version: 66.12
glider: 199
mission: 5
dive: 265
start: 9 1 114 18 29 30
data:
$ID,199
$MISSION,5
$DIVE,265
$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,-24474.385
$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,32
$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
$GPS1,010914,182126,7459.767,-14651.584,24,1.1,44,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.6
$GPS2,010914,182910,7459.787,-14651.810,5,0.8,25,22.5
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.3,310743,-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,-175.1,202,2362,497,495,0.0,0.0,0,80,0.00,0.00,-62.47,0.000,16386,0.000,0.000,200,2362,1967,1981,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,200,2363,1984,1955,3.2,-2.4,6,145,11.07,2.55,-43.05,0.000,18948,0.467,0.113,2188,952,3947,4004,3890,0,0,0,0,0,0,13.93,14.25,14.52
$GC,270,-0.72,-175.1,2188,952,4005,3895,59.7,-25.9,44,275,0.00,2.50,0.00,0.000,1030,0.000,0.095,2179,2360,3949,4004,3894,0,0,0,0,0,0,28.83,14.23,28.83
$GC,580,-0.72,-175.1,2179,2361,4005,3895,134.3,-21.4,76,585,0.00,2.53,0.00,0.000,260,0.000,0.119,2168,3769,3949,4004,3894,0,0,0,0,0,0,28.83,14.26,28.83
$GC,671,-0.72,-175.1,2169,3767,4005,3895,154.8,-23.0,94,676,0.12,2.40,0.00,0.000,3078,0.295,0.075,2193,2361,3949,4004,3894,0,0,0,0,0,0,14.18,14.42,28.83
$GC,981,-0.72,-175.1,2193,2358,4006,3895,211.9,-17.9,126,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1281,-0.72,-175.1,2194,2359,4003,3894,259.4,-14.5,152,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1581,-0.72,-175.1,2192,2359,4005,3894,302.5,-13.9,162,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-0.72,-175.1,2194,2358,4003,3894,341.5,-12.9,172,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2358,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2181,-0.72,-175.1,2194,2359,4003,3894,379.2,-12.4,182,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2358,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2481,-0.72,-175.1,2194,2359,4003,3894,416.1,-12.3,192,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2781,-0.72,-175.1,2194,2358,4003,3894,453.3,-12.3,202,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3081,-0.72,-175.1,2192,2359,4005,3894,489.9,-12.1,212,3086,0.00,2.55,0.00,0.000,260,0.000,0.119,2184,3769,3949,4004,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3121,-0.72,-175.1,2184,3770,4005,3895,495.2,-13.2,220,3126,0.00,2.40,0.00,0.000,1030,0.000,0.073,2184,2356,3948,4004,3892,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3442,-0.72,-175.1,2184,2349,4003,3893,536.2,-12.8,234,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2349,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3741,-0.72,-175.1,2185,2349,4003,3895,574.2,-12.5,244,3746,0.00,2.55,0.00,0.000,260,0.000,0.119,2173,3770,3948,4003,3894,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3776,-0.72,-175.1,2175,3771,4003,3894,578.8,-14.1,251,3781,0.00,2.40,0.00,0.000,1030,0.000,0.072,2173,2347,3948,4003,3894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4102,-0.72,-175.1,2173,2348,4005,3895,621.4,-13.1,266,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2346,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4401,-0.72,-175.1,2174,2347,4003,3895,660.7,-13.2,276,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2347,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,-0.72,-175.1,2173,2347,4004,3896,699.5,-12.8,286,4706,0.00,2.55,0.00,0.000,260,0.000,0.117,2162,3767,3949,4004,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4731,-0.72,-175.1,2163,3768,4003,3895,703.6,-14.0,292,4736,0.15,2.40,0.00,0.000,3078,0.270,0.072,2194,2360,3949,4003,3895,0,0,0,0,0,0,14.30,14.51,28.83
$GC,5061,-0.72,-175.1,2195,2359,4003,3896,741.9,-11.5,308,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2359,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5149,begin apogee
$GC,5154,-0.14,0.0,2194,2606,4005,3896,752.3,-11.5,311,5377,0.73,0.00,220.07,1.704,10246,0.259,0.000,2380,2605,3230,3283,3178,0,0,0,0,0,0,14.30,28.83,12.90
$STATE,5378,end apogee,CONTROL_FINISHED_OK
$STATE,5378,begin climb
$GC,5380,0.72,175.1,2380,2605,3281,3174,761.3,0.0,318,5545,0.95,2.35,159.80,2.031,10500,0.142,0.112,2658,3764,2510,2573,2447,0,0,0,0,0,0,13.54,13.09,12.39
$GC,5591,0.72,175.1,2661,3763,2565,2440,748.9,14.2,364,5597,0.00,2.17,0.00,0.000,1030,0.000,0.070,2666,2603,2502,2565,2439,0,0,0,0,0,0,28.83,13.45,28.83
$GC,5896,0.72,175.1,2668,2604,2565,2436,709.4,12.9,375,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2603,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,0.72,175.1,2666,2603,2565,2436,670.9,12.8,385,6201,0.00,2.45,0.00,0.000,516,0.000,0.081,2677,1194,2500,2566,2435,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6246,0.72,175.1,2676,1194,2566,2436,664.6,12.9,395,6251,0.00,2.50,0.00,0.000,1030,0.000,0.094,2676,2602,2498,2566,2431,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6556,0.72,175.1,2676,2601,2564,2436,623.3,13.4,407,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2601,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6856,0.72,175.1,2676,2601,2567,2436,583.0,13.5,417,6861,0.00,2.45,0.00,0.000,516,0.000,0.080,2687,1186,2500,2565,2435,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6896,0.72,175.1,2688,1187,2573,2435,577.6,13.6,425,6901,0.00,2.50,0.00,0.000,1030,0.000,0.094,2687,2604,2500,2566,2435,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7217,0.72,175.1,2687,2605,2567,2435,533.3,13.9,439,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2604,2503,2572,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7516,0.72,175.1,2689,2605,2565,2435,491.9,13.7,449,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2604,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7816,0.72,175.1,2687,2605,2566,2435,450.9,13.6,459,7821,0.00,2.42,0.00,0.000,516,0.000,0.080,2697,1193,2500,2566,2435,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7861,0.72,175.1,2697,1194,2568,2436,444.9,13.6,468,7866,0.00,2.47,0.00,0.000,1030,0.000,0.095,2697,2602,2500,2566,2435,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8176,0.72,175.1,2698,2603,2565,2436,400.9,14.0,481,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2600,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8476,0.72,175.1,2697,2604,2567,2435,358.0,14.4,491,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2602,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8776,0.72,175.1,2697,2604,2567,2436,316.9,13.6,501,8781,0.00,2.42,0.00,0.000,516,0.000,0.080,2708,1193,2500,2566,2435,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8836,0.72,175.1,2707,1194,2566,2436,308.9,13.2,513,8842,0.17,2.47,0.00,0.000,5126,0.290,0.093,2669,2603,2500,2566,2435,0,0,0,0,0,0,14.31,14.53,28.83
$GC,9166,0.76,175.1,2672,2604,2565,2435,272.7,10.6,529,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2603,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9468,0.82,232.9,2670,2602,2567,2435,244.1,9.1,543,9518,0.00,0.00,49.53,1.452,8198,0.000,0.000,2671,2603,2279,2347,2211,0,0,0,0,0,0,28.83,28.83,13.69
$GC,9818,0.88,294.1,2672,2604,2336,2192,210.0,8.9,578,9878,0.12,2.53,52.95,1.442,10756,0.150,0.082,2729,1194,2019,2102,1937,0,0,0,0,0,0,14.46,14.16,13.53
$GC,9933,0.88,294.1,2729,1195,2098,1931,196.4,12.0,601,9939,0.00,2.55,0.00,0.000,1030,0.000,0.094,2729,2605,2012,2096,1929,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10238,0.88,294.1,2731,2606,2095,1927,156.2,12.7,632,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2605,2011,2096,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10538,0.91,294.1,2731,2606,2096,1925,122.2,10.9,662,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2606,2010,2096,1924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10838,0.98,364.5,2730,2606,2095,1924,95.0,8.5,692,10879,0.00,2.15,33.67,0.449,8452,0.000,0.121,2729,3768,1746,1831,1661,0,0,0,0,0,0,28.83,14.23,14.03
$GC,10979,0.98,364.5,2729,3769,1839,1672,79.3,11.6,720,10985,0.00,2.05,1.50,0.246,9222,0.000,0.076,2738,2600,1743,1827,1659,0,0,0,0,0,0,28.83,14.32,14.18
$GC,11291,1.07,456.5,2739,2600,1839,1669,49.7,7.5,752,11346,0.12,2.47,48.40,0.317,10756,0.151,0.083,2799,1187,1370,1458,1283,0,0,0,0,0,0,14.33,14.27,14.07
$GC,11571,1.18,558.2,2798,1188,1465,1291,26.4,7.1,808,11632,0.00,2.53,53.25,0.251,9222,0.000,0.095,2798,2602,953,1031,875,0,0,0,0,0,0,28.83,14.26,14.07
$FREEZE,8.65,-1.171,-1.450,2,1,0
$FREEZE,7.97,-1.171,-1.449,2,1,0
$FREEZE,7.30,-1.172,-1.449,2,1,0
$FREEZE,6.77,-1.172,-1.448,2,1,0
$FREEZE,6.23,-1.170,-1.448,2,1,0
$FREEZE,5.55,-1.171,-1.447,2,1,0
$FREEZE,4.99,-1.171,-1.447,2,1,0
$FREEZE,4.36,-1.170,-1.446,2,1,0
$FREEZE,3.72,-1.169,-1.445,2,1,0
$FREEZE,3.19,-1.168,-1.445,2,1,0
$FREEZE,2.59,-1.166,-1.444,2,1,0
$FREEZE,2.28,-1.166,-1.444,2,1,0
$FREEZE,1.77,-1.165,-1.444,2,1,0
$GC,11931,1.30,685.7,2800,2602,1032,879,2.6,6.0,850,11945,0.17,0.00,12.68,0.198,10498,0.121,0.000,2862,2602,850,926,774,0,0,0,0,0,0,14.32,28.83,28.83
$STATE,11946,end climb,SURFACE_DEPTH_REACHED
$STATE,11946,begin surface coast
$FREEZE,1.29,-1.157,-1.443,2,1,0
$FREEZE,1.26,-1.124,-0.798,2,1,0
$FINISH,1.3,1.011737
$STATE,11959,end surface coast,FINISH_DEPTH_REACHED
$STATE,11959,begin surface
$SM_CCo,11975,43.62,0.194,0,0,500,669.67
$SM_GC,2.14,8.15,0.43,43.62,0.093,0.093,0.194,197,2365,500,-6.95,1.07,669.67,0,0,0,0,0,0,14.36,14.40,14.21
$RAFOS_CLK,292
$RAFOS_FIX,7447.239746,-14654.475586,310814,080805,2,255,0.09
$IRIDIUM_FIX,7413.78,-14650.90,010914,145814
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.40
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3985788
$24V_AH,12.39,151.390
$10V_AH,12.47,0.000
$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,21.775,64.225,631.850,43.625,0.000,0.000,0.000,269.100,0.000,0.000,26.958,0.000,9540.150,634.779,2104.590,204.056,0.000,1711.251,0.000,1273.560,1484.000,0.536,0.000
$DEVICE_MAMPS,466.650,123.165,2031.075,194.310,0.000,0.000,0.000,172.125,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.581,0.000,0.000,0.000
$MEM,208812
$DATA_FILE_SIZE,30060,854
$CAP_FILE_SIZE,135138,0
$CFSIZE,2097872896,2032402432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12402.92,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,010914,215119,7458.106,-14651.995,34,0.9,54,22.5