version: 66.12
glider: 199
mission: 5
dive: 268
start: 9 2 114 4 50 8
data:
$ID,199
$MISSION,5
$DIVE,268
$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,-24478.262
$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,34
$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,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
$GPS1,020914,044214,7454.688,-14652.375,18,0.8,38,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-73.5
$GPS2,020914,044948,7454.652,-14652.407,5,0.8,25,22.5
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.2,301235,-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,-175.1,203,2355,508,493,0.0,0.0,0,90,0.00,0.00,-71.95,0.000,16386,0.000,0.000,202,2355,2207,2217,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.72,-175.1,202,2356,2219,2200,3.9,-3.1,7,142,11.05,2.67,-33.15,0.000,18692,0.466,0.144,2180,3767,3946,4005,3887,0,0,0,0,0,0,13.94,14.22,14.52
$GC,366,-0.72,-175.1,2181,3768,4004,3890,91.0,-27.2,62,373,0.00,2.42,0.00,0.000,1030,0.000,0.076,2180,2360,3946,4004,3888,0,0,0,0,0,0,28.83,14.33,28.83
$GC,671,-0.72,-175.1,2181,2359,4004,3891,161.2,-20.9,93,677,0.00,2.58,0.00,0.000,260,0.000,0.117,2169,3771,3947,4004,3890,0,0,0,0,0,0,28.83,14.35,28.83
$GC,847,-0.72,-175.1,2170,3772,4004,3891,199.1,-22.0,128,853,0.12,2.42,0.00,0.000,3078,0.293,0.073,2193,2349,3947,4004,3891,0,0,0,0,0,0,14.18,14.42,28.83
$GC,1152,-0.72,-175.1,2192,2348,4006,3892,249.5,-15.0,159,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2347,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1462,-0.72,-175.1,2192,2348,4006,3892,294.3,-14.2,170,1467,0.00,2.58,0.00,0.000,260,0.000,0.118,2183,3773,3945,3999,3891,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1506,-0.72,-175.1,2183,3774,4006,3892,301.0,-14.6,179,1512,0.00,2.40,0.00,0.000,1030,0.000,0.072,2183,2355,3947,4004,3891,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1822,-0.72,-175.1,2183,2355,4005,3893,344.7,-13.7,192,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3951,4012,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2121,-0.72,-175.1,2185,2354,4004,3891,385.4,-13.6,202,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2354,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2422,-0.72,-175.1,2183,2355,4004,3892,425.7,-13.4,212,2427,0.00,2.55,0.00,0.000,260,0.000,0.118,2173,3769,3947,4004,3891,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2452,-0.72,-175.1,2174,3769,4004,3892,430.0,-14.6,218,2457,0.00,2.40,0.00,0.000,1030,0.000,0.072,2173,2351,3947,4004,3891,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2783,-0.72,-175.1,2174,2351,4004,3892,475.6,-13.7,234,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2350,3947,4004,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3082,-0.72,-175.1,2174,2351,4004,3891,516.7,-13.7,244,3087,0.00,2.55,0.00,0.000,260,0.000,0.118,2162,3768,3947,4004,3890,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3101,-0.72,-175.1,2163,3769,4004,3891,519.7,-14.8,248,3107,0.15,2.38,0.00,0.000,3078,0.278,0.071,2193,2359,3947,4004,3891,0,0,0,0,0,0,14.31,14.57,28.83
$GC,3413,-0.72,-175.1,2194,2359,4004,3891,557.6,-12.0,260,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2358,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3712,-0.72,-175.1,2195,2359,4004,3892,593.2,-11.9,270,3717,0.00,2.53,0.00,0.000,260,0.000,0.118,2184,3768,3950,4004,3897,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3752,-0.72,-175.1,2183,3769,4007,3892,598.3,-13.5,278,3757,0.00,2.38,0.00,0.000,1030,0.000,0.072,2183,2356,3947,4004,3891,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4073,-0.72,-175.1,2184,2357,4006,3893,638.5,-12.5,292,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2356,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4372,-0.72,-175.1,2185,2356,4004,3893,676.3,-12.6,302,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4672,-0.72,-175.1,2185,2357,4004,3893,713.4,-12.2,312,4677,0.00,2.53,0.00,0.000,260,0.000,0.119,2173,3769,3949,4005,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4726,-0.72,-175.1,2173,3770,4006,3894,720.6,-13.5,323,4733,0.00,2.38,0.00,0.000,1030,0.000,0.073,2173,2360,3948,4004,3893,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4970,begin apogee
$GC,4975,-0.14,0.0,2173,2599,4004,3893,752.4,-13.0,332,5197,0.82,0.00,219.48,1.661,10246,0.272,0.000,2380,2600,3225,3278,3172,0,0,0,0,0,0,14.28,28.83,12.96
$STATE,5198,end apogee,CONTROL_FINISHED_OK
$STATE,5199,begin climb
$GC,5201,0.72,175.1,2380,2601,3278,3174,761.6,0.0,339,5364,1.00,2.75,157.30,1.986,10756,0.145,0.077,2676,1202,2508,2570,2446,0,0,0,0,0,0,13.59,13.19,12.46
$GC,5419,0.72,175.1,2678,1201,2566,2436,748.2,12.7,356,5425,0.00,2.65,0.00,0.000,1030,0.000,0.092,2676,2599,2501,2567,2435,0,0,0,0,0,0,28.83,13.54,28.83
$GC,5724,0.72,175.1,2677,2599,2566,2435,706.7,13.6,367,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6024,0.72,175.1,2678,2600,2566,2434,665.8,13.6,377,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6324,0.72,175.1,2677,2600,2566,2434,625.5,13.4,387,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6624,0.72,175.1,2678,2600,2566,2434,585.5,13.4,397,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6924,0.72,175.1,2675,2600,2568,2434,545.5,13.3,407,6929,0.00,2.40,0.00,0.000,516,0.000,0.080,2686,1200,2499,2566,2433,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6964,0.72,175.1,2688,1200,2566,2434,540.2,13.1,415,6969,0.00,2.47,0.00,0.000,1030,0.000,0.094,2687,2607,2498,2562,2434,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7285,0.72,175.1,2686,2608,2567,2434,496.8,13.5,429,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2607,2501,2570,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7584,0.72,175.1,2688,2608,2567,2434,456.0,13.6,439,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2607,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7884,0.72,175.1,2688,2607,2566,2434,414.9,13.6,449,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2607,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8184,0.72,175.1,2688,2608,2566,2434,373.8,13.5,459,8189,0.00,2.40,0.00,0.000,516,0.000,0.080,2697,1200,2499,2566,2433,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8244,0.72,175.1,2698,1201,2566,2434,366.0,13.0,471,8249,0.00,2.45,0.00,0.000,1030,0.000,0.094,2697,2599,2499,2566,2433,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8575,0.72,175.1,2697,2600,2567,2434,322.8,12.8,487,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2599,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8874,0.72,175.1,2696,2600,2568,2435,283.9,13.1,497,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2599,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9174,0.72,175.1,2697,2600,2567,2434,248.7,11.4,507,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2599,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9474,0.81,260.6,2698,2600,2566,2434,221.0,7.8,537,9555,0.00,2.53,73.00,1.441,8708,0.000,0.080,2707,1201,2156,2229,2083,0,0,0,0,0,0,28.83,14.17,13.55
$GC,9611,0.84,260.6,2708,1202,2225,2074,207.6,11.0,564,9618,0.00,2.53,0.00,0.000,1030,0.000,0.093,2707,2605,2148,2224,2073,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9917,0.87,260.6,2708,2601,2224,2072,173.4,10.7,595,9922,0.00,2.10,0.00,0.000,260,0.000,0.119,2707,3771,2148,2224,2072,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10003,0.87,260.6,2706,3772,2226,2072,163.5,12.0,612,10008,0.00,2.00,0.00,0.000,1030,0.000,0.073,2715,2600,2148,2224,2072,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10307,0.94,322.9,2715,2601,2225,2071,133.4,8.9,643,10368,0.00,2.47,53.45,1.366,8708,0.000,0.082,2726,1194,1903,1986,1820,0,0,0,0,0,0,28.83,14.19,13.60
$GC,10504,0.99,379.7,2727,1195,1977,1811,114.4,9.1,682,10560,0.00,2.55,50.92,1.330,9222,0.000,0.096,2726,2601,1679,1767,1591,0,0,0,0,0,0,28.83,14.23,13.47
$GC,10858,1.03,379.7,2727,2602,1749,1564,74.4,10.6,723,10863,0.12,2.47,0.00,0.000,2564,0.143,0.081,2780,1194,1656,1749,1564,0,0,0,0,0,0,14.27,14.26,28.83
$GC,10983,1.03,379.7,2780,1195,1749,1564,59.6,12.1,748,10989,0.00,2.55,0.00,0.000,1030,0.000,0.095,2780,2609,1655,1747,1563,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11288,1.21,556.7,2781,2610,1746,1563,33.7,3.8,779,11383,0.15,2.15,86.75,0.271,10500,0.135,0.118,2833,3771,959,1034,885,0,0,0,0,0,0,14.34,14.13,14.04
$FREEZE,8.66,-1.188,-1.444,2,1,0
$FREEZE,8.14,-1.189,-1.443,2,1,0
$FREEZE,7.78,-1.189,-1.443,2,1,0
$FREEZE,7.21,-1.191,-1.442,2,1,0
$FREEZE,6.72,-1.191,-1.442,2,1,0
$FREEZE,6.29,-1.195,-1.441,2,1,0
$FREEZE,5.81,-1.195,-1.441,2,1,0
$FREEZE,5.41,-1.201,-1.441,2,1,0
$FREEZE,5.00,-1.201,-1.440,2,1,0
$FREEZE,4.53,-1.208,-1.440,2,1,0
$FREEZE,4.01,-1.208,-1.439,2,1,0
$FREEZE,3.64,-1.216,-1.439,2,1,0
$FREEZE,3.17,-1.216,-1.438,2,1,0
$FREEZE,2.68,-1.228,-1.438,2,1,0
$FREEZE,2.23,-1.228,-1.438,2,1,0
$FREEZE,1.87,-1.239,-1.437,2,1,0
$STATE,11606,end climb,SURFACE_DEPTH_REACHED
$STATE,11606,begin surface coast
$FREEZE,1.59,-1.239,-1.436,2,1,0
$FREEZE,1.27,-1.257,-1.436,2,1,0
$FREEZE,1.33,-1.257,-1.437,2,1,0
$FREEZE,1.23,-1.265,-1.438,2,1,0
$FINISH,1.2,1.021198
$STATE,11628,end surface coast,CONTROL_FINISHED_OK
$STATE,11628,begin surface
$SM_CCo,11646,57.00,0.193,0,0,497,669.67
$SM_GC,2.35,8.27,2.50,57.00,0.109,0.075,0.193,193,2355,497,-6.96,0.82,669.67,0,0,0,0,0,0,14.28,14.31,14.15
$RAFOS_CLK,21
$RAFOS_FIX,7455.562012,-14648.376953,020914,040420,3,255,0.23
$IRIDIUM_FIX,7413.78,-14648.49,020914,011859
$TT8_MAMPS,0.080892,0.080892
$HUMID,48.14
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.90
$XPDR_PINGS,1
$SC_FREEKB,3985404
$24V_AH,12.46,152.530
$10V_AH,12.70,0.000
$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,21.700,74.175,640.900,57.000,0.000,0.000,0.000,259.975,0.250,0.000,27.002,0.000,9163.395,778.974,2009.635,205.721,0.000,1748.211,0.000,1262.836,1495.000,0.537,0.000
$DEVICE_MAMPS,465.885,143.820,1985.940,192.780,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11667.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.775,0.000,0.000,0.000
$MEM,207096
$DATA_FILE_SIZE,30059,847
$CAP_FILE_SIZE,131730,0
$CFSIZE,2097872896,2031812608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12374.31,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,020914,080619,7453.041,-14654.327,12,0.7,32,22.4