version: 66.12
glider: 199
mission: 5
dive: 409
start: 9 22 114 3 36 28
data:
$ID,199
$MISSION,5
$DIVE,409
$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,190
$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,-26990.244
$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,35
$R_STBD_OVSHOOT,18
$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
$GPS1,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.54
$_SM_ANGLEo,-14.4
$GPS2,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,9
$TGT_LATLONG,7330.000,-14445.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,176.7,139737,-18.9,-11.628,-22.41,2446
$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,14,begin dive
$GC,17,-0.72,-184.8,2553,2360,1887,1771,0.0,0.0,0,30,0.00,0.00,-11.65,0.000,16386,0.000,0.000,2553,2359,2492,2539,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.72,-184.8,2553,2360,2539,2448,16.5,0.0,1,62,1.05,2.60,-23.15,0.000,20740,0.082,0.133,2185,3769,3964,4023,3905,0,0,0,0,0,0,14.21,14.16,14.52
$GC,197,-0.72,-184.8,2184,3771,4025,3909,70.1,-29.3,34,204,0.00,2.42,0.00,0.000,1030,0.000,0.068,2185,2361,3965,4023,3908,0,0,0,0,0,0,28.83,14.23,28.83
$GC,503,-0.72,-184.8,2185,2358,4025,3909,135.6,-20.4,65,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2358,3966,4024,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.72,-184.8,2185,2358,4025,3909,191.3,-17.2,95,807,0.00,2.42,0.00,0.000,516,0.000,0.081,2185,951,3966,4023,3909,0,0,0,0,0,0,28.83,14.28,28.83
$GC,873,-0.72,-184.8,2186,951,4025,3908,202.5,-15.7,109,877,0.00,2.50,0.00,0.000,1030,0.000,0.093,2175,2360,3966,4023,3909,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1193,-0.72,-184.8,2175,2361,4025,3909,254.4,-14.9,140,1197,0.00,2.42,0.00,0.000,516,0.000,0.080,2175,953,3966,4023,3909,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1212,-0.72,-184.8,2177,954,4024,3909,257.3,-14.9,144,1218,0.15,2.50,0.00,0.000,3078,0.282,0.093,2194,2365,3966,4023,3909,0,0,0,0,0,0,13.95,14.26,28.83
$GC,1523,-0.72,-184.8,2191,2366,4025,3908,298.1,-12.8,156,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2365,3967,4025,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.72,-184.8,2194,2366,4025,3909,335.0,-12.0,166,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2365,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.72,-184.8,2195,2366,4021,3909,370.1,-11.8,176,2127,0.00,2.47,0.00,0.000,516,0.000,0.080,2194,951,3965,4023,3908,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2167,-0.72,-184.8,2194,951,4023,3909,375.3,-11.3,185,2172,0.00,2.53,0.00,0.000,1030,0.000,0.093,2185,2364,3965,4023,3908,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2483,-0.72,-184.8,2187,2365,4023,3909,413.6,-12.2,198,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2364,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2783,-0.72,-184.8,2185,2364,4025,3909,450.4,-12.3,208,2788,0.00,2.45,0.00,0.000,516,0.000,0.080,2185,953,3965,4023,3908,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2823,-0.72,-184.8,2185,954,4025,3909,455.4,-12.5,216,2828,0.00,2.53,0.00,0.000,1030,0.000,0.093,2176,2366,3965,4023,3908,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3145,-0.72,-184.8,2180,2367,4023,3908,495.9,-12.6,230,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2363,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3443,-0.72,-184.8,2175,2368,4024,3909,533.5,-12.6,240,3447,0.00,2.42,0.00,0.000,516,0.000,0.078,2175,954,3965,4023,3908,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3483,-0.72,-184.8,2177,954,4023,3909,538.4,-11.8,248,3488,0.15,2.50,0.00,0.000,3078,0.274,0.094,2195,2363,3965,4023,3908,0,0,0,0,0,0,13.93,14.25,28.83
$GC,3805,-0.72,-184.8,2196,2363,4023,3909,573.6,-10.8,262,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2363,3965,4023,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4103,-0.72,-184.8,2196,2363,4023,3909,605.9,-10.8,272,4108,0.00,2.42,0.00,0.000,516,0.000,0.080,2195,952,3966,4023,3909,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4148,-0.72,-184.8,2195,953,4025,3910,610.8,-10.5,281,4153,0.00,2.50,0.00,0.000,1030,0.000,0.093,2186,2364,3966,4024,3909,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4463,-0.72,-184.8,2186,2365,4026,3910,646.4,-11.2,294,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2364,3967,4025,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4763,-0.72,-184.8,2186,2365,4025,3910,680.1,-11.2,304,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2364,3966,4023,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5063,-0.72,-184.8,2188,2365,4023,3910,713.7,-11.1,314,5068,0.00,2.45,0.00,0.000,516,0.000,0.080,2186,946,3966,4023,3910,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5103,-0.72,-184.8,2186,947,4025,3911,718.2,-11.6,322,5108,0.00,2.50,0.00,0.000,1030,0.000,0.092,2176,2362,3967,4024,3911,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,5391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5391,begin apogee
$GC,5397,-0.14,0.0,2175,2610,4024,3911,751.8,-11.7,335,5634,0.85,0.00,231.93,1.620,10246,0.270,0.000,2383,2609,3225,3278,3173,0,0,0,0,0,0,13.93,28.83,12.83
$STATE,5635,end apogee,CONTROL_FINISHED_OK
$STATE,5635,begin climb
$GC,5637,0.72,184.8,2385,2610,3276,3170,762.6,0.0,343,5814,0.93,2.30,166.10,1.906,10500,0.122,0.111,2661,3764,2464,2528,2400,0,0,0,0,0,0,13.54,13.16,12.39
$GC,5899,0.72,184.8,2662,3764,2521,2391,743.4,14.2,396,5905,0.00,2.08,0.00,0.000,1030,0.000,0.067,2670,2594,2455,2521,2389,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6204,0.72,184.8,2671,2593,2521,2388,704.3,12.7,407,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2594,2454,2521,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6505,0.72,184.8,2670,2594,2522,2388,666.1,12.7,417,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2594,2452,2522,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6804,0.72,184.8,2671,2594,2521,2388,627.3,12.9,427,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2594,2453,2520,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7104,0.72,184.8,2670,2594,2523,2388,589.2,12.7,437,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2594,2454,2522,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7404,0.72,184.8,2670,2594,2523,2388,551.7,12.5,447,7409,0.00,2.10,0.00,0.000,260,0.000,0.114,2670,3765,2453,2521,2386,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7449,0.72,184.8,2670,3768,2523,2387,545.3,14.9,456,7454,0.00,1.98,0.00,0.000,1030,0.000,0.072,2679,2592,2454,2521,2387,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7765,0.72,184.8,2680,2592,2521,2387,504.8,12.9,469,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2589,2453,2521,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8064,0.72,184.8,2678,2592,2522,2387,466.0,13.0,479,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2592,2454,2522,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8364,0.72,184.8,2678,2593,2523,2387,427.2,12.9,489,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2592,2454,2522,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8664,0.72,184.8,2680,2592,2522,2387,388.0,13.1,499,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2592,2454,2521,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8964,0.72,184.8,2678,2593,2523,2388,349.4,12.7,509,8969,0.00,2.12,0.00,0.000,260,0.000,0.115,2678,3768,2454,2521,2387,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9004,0.72,184.8,2678,3769,2522,2388,343.7,14.4,517,9009,0.00,1.98,0.00,0.000,1030,0.000,0.072,2688,2597,2454,2521,2387,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9326,0.72,184.8,2687,2597,2524,2387,303.1,12.3,531,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2596,2454,2522,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,0.76,184.8,2685,2597,2523,2386,269.4,10.7,541,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2596,2452,2522,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9927,0.81,242.8,2689,2597,2521,2388,238.2,9.2,557,9994,0.00,0.00,61.35,1.291,8454,0.000,0.000,2688,2596,2233,2305,2161,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10295,0.89,242.8,2687,2597,2301,2148,202.6,9.7,598,10296,0.10,0.00,0.00,0.000,2054,0.176,0.000,2725,2596,2223,2299,2147,0,0,0,0,0,0,14.38,28.83,28.83
$GC,10595,0.94,295.1,2724,2597,2301,2147,170.6,9.4,628,10646,0.00,2.20,46.40,1.329,8452,0.000,0.116,2725,3766,2017,2097,1937,0,0,0,0,0,0,28.83,14.25,13.62
$GC,10678,0.94,295.1,2726,3766,2088,1929,161.5,12.7,641,10683,0.00,2.00,0.00,0.000,1030,0.000,0.074,2734,2599,2007,2088,1927,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10988,0.94,295.1,2733,2599,2089,1921,125.7,11.5,673,10993,0.00,2.42,0.00,0.000,516,0.000,0.080,2744,1193,2002,2084,1920,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11048,0.99,295.1,2745,1193,2088,1920,119.4,10.4,685,11053,0.00,2.50,0.00,0.000,1030,0.000,0.090,2745,2602,2003,2088,1919,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11360,1.07,366.6,2744,2603,2090,1919,87.5,8.6,717,11398,0.00,0.00,34.38,0.422,8198,0.000,0.000,2744,2607,1735,1818,1652,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11700,1.15,448.6,2744,2603,1835,1672,56.6,8.2,751,11752,0.17,2.12,44.88,0.334,10500,0.131,0.116,2806,3773,1402,1486,1319,0,0,0,0,0,0,14.21,14.19,13.96
$GC,11798,1.20,496.9,2808,3774,1490,1330,47.4,9.6,769,11833,0.00,2.03,27.45,0.312,9222,0.000,0.073,2816,2596,1204,1286,1123,0,0,0,0,0,0,28.83,14.21,13.93
$GC,12132,1.35,656.2,2817,2596,1298,1137,25.0,4.9,806,12225,0.15,2.15,84.18,0.244,10500,0.133,0.115,2873,3768,552,590,515,0,0,0,0,0,0,14.13,14.14,14.00
$FREEZE,8.91,-1.425,-1.450,2,24,0
$STATE,12278,end climb,FINISH_DEPTH_REACHED
$STATE,12278,begin subsurface finish
$FINISH1,8.9,1.021298,346
$GC,12286,0.35,346.4,2883,2599,598,517,8.9,14.7,835,12326,1.25,2.47,-32.03,0.000,20996,0.239,0.096,2555,1200,1820,1876,1764,0,0,0,0,0,0,13.90,14.05,14.45
$FINISH2,8.8
$STATE,12326,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12326,begin surface
$RAFOS_CLK,491
$RAFOS_FIX,7440.831543,-14313.460938,210914,202035,2,255,0.12
$IRIDIUM_FIX,7358.04,-14409.74,180914,184525
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.64
$INTERNAL_PRESSURE,8.56316
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3966784
$24V_AH,12.39,201.367
$10V_AH,12.33,0.000
$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,4.800,74.750,696.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9837.313,717.151,1712.626,194.026,0.000,1419.946,0.000,1258.643,1482.000,0.536,0.000
$DEVICE_MAMPS,282.285,133.110,1905.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12378.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.884,0.000,0.000,0.000
$MEM,131208
$DATA_FILE_SIZE,30058,842
$CAP_FILE_SIZE,128976,0
$CFSIZE,2097872896,2005204992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11728.83,0x234482,1,24
$SOUNDSPEED,1450.2
$GPS,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5