version: 66.12
glider: 199
mission: 5
dive: 38
start: 7 30 114 21 51 2
data:
$ID,199
$MISSION,5
$DIVE,38
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,688.85968
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-21668.93
$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,2470
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$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,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3349
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,2
$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,3
$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
$GPS1,300714,213749,7109.081,-14445.405,20,0.8,40,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-74.8
$GPS2,300714,215048,7109.079,-14445.415,4,0.8,24,22.3
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,297.0,62539,-21.5,-11.628,-24.76,1932
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-145.9,201,2406,571,520,0.0,0.0,0,74,0.00,0.00,-53.28,0.000,16386,0.000,0.000,201,2405,1932,1940,1924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.85,-145.9,200,2406,1942,1926,3.5,-3.7,5,133,11.18,2.53,-39.70,0.000,18692,0.483,0.153,2182,3762,3946,4002,3890,0,0,0,0,0,0,14.03,14.23,14.47
$GC,357,-0.85,-145.9,2179,3762,4001,3895,73.5,-23.3,58,368,0.00,2.35,0.00,0.000,1030,0.000,0.090,2179,2400,3946,3997,3895,0,0,0,0,0,0,28.83,14.33,28.83
$GC,662,-0.85,-145.9,2181,2401,4001,3896,133.7,-18.8,89,670,0.00,2.45,0.00,0.000,260,0.000,0.129,2170,3759,3948,4002,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,784,-0.85,-145.9,2172,3759,4001,3896,157.7,-19.0,113,792,0.00,2.33,0.00,0.000,1030,0.000,0.087,2171,2396,3951,4002,3901,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1096,-0.85,-145.9,2170,2400,4003,3896,207.3,-14.6,145,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1396,-0.85,-145.9,2171,2400,4003,3896,250.6,-14.0,175,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2399,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1695,-0.85,-145.9,2169,2401,4007,3895,291.6,-13.4,185,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2399,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,-0.85,-145.9,2172,2400,4001,3894,331.0,-13.1,195,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2295,-0.85,-145.9,2172,2400,4001,3894,370.0,-12.9,205,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2400,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2596,-0.85,-145.9,2170,2400,4002,3894,408.8,-12.8,215,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2399,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,-0.85,-145.9,2172,2400,4001,3893,446.7,-12.6,225,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2399,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3196,-0.85,-145.9,2171,2400,4003,3893,484.8,-12.6,235,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3496,-0.85,-145.9,2170,2407,4003,3892,521.9,-12.3,245,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3796,-0.85,-145.9,2171,2400,4001,3892,558.5,-12.2,255,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3946,4001,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4095,-0.85,-145.9,2171,2400,4001,3893,595.0,-12.1,265,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4396,-0.85,-145.9,2170,2400,4003,3892,631.0,-12.1,275,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4695,-0.85,-145.9,2171,2400,4002,3892,666.8,-11.9,285,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4996,-0.85,-145.9,2171,2400,4003,3892,702.7,-11.9,295,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3946,4001,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5295,-0.85,-145.9,2171,2400,4003,3892,738.4,-11.9,305,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2399,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5414,begin apogee
$GC,5418,-0.16,0.0,2168,2696,4002,3892,752.4,-11.7,309,5570,0.95,0.00,137.15,2.372,10246,0.295,0.000,2409,2696,3355,3409,3301,0,0,0,0,1,0,14.49,28.83,12.74
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5573,0.85,145.9,2410,2697,3412,3303,756.8,0.0,314,5722,1.10,2.08,133.52,2.007,10500,0.144,0.126,2737,3770,2743,2791,2696,0,0,0,0,0,0,13.72,13.43,12.74
$GC,5827,0.85,145.9,2738,3771,2785,2689,728.7,18.9,357,5834,0.00,1.92,0.00,0.000,1030,0.000,0.088,2746,2694,2736,2785,2688,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6154,0.85,145.9,2747,2694,2788,2688,674.6,16.5,372,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2694,2736,2786,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6453,0.85,145.9,2745,2694,2787,2688,625.2,16.6,382,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2694,2736,2785,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6753,0.85,145.9,2746,2691,2787,2688,576.1,16.3,392,6761,0.00,2.45,0.00,0.000,516,0.000,0.102,2756,1289,2736,2786,2687,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6785,0.85,145.9,2756,1290,2787,2688,571.0,15.9,398,6795,0.00,2.53,0.00,0.000,1030,0.000,0.107,2755,2706,2736,2786,2686,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7119,0.85,145.9,2756,2706,2787,2689,515.6,16.5,414,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2706,2736,2785,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7419,0.85,145.9,2757,2706,2785,2687,466.3,16.3,424,7426,0.00,2.47,0.00,0.000,516,0.000,0.099,2767,1286,2736,2786,2686,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7460,0.85,145.9,2768,1287,2785,2686,459.7,15.8,432,7469,0.00,2.50,0.00,0.000,1030,0.000,0.107,2767,2703,2735,2785,2686,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7783,0.85,145.9,2768,2703,2789,2687,406.2,16.5,446,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2703,2735,2785,2686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8083,0.85,145.9,2768,2703,2785,2683,356.1,16.5,456,8090,0.00,2.45,0.00,0.000,516,0.000,0.099,2777,1295,2736,2786,2687,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8100,0.85,145.9,2775,1296,2787,2687,353.4,16.1,459,8108,0.15,2.50,0.00,0.000,5126,0.333,0.106,2748,2707,2736,2786,2686,0,0,0,0,0,0,14.34,14.44,28.83
$GC,8417,0.85,145.9,2748,2708,2786,2686,304.4,15.2,472,8425,0.00,2.47,0.00,0.000,516,0.000,0.098,2757,1285,2735,2785,2686,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8443,0.85,145.9,2759,1286,2784,2687,300.4,14.3,477,8453,0.00,2.50,0.00,0.000,1030,0.000,0.106,2757,2701,2735,2785,2686,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8749,0.85,145.9,2753,2702,2787,2687,252.9,15.6,488,8757,0.00,2.47,0.00,0.000,516,0.000,0.098,2767,1286,2735,2784,2686,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8786,0.85,145.9,2768,1286,2785,2687,247.3,14.5,495,8795,0.00,2.50,0.00,0.000,1030,0.000,0.106,2767,2701,2736,2785,2688,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9091,0.85,145.9,2769,2702,2785,2687,201.4,14.6,526,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2701,2735,2785,2686,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;568caa7b7b;,*66
$MODEM_MSG,CACST,6,0,20140731000421.643755,3,99,19,0091,0150,100,00,00,00,04,1,013,000,0,5,1,0,150,19.4,3.9,-100,-0.9,-01,0.2,17,900,0025*1F
$MODEM_MSG,CACST,6,1,20140731001621.113092,3,1127,30,0265,0150,100,00,00,00,02,-1,-01,-01,1,3,1,0,150,20.8,1.4,-100,1.7,-01,0.5,20,900,0025*1A
$EKF,range,347600.8
$EKF,9214,4270.203125,-8687.639648,186.437775,0.158192,-0.111019,-0.138594,0.000249,0.002388,0.000099,0.002025,0.002025,0.000050
$GC,9391,0.88,145.9,2768,2705,2785,2687,163.8,10.3,556,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2701,2737,2787,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9691,0.97,224.7,2768,2701,2784,2687,136.4,7.4,586,9770,0.00,2.53,68.30,1.232,8708,0.000,0.095,2778,1294,2420,2482,2358,0,0,0,0,0,0,28.83,14.04,13.63
$GC,9828,0.97,224.7,2779,1294,2477,2348,122.6,11.3,608,9837,0.00,2.55,0.00,0.000,1030,0.000,0.106,2778,2704,2412,2477,2348,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10141,0.97,224.7,2778,2705,2476,2347,85.0,11.4,640,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2704,2411,2477,2345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10441,1.04,274.9,2779,2705,2477,2345,54.3,9.0,670,10467,0.00,0.00,22.98,0.326,8198,0.000,0.000,2777,2704,2226,2298,2155,0,0,0,0,0,0,28.83,28.83,14.23
$GC,10761,1.19,403.4,2778,2705,2315,2170,32.1,4.8,702,10837,0.20,1.95,65.12,0.262,10500,0.150,0.133,2846,3765,1702,1790,1614,0,0,0,0,0,0,14.41,14.29,14.22
$GC,10926,1.19,403.4,2846,3771,1793,1622,11.9,15.0,731,10935,0.00,1.88,0.00,0.000,1030,0.000,0.091,2854,2697,1706,1791,1621,0,0,0,0,0,0,28.83,14.35,28.83
$FREEZE,10.02,-0.149,-1.485,0,1,0
$STATE,11150,end climb,NO_VERTICAL_VELOCITY
$STATE,11150,begin surface
$SM_CCo,11153,152.15,0.200,0,0,498,698.86
$SM_GC,2.27,8.45,0.52,0.00,0.132,0.106,0.000,201,2397,497,-7.06,0.79,699.60,0,0,0,0,0,0,14.33,14.37,28.83
$RAFOS_CLK,162
$MODEM,13,1406765061,70.90120,-144.64200,260.644,377838.5
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7032.78,-14444.71,300714,214112
$TT8_MAMPS,0.045689,0.045689
$HUMID,50.55
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.50
$XPDR_PINGS,0
$SC_FREEKB,4012772
$TM_FREEKB,7504608
$24V_AH,12.74,63.861
$10V_AH,12.68,0.000
$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,22.025,48.825,427.075,152.150,0.000,0.000,0.000,504.600,0.000,0.000,25.974,0.000,9104.906,713.790,2327.869,84.732,0.000,1902.430,0.000,1122.052,1427.000,0.537,0.000
$DEVICE_MAMPS,483.480,153.000,2371.500,199.665,0.000,0.000,0.000,185.130,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11175.000,11197.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.284,12.717,0.000,0.000
$MEM,296148
$DATA_FILE_SIZE,26720,754
$CAP_FILE_SIZE,132480,0
$CFSIZE,2097872896,2084700160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1450.4
$EKF,11545,4270.321777,-8687.957031,10.023335,-0.001374,0.007225,0.001734,0.000256,0.002460,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.030,86.97,1
$GPS,310714,010324,7110.261,-14447.341,30,0.7,50,22.3