version: 66.12
glider: 199
mission: 5
dive: 209
start: 8 24 114 21 56 12
data:
$ID,199
$MISSION,5
$DIVE,209
$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,-22224.055
$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,30
$R_STBD_OVSHOOT,13
$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
$GPS1,240814,214754,7338.335,-14652.483,29,0.9,49,22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-70.3
$GPS2,240814,215552,7338.343,-14652.481,5,1.1,25,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7415.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.0,67900,-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,16,-0.72,-175.1,198,2361,493,503,0.0,0.0,0,79,0.00,0.00,-62.05,0.000,16386,0.000,0.000,197,2361,1998,2015,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-175.1,198,2362,2015,1983,3.3,-2.5,6,141,10.98,2.55,-43.08,0.000,18948,0.466,0.112,2192,952,3949,4004,3894,0,0,0,0,0,0,13.96,14.28,14.52
$GC,330,-0.72,-175.1,2193,952,4003,3899,74.4,-24.1,56,335,0.00,2.53,0.00,0.000,1030,0.000,0.101,2183,2364,3951,4004,3898,0,0,0,0,0,0,28.83,14.27,28.83
$GC,640,-0.72,-175.1,2183,2365,4005,3899,141.2,-20.2,88,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3951,4004,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.72,-175.1,2185,2365,4003,3899,198.5,-18.2,118,945,0.00,2.42,0.00,0.000,516,0.000,0.090,2183,956,3951,4004,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1036,-0.72,-175.1,2183,957,4005,3900,214.7,-15.9,137,1042,0.00,2.50,0.00,0.000,1030,0.000,0.103,2173,2365,3951,4004,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1340,-0.72,-175.1,2174,2366,4003,3900,265.2,-15.9,162,1345,0.00,2.50,0.00,0.000,260,0.000,0.123,2159,3767,3950,4003,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1405,-0.72,-175.1,2164,3767,4003,3899,276.5,-17.6,175,1411,0.15,2.40,0.00,0.000,3078,0.285,0.080,2192,2353,3951,4004,3899,0,0,0,0,0,0,14.33,14.53,28.83
$GC,1731,-0.72,-175.1,2194,2353,4003,3900,321.3,-13.3,190,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3951,4004,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-0.72,-175.1,2194,2353,4011,3898,361.0,-13.1,200,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3951,4004,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2330,-0.72,-175.1,2194,2353,4003,3899,399.6,-12.8,210,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3952,4005,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2630,-0.72,-175.1,2194,2353,4003,3900,437.9,-12.7,220,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3954,4004,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-0.72,-175.1,2194,2353,4003,3899,475.3,-12.4,230,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3951,4004,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3230,-0.72,-175.1,2194,2353,4003,3899,512.1,-12.3,240,3235,0.00,2.38,0.00,0.000,516,0.000,0.090,2193,951,3951,4003,3899,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3270,-0.72,-175.1,2194,954,4003,3899,517.0,-12.0,248,3275,0.00,2.47,0.00,0.000,1030,0.000,0.102,2185,2363,3951,4004,3899,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3591,-0.72,-175.1,2185,2364,4005,3900,558.0,-12.8,262,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2367,3951,4004,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3890,-0.72,-175.1,2184,2364,4004,3900,595.9,-12.6,272,3895,0.00,2.47,0.00,0.000,260,0.000,0.123,2174,3768,3951,4004,3899,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3940,-0.72,-175.1,2174,3769,4005,3900,602.7,-14.2,282,3945,0.00,2.40,0.00,0.000,1030,0.000,0.079,2174,2342,3951,4004,3899,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4250,-0.72,-175.1,2174,2341,4005,3900,643.1,-13.0,294,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2341,3955,4011,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4550,-0.72,-175.1,2173,2342,4005,3900,681.6,-12.8,304,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2341,3951,4003,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,-0.72,-175.1,2175,2341,4003,3900,720.1,-12.8,314,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2341,3952,4004,3900,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5088,begin apogee
$GC,5093,-0.14,0.0,2172,2604,4005,3901,750.7,-12.8,322,5290,0.82,0.00,194.30,1.724,10246,0.273,0.000,2383,2599,3231,3284,3179,0,0,0,0,0,0,14.42,28.83,13.11
$STATE,5291,end apogee,CONTROL_FINISHED_OK
$STATE,5291,begin climb
$GC,5293,0.72,175.1,2382,2603,3281,3176,757.4,0.0,328,5455,0.95,2.38,154.48,1.921,10500,0.147,0.117,2662,3768,2510,2572,2448,0,0,0,0,0,0,13.67,13.12,12.48
$GC,5604,0.72,175.1,2663,3769,2565,2439,727.8,15.5,394,5610,0.00,2.12,0.00,0.000,1030,0.000,0.075,2670,2606,2502,2566,2438,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5935,0.72,175.1,2672,2606,2560,2436,682.9,13.6,410,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2606,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,0.72,175.1,2670,2607,2567,2437,642.3,13.5,420,6239,0.00,2.45,0.00,0.000,516,0.000,0.086,2681,1187,2501,2566,2436,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6254,0.72,175.1,2681,1187,2567,2436,639.7,12.9,424,6259,0.00,2.53,0.00,0.000,1030,0.000,0.099,2682,2604,2500,2566,2435,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6564,0.72,175.1,2681,2605,2567,2436,596.3,14.0,436,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,0.72,175.1,2683,2604,2565,2436,554.6,13.9,446,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,0.72,175.1,2682,2605,2565,2436,512.6,14.0,456,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,0.72,175.1,2681,2604,2567,2435,470.8,14.0,466,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7764,0.72,175.1,2683,2605,2565,2436,429.1,13.9,476,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8064,0.72,175.1,2682,2605,2567,2436,388.0,13.6,486,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8364,0.72,175.1,2683,2605,2565,2436,347.8,13.3,496,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8664,0.72,175.1,2681,2605,2567,2436,309.1,12.6,506,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2605,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8964,0.72,175.1,2681,2605,2567,2436,272.0,12.1,516,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9265,0.79,175.1,2683,2605,2561,2436,238.5,10.1,532,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2499,2564,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9564,0.87,254.5,2682,2605,2565,2435,210.8,8.1,562,9636,0.00,0.00,67.53,1.411,8198,0.000,0.000,2681,2601,2185,2258,2112,0,0,0,0,0,0,28.83,28.83,13.58
$GC,9934,0.91,302.4,2681,2605,2255,2096,173.7,9.5,599,9981,0.15,2.53,41.28,1.360,10756,0.142,0.085,2745,1193,1987,2072,1903,0,0,0,0,0,0,14.42,14.16,13.58
$GC,10050,0.91,302.4,2744,1191,2061,1895,159.1,13.4,622,10057,0.00,2.60,0.00,0.000,1030,0.000,0.101,2745,2597,1976,2060,1893,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10355,0.91,302.4,2744,2598,2062,1890,116.8,13.4,653,10361,0.00,2.47,0.00,0.000,516,0.000,0.086,2755,1189,1975,2061,1890,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10395,0.91,302.4,2757,1189,2060,1890,111.5,13.4,661,10400,0.00,2.53,0.00,0.000,1030,0.000,0.099,2755,2601,1974,2060,1889,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10706,0.94,302.4,2755,2601,2062,1889,73.8,10.9,693,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2601,1974,2060,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11005,1.10,461.2,2755,2601,2062,1887,49.8,4.6,723,11087,0.10,0.00,76.20,0.317,10502,0.174,0.000,2789,2600,1351,1439,1263,0,0,0,0,0,0,14.38,28.83,14.09
$GC,11385,1.29,645.6,2790,2601,1444,1270,17.2,3.4,765,11489,0.17,2.55,92.50,0.225,10756,0.125,0.090,2862,1196,597,634,560,0,0,0,0,0,0,14.37,14.22,14.14
$FREEZE,8.39,-0.652,-1.465,2,1,0
$FREEZE,7.79,-0.652,-1.464,2,1,0
$FREEZE,7.25,-0.607,-1.463,2,1,0
$FREEZE,6.52,-0.607,-1.463,2,1,0
$FREEZE,5.93,-0.568,-1.461,2,1,0
$FREEZE,5.32,-0.568,-1.461,2,1,0
$GC,11523,1.29,645.6,2862,1197,638,561,5.3,12.5,792,11529,0.00,2.55,0.00,0.000,1030,0.000,0.099,2859,2605,598,636,560,0,0,0,0,0,0,28.83,14.23,28.83
$FREEZE,3.34,-0.535,-1.459,2,1,0
$FREEZE,2.09,-0.533,-1.458,2,1,0
$FREEZE,1.36,-0.516,-0.182,2,1,0
$STATE,11557,end climb,FINISH_DEPTH_REACHED
$STATE,11557,begin subsurface finish
$FINISH1,1.4,1.002487,0
$GC,11561,0.00,0.0,2862,2606,638,561,1.4,11.6,796,11671,1.38,2.15,-99.85,0.000,20740,0.138,0.155,2429,3770,3232,3267,3197,0,0,0,0,0,0,14.19,14.23,14.51
$FINISH2,7.6
$STATE,11672,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11672,begin surface
$RAFOS_CLK,186
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7250.09,-14441.84,240814,182209
$TT8_MAMPS,0.043442,0.043442
$HUMID,48.74
$INTERNAL_PRESSURE,8.68035
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3993076
$24V_AH,12.48,131.664
$10V_AH,12.63,0.000
$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,14.700,51.975,626.275,0.000,0.000,0.000,0.000,292.125,0.000,0.000,26.412,0.000,9273.499,746.608,1949.078,180.121,0.000,1728.602,0.000,1218.870,1436.000,0.537,0.000
$DEVICE_MAMPS,465.885,155.295,1920.915,0.000,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11722.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.961,0.000,0.000,0.000
$MEM,239508
$DATA_FILE_SIZE,26744,816
$CAP_FILE_SIZE,126714,0
$CFSIZE,2097872896,2043281408
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12577.29,0x2378b6,7,5
$INTR,1,11559.08,0x2378b6,5,5
$SOUNDSPEED,1449.6
$GPS,240814,215552,7338.343,-14652.481,5,1.1,25,22.1