version: 66.12
glider: 199
mission: 5
dive: 260
start: 9 1 114 1 9 14
data:
$ID,199
$MISSION,5
$DIVE,260
$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,-24101.996
$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,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
$GPS1,010914,010118,7455.417,-14654.556,34,0.8,54,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.5
$GPS2,010914,010854,7455.460,-14654.478,5,0.8,26,22.5
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.8,36250,-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,14,begin dive
$GC,16,-0.72,-175.1,191,2365,493,501,0.0,0.0,0,80,0.00,0.00,-62.55,0.000,16386,0.000,0.000,192,2365,1977,1992,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,191,2366,1994,1964,3.0,-1.8,6,145,11.10,2.50,-43.35,0.000,19204,0.466,0.103,2191,958,3947,4004,3890,0,0,0,0,0,0,13.93,14.26,14.52
$GC,370,-0.72,-175.1,2190,958,4005,3893,82.3,-23.8,64,375,0.00,2.53,0.00,0.000,1030,0.000,0.098,2182,2367,3948,4004,3893,0,0,0,0,0,0,28.83,14.24,28.83
$GC,680,-0.72,-175.1,2181,2367,4005,3894,153.0,-20.6,96,685,0.00,2.42,0.00,0.000,516,0.000,0.082,2182,955,3948,4004,3893,0,0,0,0,0,0,28.83,14.35,28.83
$GC,900,-0.72,-175.1,2182,955,4005,3894,193.6,-17.2,140,905,0.00,2.50,0.00,0.000,1030,0.000,0.098,2172,2363,3948,4004,3893,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1210,-0.72,-175.1,2171,2365,4005,3894,249.5,-16.1,172,1215,0.12,2.50,0.00,0.000,2308,0.317,0.119,2186,3769,3949,4004,3894,0,0,0,0,0,0,14.24,14.33,28.83
$GC,1285,-0.72,-175.1,2187,3769,4003,3894,261.6,-16.0,187,1291,0.00,2.45,0.00,0.000,1030,0.000,0.073,2185,2353,3948,4004,3893,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1602,-0.72,-175.1,2186,2353,4003,3894,307.8,-14.2,200,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2352,3952,4004,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.72,-175.1,2186,2353,4005,3894,348.9,-13.5,210,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2352,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.72,-175.1,2187,2353,4003,3894,389.4,-13.4,220,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2352,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.72,-175.1,2185,2353,4005,3894,428.8,-13.0,230,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2353,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.72,-175.1,2186,2353,4003,3888,467.4,-12.8,240,2805,0.00,2.58,0.00,0.000,260,0.000,0.120,2175,3773,3948,4004,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2845,-0.72,-175.1,2174,3774,4005,3894,473.6,-14.4,249,2850,0.00,2.40,0.00,0.000,1030,0.000,0.073,2175,2357,3948,4003,3893,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3162,-0.72,-175.1,2175,2358,4005,3894,516.0,-13.5,262,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2357,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.72,-175.1,2176,2358,4003,3894,556.0,-13.3,272,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.72,-175.1,2175,2358,4005,3894,595.8,-13.2,282,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2357,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.72,-175.1,2176,2357,4003,3894,634.8,-13.0,292,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2357,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-0.72,-175.1,2174,2357,4005,3895,673.7,-13.0,302,4365,0.00,2.55,0.00,0.000,260,0.000,0.120,2164,3773,3949,4004,3894,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4395,-0.72,-175.1,2164,3773,4005,3894,678.6,-14.0,309,4401,0.15,2.40,0.00,0.000,3078,0.269,0.073,2201,2356,3948,4004,3893,0,0,0,0,0,0,14.30,14.55,28.83
$GC,4722,-0.72,-175.1,2197,2356,4003,3895,716.8,-11.6,324,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2356,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5023,-0.14,0.0,2194,2603,4003,3896,751.2,-11.4,334,5179,0.73,0.00,153.80,1.907,10246,0.259,0.000,2382,2603,3230,3282,3179,0,0,0,0,0,0,14.31,28.83,13.02
$STATE,5180,end apogee,CONTROL_FINISHED_OK
$STATE,5180,begin climb
$GC,5182,0.72,175.1,2383,2604,3274,3173,756.9,0.0,339,5346,0.95,2.33,152.90,1.882,10500,0.151,0.115,2660,3762,2507,2570,2445,0,0,0,0,0,0,13.70,13.21,12.54
$GC,5490,0.72,175.1,2661,3763,2566,2440,729.0,14.7,403,5496,0.00,2.10,0.00,0.000,1030,0.000,0.071,2669,2602,2503,2566,2440,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5801,0.72,175.1,2668,2603,2568,2439,687.7,13.3,415,5806,0.00,2.45,0.00,0.000,516,0.000,0.080,2679,1187,2502,2566,2438,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5831,0.72,175.1,2680,1190,2567,2439,683.5,12.4,421,5836,0.00,2.53,0.00,0.000,1030,0.000,0.094,2679,2600,2501,2566,2437,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6162,0.72,175.1,2679,2601,2567,2439,637.5,14.0,437,6167,0.00,2.42,0.00,0.000,516,0.000,0.080,2690,1190,2502,2566,2438,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6186,0.72,175.1,2691,1191,2566,2438,634.1,13.9,442,6193,0.00,2.50,0.00,0.000,1030,0.000,0.094,2688,2606,2502,2566,2438,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6491,0.72,175.1,2691,2606,2566,2438,589.9,14.5,453,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2606,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,0.72,175.1,2689,2607,2568,2439,546.2,14.6,463,6796,0.00,2.42,0.00,0.000,516,0.000,0.080,2699,1190,2500,2564,2437,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6811,0.72,175.1,2700,1191,2568,2437,543.5,13.9,467,6817,0.12,2.47,0.00,0.000,5126,0.296,0.094,2675,2603,2502,2567,2437,0,0,0,0,0,0,14.32,14.50,28.83
$GC,7123,0.72,175.1,2677,2604,2565,2438,501.5,13.4,479,7127,0.00,2.40,0.00,0.000,516,0.000,0.079,2684,1195,2501,2566,2437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7157,0.72,175.1,2683,1195,2566,2438,496.9,13.2,486,7162,0.00,2.47,0.00,0.000,1030,0.000,0.094,2684,2609,2501,2566,2437,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7484,0.72,175.1,2684,2606,2568,2438,452.6,13.5,501,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2608,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,0.72,175.1,2685,2606,2566,2438,412.2,13.4,511,7787,0.00,2.40,0.00,0.000,516,0.000,0.079,2694,1195,2501,2566,2437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7812,0.72,175.1,2696,1196,2565,2438,408.3,13.0,517,7817,0.00,2.45,0.00,0.000,1030,0.000,0.093,2694,2598,2501,2566,2437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8143,0.72,175.1,2696,2599,2566,2438,362.4,13.9,533,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2599,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,0.72,175.1,2695,2599,2566,2438,322.0,13.4,543,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2599,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8742,0.72,175.1,2696,2599,2565,2438,283.8,12.5,553,8747,0.00,2.40,0.00,0.000,516,0.000,0.079,2704,1195,2501,2566,2437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8772,0.72,175.1,2705,1195,2566,2438,280.0,12.3,559,8777,0.15,2.45,0.00,0.000,5126,0.295,0.094,2674,2600,2502,2567,2437,0,0,0,0,0,0,14.33,14.54,28.83
$GC,9082,0.77,220.8,2675,2601,2565,2438,247.5,9.6,575,9124,0.00,0.00,39.72,1.440,8710,0.000,0.000,2674,2600,2325,2392,2259,0,0,0,0,0,0,28.83,28.83,13.73
$GC,9423,0.85,299.7,2675,2601,2383,2242,215.0,8.1,610,9498,0.12,2.53,67.62,1.448,10756,0.152,0.080,2731,1202,1999,2083,1916,0,0,0,0,0,0,14.44,14.10,13.48
$GC,9549,0.85,299.7,2731,1203,2077,1911,200.0,12.7,635,9555,0.00,2.53,0.00,0.000,1030,0.000,0.093,2731,2603,1992,2076,1908,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9854,0.85,299.7,2732,2603,2075,1905,160.2,12.0,666,9859,0.00,2.42,0.00,0.000,516,0.000,0.080,2741,1196,1989,2075,1904,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9874,0.85,299.7,2743,1196,2075,1905,157.9,11.3,670,9879,0.00,2.50,0.00,0.000,1030,0.000,0.095,2741,2604,1989,2075,1904,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10184,0.89,345.4,2741,2605,2077,1904,122.2,9.6,702,10229,0.00,2.53,39.78,1.355,8708,0.000,0.079,2753,1192,1817,1906,1728,0,0,0,0,0,0,28.83,14.18,13.65
$GC,10390,0.92,345.4,2752,1192,1889,1718,99.8,10.9,743,10395,0.00,2.55,0.00,0.000,1030,0.000,0.094,2752,2605,1802,1888,1716,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10701,0.97,345.4,2753,2609,1887,1715,64.7,10.5,775,10706,0.00,2.47,0.00,0.000,516,0.000,0.081,2762,1194,1800,1887,1714,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10746,1.03,407.6,2763,1194,1887,1714,60.3,8.9,784,10782,0.00,2.53,29.25,0.347,9222,0.000,0.093,2762,2603,1568,1659,1478,0,0,0,0,0,0,28.83,14.21,13.98
$GC,11081,1.18,553.5,2762,2604,1669,1488,33.3,5.2,821,11163,0.17,2.12,75.62,0.269,10500,0.131,0.117,2825,3772,974,1052,897,0,0,0,0,0,0,14.26,14.13,13.97
$GC,11189,1.18,553.5,2825,3773,1052,901,23.4,12.3,842,11195,0.00,2.08,0.00,0.000,1030,0.000,0.073,2834,2594,976,1051,902,0,0,0,0,0,0,28.83,14.19,28.83
$FREEZE,8.85,-1.152,-1.448,2,1,0
$FREEZE,7.93,-1.153,-1.447,2,1,0
$FREEZE,7.18,-1.153,-1.446,2,1,0
$FREEZE,6.52,-1.155,-1.445,2,1,0
$FREEZE,5.83,-1.165,-1.444,2,1,0
$FREEZE,5.23,-1.168,-1.444,2,1,0
$FREEZE,4.81,-1.169,-1.443,2,1,0
$FREEZE,4.14,-1.159,-1.442,2,1,0
$FREEZE,3.41,-1.164,-1.442,2,1,0
$FREEZE,2.71,-1.164,-1.441,2,1,0
$FREEZE,1.80,-1.164,-1.441,2,1,0
$STATE,11442,end climb,SURFACE_DEPTH_REACHED
$STATE,11444,begin surface coast
$FREEZE,1.58,-1.172,-1.441,2,1,0
$FREEZE,1.65,-1.176,-1.440,2,1,0
$FINISH,1.6,1.021233
$STATE,11463,end surface coast,CONTROL_FINISHED_OK
$STATE,11463,begin surface
$SM_CCo,11479,58.70,0.194,0,0,498,669.67
$SM_GC,2.61,8.25,0.40,58.70,0.109,0.093,0.194,191,2360,498,-6.95,0.88,669.67,0,0,0,0,0,0,14.33,14.33,14.16
$RAFOS_CLK,65
$RAFOS_FIX,7447.239746,-14654.475586,310814,080805,2,255,0.09
$IRIDIUM_FIX,7405.88,-14657.53,310814,213530
$TT8_MAMPS,0.079394,0.079394
$HUMID,47.59
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.90
$XPDR_PINGS,1
$SC_FREEKB,3986436
$24V_AH,12.54,149.580
$10V_AH,12.55,0.000
$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,21.875,83.750,558.700,58.700,0.000,0.000,0.000,258.975,0.250,0.000,27.703,0.000,9068.604,674.956,2044.135,206.139,0.000,1683.826,0.000,1288.623,1499.000,0.537,0.000
$DEVICE_MAMPS,465.885,124.695,1907.145,193.545,0.000,0.000,0.000,172.890,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11513.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.562,0.000,0.000,0.000
$MEM,211632
$DATA_FILE_SIZE,30046,870
$CAP_FILE_SIZE,135075,0
$CFSIZE,2097872896,2033385472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12509.28,0x2378b6,7,5
$SOUNDSPEED,1450.3
$GPS,010914,010854,7455.460,-14654.478,181,99.0,181,22.5