version: 66.12
glider: 199
mission: 5
dive: 44
start: 7 31 114 19 23 52
data:
$ID,199
$MISSION,5
$DIVE,44
$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,-21676.492
$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,20
$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,0.001
$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,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
$GPS1,310714,191154,7115.249,-14456.013,31,0.8,51,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.3
$GPS2,310714,192328,7115.273,-14456.188,6,0.8,26,22.3
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,291.9,49630,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.75,-145.9,196,2396,541,462,0.0,0.0,0,75,0.00,0.00,-53.35,0.000,16386,0.000,0.000,195,2395,1890,1894,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.75,-145.9,195,2396,1896,1887,3.6,-3.5,5,139,11.07,2.55,-40.53,0.000,19204,0.477,0.145,2175,3770,3947,4002,3892,0,0,0,0,0,0,14.04,14.23,14.47
$GC,363,-0.75,-145.9,2176,3770,4001,3897,73.8,-23.0,59,371,0.00,2.42,0.00,0.000,1030,0.000,0.084,2177,2354,3949,4002,3897,0,0,0,0,0,0,28.83,14.35,28.83
$GC,675,-0.75,-145.9,2179,2352,4001,3898,135.1,-18.6,91,683,0.00,2.55,0.00,0.000,260,0.000,0.125,2168,3764,3949,4001,3898,0,0,0,0,0,0,28.83,14.38,28.83
$GC,907,-0.75,-145.9,2169,3766,4002,3898,179.6,-17.6,137,915,0.00,2.40,0.00,0.000,1030,0.000,0.084,2168,2362,3949,4002,3897,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1219,-0.75,-145.9,2169,2359,4003,3898,227.6,-14.1,169,1227,0.00,2.53,0.00,0.000,260,0.000,0.128,2157,3764,3949,4002,3897,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1405,-0.75,-145.9,2158,3767,4001,3898,257.1,-15.6,206,1415,0.15,2.40,0.00,0.000,3078,0.319,0.086,2186,2355,3949,4001,3897,0,0,0,0,0,0,14.35,14.47,28.83
$GC,1734,-0.75,-145.9,2186,2356,4003,3895,298.2,-12.3,221,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2355,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2035,-0.75,-145.9,2186,2356,4003,3895,334.8,-12.2,231,2043,0.00,2.53,0.00,0.000,260,0.000,0.130,2177,3765,3947,4001,3893,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2131,-0.75,-145.9,2178,3764,4001,3894,345.3,-13.3,246,2140,0.00,2.40,0.00,0.000,1030,0.000,0.086,2177,2353,3947,4001,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2450,-0.75,-145.9,2177,2354,4003,3892,388.6,-12.7,259,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2353,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2749,-0.75,-145.9,2178,2354,4001,3893,426.2,-12.4,269,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2353,3946,4001,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3049,-0.75,-145.9,2175,2354,4003,3892,463.5,-12.2,279,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2353,3946,4001,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3349,-0.75,-145.9,2178,2353,4001,3892,500.3,-12.3,289,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2353,3946,4001,3891,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140731200427.032526,3,872,29,0175,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,21.3,1.6,-100,1.4,-01,0.5,24,900,0025*20
$GC,3652,-0.75,-145.9,2177,2352,4009,3891,536.7,-12.0,299,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2353,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3949,-0.75,-145.9,2178,2353,4001,3891,571.9,-11.8,309,3957,0.00,2.53,0.00,0.000,260,0.000,0.129,2167,3765,3945,4001,3889,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3986,-0.75,-145.9,2167,3765,4001,3890,576.6,-13.3,316,3995,0.00,2.40,0.00,0.000,1030,0.000,0.085,2166,2351,3945,4001,3889,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4314,-0.75,-145.9,2167,2352,4001,3889,617.0,-12.3,331,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2351,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4614,-0.75,-145.9,2167,2352,4002,3889,653.9,-12.3,341,4621,0.00,2.53,0.00,0.000,260,0.000,0.129,2156,3766,3944,4000,3889,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4660,-0.75,-145.9,2157,3767,4001,3886,660.3,-13.8,350,4670,0.15,2.38,0.00,0.000,3078,0.316,0.085,2185,2361,3945,4001,3889,0,0,0,0,0,0,14.44,14.57,28.83
$GC,4980,-0.75,-145.9,2187,2361,4001,3889,696.4,-11.2,363,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2361,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.75,-145.9,2187,2361,4001,3889,729.3,-10.9,373,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2361,3944,4001,3887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5488,begin apogee
$GC,5491,-0.14,0.0,2186,2598,4001,3888,752.3,-11.0,380,5683,0.77,0.00,186.23,1.622,10246,0.283,0.000,2383,2598,3347,3400,3295,0,0,0,0,0,0,14.48,28.83,13.16
$STATE,5684,end apogee,CONTROL_FINISHED_OK
$STATE,5684,begin climb
$GC,5686,0.75,145.9,2384,2596,3395,3289,757.8,0.0,386,5831,1.00,2.33,130.10,2.023,10500,0.172,0.126,2670,3765,2742,2789,2695,0,0,0,0,0,0,13.76,13.44,12.74
$GC,5920,0.75,145.9,2670,3765,2780,2683,737.1,14.6,425,5928,0.00,2.08,0.00,0.000,1030,0.000,0.083,2679,2601,2731,2779,2683,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6237,0.75,145.9,2680,2601,2778,2681,696.7,12.6,438,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,2729,2779,2680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6537,0.75,145.9,2678,2601,2779,2680,658.7,12.9,448,6545,0.00,2.45,0.00,0.000,516,0.000,0.099,2689,1195,2731,2779,2684,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6569,0.75,145.9,2691,1196,2778,2680,654.6,12.1,454,6580,0.00,2.50,0.00,0.000,1030,0.000,0.105,2689,2598,2729,2779,2679,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6904,0.75,145.9,2689,2599,2780,2680,610.7,13.1,470,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2599,2729,2779,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7204,0.75,145.9,2689,2599,2780,2679,570.5,13.5,480,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2599,2729,2779,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,0.75,145.9,2690,2599,2778,2679,530.1,13.4,490,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2599,2725,2773,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7804,0.75,145.9,2688,2599,2781,2679,491.1,12.9,500,7811,0.00,2.42,0.00,0.000,516,0.000,0.097,2699,1194,2731,2784,2678,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7835,0.75,145.9,2699,1196,2780,2679,487.1,11.9,506,7845,0.00,2.47,0.00,0.000,1030,0.000,0.104,2699,2609,2726,2779,2674,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8170,0.75,145.9,2699,2610,2780,2678,442.4,13.4,522,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2609,2728,2779,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8469,0.75,145.9,2698,2610,2780,2679,402.8,13.1,532,8477,0.00,2.45,0.00,0.000,516,0.000,0.097,2710,1193,2728,2779,2678,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8511,0.75,145.9,2709,1191,2780,2678,397.4,12.7,540,8520,0.15,2.47,0.00,0.000,5126,0.299,0.104,2679,2604,2728,2779,2677,0,0,0,0,0,0,14.45,14.54,28.83
$GC,8834,0.75,145.9,2678,2604,2780,2678,358.0,12.1,554,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2604,2728,2778,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9134,0.75,145.9,2680,2604,2778,2678,321.3,12.2,564,9142,0.00,2.45,0.00,0.000,516,0.000,0.097,2687,1187,2727,2779,2676,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9186,0.75,145.9,2689,1188,2779,2678,315.0,11.8,574,9197,0.00,2.47,0.00,0.000,1030,0.000,0.103,2688,2605,2727,2778,2677,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9501,0.75,145.9,2688,2605,2780,2674,275.9,12.4,586,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2604,2728,2779,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9801,0.75,145.9,2688,2605,2781,2678,240.5,11.3,600,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2604,2728,2779,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10101,0.78,145.9,2687,2605,2780,2677,207.8,10.9,630,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2604,2728,2778,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10401,0.83,195.7,2688,2605,2780,2678,178.2,9.0,660,10452,0.00,2.58,41.62,1.404,8708,0.000,0.096,2698,1189,2538,2596,2480,0,0,0,0,0,0,28.83,14.23,13.68
$GC,10456,0.87,238.1,2699,1190,2592,2478,173.3,9.4,668,10506,0.00,2.53,37.38,1.393,9222,0.000,0.103,2698,2600,2363,2425,2301,0,0,0,0,0,0,28.83,14.23,13.49
$GC,10800,0.92,238.1,2697,2601,2422,2286,136.5,10.5,705,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2601,2352,2420,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11100,0.96,280.4,2698,2601,2421,2285,106.8,9.4,735,11146,0.15,2.53,36.28,1.316,10756,0.153,0.098,2757,1196,2191,2263,2119,0,0,0,0,0,0,14.40,14.15,13.64
$GC,11185,0.96,280.4,2757,1198,2256,2108,96.7,12.1,749,11193,0.00,2.53,0.00,0.000,1030,0.000,0.104,2757,2601,2180,2254,2106,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11497,0.96,280.4,2757,2605,2256,2105,58.0,12.0,781,11504,0.00,2.10,0.00,0.000,260,0.000,0.132,2757,3769,2179,2254,2104,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11529,0.96,280.4,2757,3770,2255,2105,54.0,12.8,787,11538,0.00,2.00,0.00,0.000,1030,0.000,0.090,2766,2601,2179,2254,2104,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11842,1.06,374.2,2767,2602,2254,2104,29.0,6.6,819,11895,0.00,2.45,42.05,0.256,8708,0.000,0.101,2776,1196,1823,1908,1738,0,0,0,0,0,0,28.83,14.34,14.25
$GC,11969,1.10,424.0,2777,1196,1925,1742,18.4,9.0,841,12004,0.00,2.50,25.83,0.227,9222,0.000,0.106,2776,2602,1619,1713,1525,0,0,0,0,0,0,28.83,14.35,14.26
$FREEZE,11.32,2.955,-1.460,0,1,0
$STATE,12198,end climb,NO_VERTICAL_VELOCITY
$STATE,12198,begin surface
$SM_CCo,12201,140.25,0.208,0,0,500,698.86
$SM_GC,1.89,7.88,0.43,0.00,0.101,0.104,0.000,194,2365,506,-6.95,1.05,697.63,0,0,0,0,0,0,14.38,14.42,28.83
$RAFOS_CLK,454
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7039.27,-14502.67,310714,153514
$TT8_MAMPS,0.044191,0.044191
$HUMID,51.81
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,9.50
$XPDR_PINGS,0
$SC_FREEKB,4012088
$TM_FREEKB,7389280
$24V_AH,12.74,66.067
$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,21.325,73.775,499.475,140.250,0.000,0.000,0.000,444.525,0.000,0.000,27.314,0.000,9825.865,800.379,2535.582,107.993,0.000,2033.683,0.000,1290.705,1498.000,0.537,0.000
$DEVICE_MAMPS,477.360,145.350,2023.425,208.080,0.000,0.000,0.000,188.955,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12225.000,12272.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.964,12.673,0.000,0.000
$MEM,292788
$DATA_FILE_SIZE,30054,866
$CAP_FILE_SIZE,147203,0
$CFSIZE,2097872896,2082963456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13125.35,0x2378b6,7,5
$SOUNDSPEED,1451.4
$EKF,12665,4276.487305,-8698.952148,11.321551,0.020787,-0.004243,-0.016607,0.000277,0.002681,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.093,116.74,1
$GPS,310714,225454,7116.205,-14457.177,35,0.9,55,22.3