version: 66.12
glider: 199
mission: 5
dive: 457
start: 9 30 114 21 12 13
data:
$ID,199
$MISSION,5
$DIVE,457
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$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,60
$T_MISSION,90
$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,200
$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,5
$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,-30313.271
$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,17
$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,48
$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
$GPS1,300914,205454,7240.279,-14640.574,29,0.8,49,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-71.5
$GPS2,300914,211155,7240.272,-14640.583,5,0.8,25,22.0
$SPEED_LIMITS,0.132,0.285
$TGT_NAME,a
$TGT_LATLONG,7200.000,-14730.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,178.8,79765,-17.6,-11.111,-21.32,2694
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.69,-194.6,197,2369,497,506,0.0,0.0,0,72,0.00,0.00,-51.45,0.000,16386,0.000,0.000,195,2369,1726,1743,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.69,-194.6,196,2369,1743,1711,3.2,-1.6,5,153,11.27,2.62,-61.05,0.000,18692,0.462,0.133,2192,3770,3963,4023,3903,0,0,0,0,0,0,13.80,14.14,14.50
$GC,380,-0.69,-194.6,2192,3771,4025,3906,76.9,-20.7,66,386,0.00,2.42,0.00,0.000,1030,0.000,0.067,2192,2363,3965,4024,3906,0,0,0,0,0,0,28.83,14.23,28.83
$GC,686,-0.69,-194.6,2193,2361,4023,3906,133.9,-17.3,97,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3965,4024,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-0.69,-194.6,2194,2361,4024,3907,183.5,-15.9,127,990,0.00,2.40,0.00,0.000,516,0.000,0.077,2192,957,3966,4026,3906,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1056,-0.69,-194.6,2192,958,4023,3907,194.1,-14.9,141,1061,0.00,2.53,0.00,0.000,1030,0.000,0.093,2182,2363,3963,4024,3903,0,0,0,0,0,0,28.83,14.25,28.83
$STATE,1103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1103,begin apogee
$GC,1110,-0.14,0.0,2179,2610,4025,3907,201.6,-15.3,147,1269,0.82,0.00,146.98,1.865,10246,0.278,0.000,2380,2609,3234,3284,3184,0,0,0,0,1,0,13.91,28.83,12.80
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1273,0.69,194.6,2381,2610,3290,3185,210.4,0.0,163,1452,0.95,2.30,171.12,1.261,10500,0.171,0.115,2646,3766,2430,2494,2367,0,0,0,0,0,0,13.62,13.40,12.78
$GC,1677,0.78,279.9,2648,3766,2487,2360,191.2,7.9,244,1757,0.00,2.05,74.28,1.199,9222,0.000,0.072,2656,2594,2083,2161,2005,0,0,0,0,0,0,28.83,14.10,13.25
$GC,2065,0.85,358.0,2657,2593,2156,1988,159.8,8.1,291,2136,0.17,0.00,69.20,1.215,10246,0.129,0.000,2719,2593,1768,1850,1687,0,0,0,0,0,0,14.35,28.83,13.48
$GC,2434,0.85,358.0,2720,2594,1834,1664,116.3,11.7,328,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2593,1749,1834,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2735,0.90,358.0,2720,2594,1832,1663,83.5,10.1,358,2739,0.00,2.42,0.00,0.000,516,0.000,0.078,2730,1198,1747,1832,1662,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2850,0.97,358.0,2731,1199,1832,1662,72.4,9.2,381,2855,0.00,2.53,0.00,0.000,1030,0.000,0.093,2729,2606,1746,1832,1661,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3155,1.06,447.1,2731,2605,1831,1661,46.7,7.7,412,3199,0.12,0.00,42.55,0.310,10758,0.148,0.000,2778,2606,1406,1491,1322,0,0,0,0,0,0,14.27,28.83,13.96
$GC,3495,1.32,704.8,2779,2606,1497,1332,19.7,1.3,447,3618,0.22,2.50,113.25,0.236,10756,0.117,0.077,2871,1197,500,518,483,0,0,0,0,0,0,14.21,14.14,14.00
$FREEZE,8.46,0.738,-1.474,2,1,0
$FREEZE,7.93,0.736,-1.473,2,1,0
$FREEZE,7.32,0.736,-1.473,2,1,0
$FREEZE,6.69,0.629,-1.472,2,1,0
$FREEZE,6.16,0.629,-1.472,2,1,0
$FREEZE,5.53,0.629,-1.471,2,1,0
$FREEZE,4.97,0.629,-1.471,2,1,0
$FREEZE,4.38,0.649,-1.470,2,1,0
$FREEZE,3.81,0.649,-1.469,2,1,0
$FREEZE,3.22,0.645,-1.469,2,1,0
$FREEZE,2.61,0.645,-1.468,2,1,0
$FREEZE,2.02,0.653,-1.468,2,1,0
$FREEZE,1.43,0.653,-1.467,2,1,0
$STATE,3701,end climb,SURFACE_DEPTH_REACHED
$STATE,3701,begin surface coast
$FREEZE,1.52,0.650,-0.746,2,1,0
$FREEZE,1.57,0.650,-0.746,2,1,0
$FINISH,1.6,1.010994
$STATE,3711,end surface coast,CONTROL_FINISHED_OK
$STATE,3711,begin surface
$SM_CCo,3731,0.25,0.483,0,0,498,669.67
$SM_GC,3.05,8.38,2.15,0.25,0.110,0.101,0.483,200,2356,498,-6.94,-0.65,669.67,0,0,0,0,0,0,14.28,14.23,14.14
$RAFOS_CLK,157
$RAFOS_FIX,7500.909668,-14140.484375,250914,080826,2,255,0.23
$IRIDIUM_FIX,7200.11,-14630.64,300914,154812
$TT8_MAMPS,0.041944,0.041944
$HUMID,50.66
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3960060
$24V_AH,12.78,221.236
$10V_AH,12.36,0.000
$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,21.950,24.375,617.375,0.250,0.000,0.000,0.000,665.625,0.000,0.000,26.526,0.000,2138.662,607.114,1643.615,351.377,0.000,1727.386,0.000,737.811,0.000,0.538,0.000
$DEVICE_MAMPS,462.060,133.110,1865.070,483.480,0.000,0.000,0.000,195.075,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3778.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,43.709,0.000,0.000,0.000
$MEM,106368
$DATA_FILE_SIZE,16757,490
$CAP_FILE_SIZE,76458,0
$CFSIZE,2097872896,1995800576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,18704.46,0x2378b6,7,5
$SOUNDSPEED,1442.7
$GPS,300914,221525,7239.924,-14640.788,2,0.9,23,22.0