version: 66.12
glider: 199
mission: 5
dive: 340
start: 9 11 114 23 35 3
data:
$ID,199
$MISSION,5
$DIVE,340
$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,-26212.402
$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,33
$R_STBD_OVSHOOT,14
$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
$GPS1,110914,232554,7521.956,-14546.846,32,0.9,52,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.3
$GPS2,110914,233443,7521.902,-14546.753,4,0.7,24,23.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,8
$TGT_LATLONG,7520.000,-14345.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,70.5,57201,-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,-175.1,191,2364,514,485,0.0,0.0,0,60,0.00,0.00,-42.03,0.000,16386,0.000,0.000,189,2363,1533,1560,1507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.72,-175.1,189,2364,1562,1508,3.1,-2.0,4,144,11.23,2.62,-65.70,0.000,18692,0.464,0.131,2179,3772,3945,4004,3887,0,0,0,0,0,0,13.83,14.12,14.47
$GC,371,-0.72,-175.1,2179,3772,4005,3890,93.4,-25.7,66,376,0.00,2.45,0.00,0.000,1030,0.000,0.070,2179,2360,3946,4004,3889,0,0,0,0,0,0,28.83,14.26,28.83
$GC,681,-0.72,-175.1,2179,2360,4006,3891,157.8,-19.6,98,686,0.00,2.62,0.00,0.000,260,0.000,0.112,2168,3774,3947,4004,3890,0,0,0,0,0,0,28.83,14.24,28.83
$GC,911,-0.72,-175.1,2170,3776,4005,3890,203.2,-18.6,144,916,0.12,2.45,0.00,0.000,3078,0.287,0.072,2192,2359,3947,4005,3890,0,0,0,0,0,0,14.09,14.37,28.83
$GC,1241,-0.72,-175.1,2191,2357,4006,3891,255.0,-14.9,176,1246,0.00,2.60,0.00,0.000,260,0.000,0.115,2183,3773,3947,4005,3890,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1391,-0.72,-175.1,2182,3774,4006,3890,278.0,-15.3,206,1396,0.00,2.45,0.00,0.000,1030,0.000,0.072,2183,2359,3947,4004,3890,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1721,-0.72,-175.1,2184,2358,4003,3891,324.4,-13.6,222,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2357,3947,4004,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2021,-0.72,-175.1,2182,2358,4006,3891,363.7,-12.8,232,2026,0.00,2.62,0.00,0.000,260,0.000,0.115,2172,3773,3947,4004,3890,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2061,-0.72,-175.1,2172,3773,4005,3890,369.3,-14.1,240,2066,0.00,2.45,0.00,0.000,1030,0.000,0.070,2172,2359,3947,4004,3890,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2383,-0.72,-175.1,2172,2354,4006,3890,412.1,-13.4,254,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2353,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2681,-0.72,-175.1,2173,2354,4004,3890,451.7,-13.1,264,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2353,3947,4004,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-0.72,-175.1,2173,2353,4004,3890,490.4,-12.9,274,2988,0.12,2.62,0.00,0.000,2308,0.285,0.112,2190,3777,3949,4004,3895,0,0,0,0,0,0,14.05,14.23,28.83
$GC,3028,-0.72,-175.1,2190,3778,4006,3890,496.1,-12.0,283,3033,0.00,2.45,0.00,0.000,1030,0.000,0.070,2189,2347,3949,4009,3890,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3344,-0.72,-175.1,2190,2349,4005,3891,532.8,-11.6,296,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2347,3947,4004,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3643,-0.72,-175.1,2191,2348,4004,3891,567.9,-11.7,306,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2347,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3943,-0.72,-175.1,2191,2348,4004,3892,602.6,-11.5,316,3948,0.00,2.60,0.00,0.000,260,0.000,0.116,2180,3776,3946,4002,3891,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3988,-0.72,-175.1,2180,3778,4006,3892,608.3,-12.4,325,3993,0.00,2.42,0.00,0.000,1030,0.000,0.070,2180,2355,3947,4004,3891,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4303,-0.72,-175.1,2181,2355,4004,3892,646.4,-12.0,338,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2354,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4603,-0.72,-175.1,2180,2355,4006,3893,682.0,-11.8,348,4608,0.00,2.58,0.00,0.000,260,0.000,0.115,2168,3772,3948,4004,3892,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4648,-0.72,-175.1,2169,3772,4006,3893,687.8,-13.4,357,4653,0.12,2.40,0.00,0.000,3078,0.272,0.070,2194,2360,3948,4004,3892,0,0,0,0,0,0,14.16,14.46,28.83
$GC,4965,-0.72,-175.1,2194,2360,4006,3894,722.5,-10.9,370,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2360,3947,4005,3890,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5231,begin apogee
$GC,5236,-0.14,0.0,2195,2605,4004,3894,751.8,-10.8,379,5461,0.75,0.00,221.45,1.626,10246,0.258,0.000,2384,2604,3230,3282,3179,0,0,0,0,0,0,14.10,28.83,12.90
$STATE,5461,end apogee,CONTROL_FINISHED_OK
$STATE,5462,begin climb
$GC,5464,0.72,175.1,2383,2605,3279,3174,760.6,0.0,386,5625,0.98,0.00,157.07,1.889,10246,0.133,0.000,2666,2603,2511,2575,2448,0,0,0,0,0,0,13.56,28.83,12.47
$GC,5923,0.72,175.1,2667,2605,2567,2430,716.9,12.9,402,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2605,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6223,0.72,175.1,2667,2605,2568,2430,678.8,12.7,412,6228,0.00,2.50,0.00,0.000,516,0.000,0.078,2677,1192,2498,2567,2429,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6258,0.72,175.1,2677,1193,2569,2430,674.3,12.3,419,6263,0.00,2.50,0.00,0.000,1030,0.000,0.091,2677,2601,2498,2567,2429,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6584,0.72,175.1,2678,2602,2567,2430,631.3,13.2,434,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2601,2498,2567,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6883,0.72,175.1,2676,2602,2569,2430,591.5,13.3,444,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2601,2498,2567,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7183,0.72,175.1,2678,2602,2567,2429,552.2,13.1,454,7188,0.00,2.42,0.00,0.000,516,0.000,0.079,2687,1200,2499,2568,2431,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7223,0.72,175.1,2687,1200,2569,2436,547.1,12.6,462,7228,0.00,2.47,0.00,0.000,1030,0.000,0.091,2687,2604,2498,2568,2429,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7545,0.72,175.1,2689,2604,2567,2430,503.6,13.5,476,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2603,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7843,0.72,175.1,2687,2604,2569,2430,463.3,13.4,486,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2603,2498,2567,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8143,0.72,175.1,2689,2604,2567,2430,423.4,13.4,496,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2603,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,0.72,175.1,2688,2604,2567,2430,383.8,13.2,506,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2603,2498,2567,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,0.72,175.1,2689,2609,2567,2430,345.7,12.5,516,8748,0.00,2.45,0.00,0.000,516,0.000,0.077,2697,1194,2498,2567,2429,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8778,0.72,175.1,2699,1195,2567,2430,341.5,11.6,523,8783,0.00,2.47,0.00,0.000,1030,0.000,0.091,2697,2599,2498,2567,2429,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9104,0.72,175.1,2697,2600,2569,2429,300.7,12.6,538,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2599,2498,2567,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9403,0.72,175.1,2697,2600,2569,2430,263.6,12.4,548,9408,0.00,2.45,0.00,0.000,516,0.000,0.076,2707,1196,2500,2567,2433,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9428,0.72,175.1,2707,1197,2569,2430,260.6,11.5,553,9434,0.17,2.50,0.00,0.000,5126,0.280,0.092,2671,2607,2498,2567,2429,0,0,0,0,0,0,14.12,14.39,28.83
$GC,9733,0.82,266.5,2671,2608,2569,2430,232.9,7.6,576,9818,0.00,2.55,78.38,1.470,8708,0.000,0.080,2680,1200,2131,2208,2055,0,0,0,0,0,0,28.83,14.10,13.47
$GC,9890,0.85,266.5,2677,1200,2202,2046,218.1,10.9,607,9896,0.00,2.55,0.00,0.000,1030,0.000,0.093,2678,2603,2123,2202,2045,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10195,0.91,266.5,2679,2603,2204,2043,186.1,10.1,638,10201,0.15,2.47,0.00,0.000,2564,0.139,0.079,2741,1192,2122,2202,2043,0,0,0,0,0,0,14.31,14.31,28.83
$GC,10267,0.94,266.5,2743,1193,2202,2043,178.4,10.9,652,10272,0.00,2.50,0.00,0.000,1030,0.000,0.092,2741,2599,2122,2202,2043,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10577,0.94,266.5,2741,2600,2204,2042,142.1,11.8,684,10582,0.00,2.12,0.00,0.000,260,0.000,0.116,2741,3774,2122,2202,2042,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10622,0.94,266.5,2743,3779,2202,2042,136.3,13.2,693,10628,0.00,2.03,0.00,0.000,1030,0.000,0.073,2750,2596,2121,2202,2041,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10927,1.01,266.5,2750,2597,2203,2042,102.7,9.8,724,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2596,2121,2202,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11227,1.07,321.9,2750,2597,2204,2041,75.0,9.2,754,11258,0.00,2.15,25.20,0.386,8452,0.000,0.114,2750,3767,1918,2000,1836,0,0,0,0,0,0,28.83,14.24,13.97
$GC,11323,1.14,393.3,2752,3767,2006,1854,67.2,8.5,773,11370,0.10,2.05,38.78,0.366,11270,0.106,0.073,2799,2605,1625,1710,1541,0,0,0,0,0,0,14.20,14.24,13.95
$GC,11668,1.30,559.3,2800,2605,1719,1551,44.0,4.3,812,11766,0.17,2.53,87.30,0.298,10756,0.129,0.081,2871,1203,948,1018,879,0,0,0,0,0,0,14.19,14.15,13.98
$GC,11821,1.30,559.3,2871,1202,1030,880,28.4,13.1,842,11826,0.00,2.53,0.00,0.000,1030,0.000,0.093,2871,2600,954,1029,879,0,0,0,0,0,0,28.83,14.08,28.83
$FREEZE,8.08,-1.091,-1.443,2,1,0
$FREEZE,6.97,-1.089,-1.442,2,1,0
$FREEZE,6.02,-1.092,-1.441,2,1,0
$FREEZE,5.08,-1.093,-1.440,2,1,0
$FREEZE,4.13,-1.092,-1.439,2,1,0
$FREEZE,3.16,-1.092,-1.439,2,1,0
$FREEZE,2.08,-1.093,-1.438,2,1,0
$FREEZE,1.57,-1.093,-1.437,2,1,0
$STATE,12089,end climb,SURFACE_DEPTH_REACHED
$STATE,12089,begin surface coast
$FREEZE,1.60,-1.087,-1.096,2,1,0
$FINISH,1.6,1.016177
$STATE,12101,end surface coast,FINISH_DEPTH_REACHED
$STATE,12101,begin surface
$SM_CCo,12118,56.47,0.197,0,0,498,669.67
$SM_GC,2.55,8.18,0.43,56.47,0.089,0.088,0.197,197,2364,498,-6.96,1.02,669.67,0,0,0,0,0,0,14.26,14.35,14.12
$RAFOS_CLK,474
$RAFOS_FIX,7522.279297,-14602.935547,110914,121248,3,255,0.36
$IRIDIUM_FIX,7437.89,-14547.90,110914,195346
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.92
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,3.00
$XPDR_PINGS,0
$SC_FREEKB,3975840
$24V_AH,12.47,175.883
$10V_AH,12.69,0.000
$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,22.100,79.500,608.175,56.475,0.000,0.000,0.000,310.125,0.000,0.000,26.115,0.000,9581.837,780.081,2082.644,254.665,0.000,1787.565,0.000,1299.727,1428.000,0.536,0.000
$DEVICE_MAMPS,464.355,130.815,1888.785,197.370,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12148.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.322,0.000,0.000,0.000
$MEM,167436
$DATA_FILE_SIZE,30007,871
$CAP_FILE_SIZE,136928,0
$CFSIZE,2097872896,2018607104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12942.34,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,120914,025923,7521.722,-14541.293,30,0.8,50,23.0