,2178,2360,3946,4003,3889,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3107,-0.72,-175.1,2178,2360,4004,3890,1.7,-0.1,419,3112,0.00,2.45,0.00,0.000,516,0.000,0.084,2178,952,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3339,-0.72,-175.1,2178,954,4004,3890,1.7,0.3,465,3343,0.00,2.47,0.00,0.000,1030,0.000,0.083,2178,2359,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3648,-0.72,-175.1,2179,2359,4002,3889,1.8,0.0,497,3653,0.00,2.45,0.00,0.000,516,0.000,0.083,2178,959,3945,4002,3889,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3880,-0.72,-175.1,2179,960,4003,3890,1.7,0.2,543,3885,0.00,2.47,0.00,0.000,1030,0.000,0.083,2178,2357,3946,4003,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4189,-0.72,-175.1,2177,2358,4004,3890,1.7,-0.0,575,4198,0.00,2.45,0.00,0.000,516,0.000,0.083,2178,961,3946,4003,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4422,-0.72,-175.1,2180,961,4002,3889,1.8,0.4,621,4427,0.00,2.50,0.00,0.000,1030,0.000,0.082,2178,2369,3945,4002,3889,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4732,-0.72,-175.1,2178,2369,4004,3890,1.7,0.1,653,4737,0.00,2.47,0.00,0.000,516,0.000,0.082,2178,962,3945,4002,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4964,-0.72,-175.1,2178,963,4004,3890,1.8,-0.1,699,4968,0.00,2.47,0.00,0.000,1030,0.000,0.083,2178,2362,3946,4003,3889,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5273,-0.72,-175.1,2178,2363,4004,3890,1.7,-0.1,731,5278,0.00,2.45,0.00,0.000,516,0.000,0.083,2174,962,3945,4002,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5505,-0.72,-175.1,2178,962,4004,3890,1.7,0.3,777,5510,0.00,2.50,0.00,0.000,1030,0.000,0.083,2178,2368,3945,4002,3889,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5815,-0.72,-175.1,2178,2369,4004,3889,1.7,-0.1,809,5820,0.00,2.47,0.00,0.000,516,0.000,0.082,2178,959,3945,4002,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6046,-0.72,-175.1,2178,960,4004,3890,1.7,0.4,855,6051,0.00,2.47,0.00,0.000,1030,0.000,0.082,2178,2358,3946,4003,3889,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6355,-0.72,-175.1,2179,2359,4002,3888,1.8,-0.2,887,6360,0.00,2.45,0.00,0.000,516,0.000,0.082,2178,960,3945,4002,3889,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6587,-0.72,-175.1,2179,962,4002,3890,1.7,-0.1,933,6592,0.00,2.47,0.00,0.000,1030,0.000,0.083,2178,2365,3945,4002,3889,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6896,-0.72,-175.1,2179,2366,4002,3889,1.6,0.1,965,6901,0.00,2.47,0.00,0.000,516,0.000,0.082,2178,959,3946,4003,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7128,-0.72,-175.1,2178,960,4004,3890,1.8,-0.1,1011,7133,0.00,2.47,0.00,0.000,1030,0.000,0.082,2178,2360,3946,4003,3889,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7438,-0.72,-175.1,2178,2361,4004,3890,1.7,0.0,1043,7443,0.00,2.47,0.00,0.000,516,0.000,0.083,2178,958,3946,4003,3889,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,7505,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7506,begin apogee
$FREEZE,1.65,-1.235,-1.434,2,1,0
$GC,7513,-0.14,0.0,2179,2604,4002,3889,1.7,-0.3,1057,7522,0.70,0.00,6.30,0.200,10242,0.161,0.000,2387,2604,3888,3946,3830,0,0,0,0,0,0,14.09,28.83,28.83
$STATE,7523,end apogee,SURFACE_DEPTH_REACHED
$STATE,7523,begin surface coast
$FREEZE,1.75,-1.235,-1.434,2,1,0
$FREEZE,1.64,-1.235,-1.434,2,1,0
$FREEZE,1.69,-1.235,-1.434,2,1,0
$FREEZE,1.75,-1.235,-1.434,2,1,0
$FREEZE,1.76,-1.235,-1.434,2,1,0
$FREEZE,1.72,-1.235,-1.434,2,1,0
$FREEZE,1.68,-1.235,-1.434,2,1,0
$FREEZE,1.80,-1.235,-1.434,2,1,0
$FREEZE,1.77,-1.235,-1.434,2,1,0
$FREEZE,1.66,-1.235,-1.434,2,1,0
$FREEZE,1.67,-1.235,-1.434,2,1,0
$FREEZE,1.66,-1.235,-1.434,2,1,0
$FREEZE,1.71,-1.235,-1.434,2,1,0
$FREEZE,1.84,-1.235,-1.434,2,1,0
$FREEZE,1.69,-1.235,-1.434,2,1,0
$FREEZE,1.76,-1.235,-1.434,2,1,0
$FINISH,1.8,1.021145
$STATE,7676,end surface coast,NO_VERTICAL_VELOCITY
$STATE,7676,begin surface
$SM_CCo,7690,375.20,0.179,0,0,499,669.67
$SM_GC,1.64,6.57,0.43,375.20,0.076,0.091,0.179,189,2368,499,-6.96,1.10,669.67,0,0,0,0,0,0,14.37,14.38,14.07
$RAFOS_CLK,358
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7350.26,-14728.01,050914,104255
$TT8_MAMPS,0.045689,0.045689
$HUMID,46.85
$INTERNAL_PRESSURE,8.41667
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3981728
$24V_AH,13.96,159.788
$10V_AH,13.24,0.000
$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,14.925,75.375,6.300,375.200,0.000,0.000,0.000,260.125,0.000,0.000,24.865,0.000,5336.199,624.304,2339.600,204.249,0.000,1630.458,0.000,1590.552,0.000,0.536,0.000
$DEVICE_MAMPS,257.040,119.340,200.430,179.010,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7568.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,52.801,0.000,0.000,0.000
$MEM,192048
$DATA_FILE_SIZE,33345,1074
$CAP_FILE_SIZE,134907,0
$CFSIZE,2097872896,2027126784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8559.65,0x2378b6,7,5
$INTR,1,4190.34,0x234482,0,24
$SOUNDSPEED,1431.7
$GPS,050914,152814,7431.806,-14723.395,13,0.8,33,22.2