version: 66.12
glider: 199
mission: 5
dive: 140
start: 8 15 114 0 36 43
data:
$ID,199
$MISSION,5
$DIVE,140
$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,-21771.299
$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,31
$R_STBD_OVSHOOT,12
$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,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
$GPS1,150814,002312,7212.398,-14551.273,36,0.8,56,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-71.1
$GPS2,150814,003625,7212.431,-14551.345,3,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.2,97362,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5aa88a680f;,*0D
$MODEM_MSG,CACST,6,0,20140815000241.657744,3,261,12,0111,0150,100,00,00,02,05,1,004,000,0,5,1,0,150,-0.1,3.4,-100,-0.4,-01,-0.0,25,900,0025*16
$MODEM_MSG,CACST,6,1,20140815000417.439830,3,367,25,0110,0150,100,01,01,00,01,-1,-01,-01,1,3,1,0,150,14.3,1.1,-100,1.9,-01,0.4,30,900,0025*2A
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5a0e1a3eea;,*39
$MODEM_MSG,CACST,6,0,20140815001446.986143,3,187,10,0103,0150,100,00,00,02,04,1,010,000,0,5,1,0,150,-0.3,2.7,-100,0.4,-01,0.3,24,900,0025*10
$GC,19,-0.72,-175.1,176,2371,530,476,0.0,0.0,0,75,0.00,0.00,-51.20,0.000,16386,0.000,0.000,176,2371,1784,1790,1778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.72,-175.1,176,2371,1793,1778,3.1,-2.5,5,142,11.10,2.58,-44.25,0.000,18692,0.467,0.142,2180,3777,3945,4002,3889,0,0,0,0,0,0,13.97,14.22,14.47
$GC,366,-0.72,-175.1,2181,3778,3999,3896,85.6,-24.5,63,372,0.00,2.45,0.00,0.000,1030,0.000,0.079,2181,2355,3948,4002,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,677,-0.72,-175.1,2182,2353,4009,3897,149.3,-19.4,95,684,0.00,2.58,0.00,0.000,260,0.000,0.123,2172,3772,3949,4002,3896,0,0,0,0,0,0,28.83,14.33,28.83
$GC,763,-0.72,-175.1,2171,3773,4004,3897,167.2,-20.6,112,772,0.00,2.42,0.00,0.000,1030,0.000,0.080,2171,2358,3949,4003,3896,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1068,-0.72,-175.1,2173,2358,4002,3896,220.4,-16.1,143,1071,0.12,0.00,0.00,0.000,2054,0.324,0.000,2194,2357,3949,4003,3896,0,0,0,0,0,0,14.23,28.83,28.83
$GC,1378,-0.72,-175.1,2195,2362,4002,3896,263.0,-13.3,168,1384,0.00,2.42,0.00,0.000,516,0.000,0.091,2194,953,3948,4002,3895,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1428,-0.72,-175.1,2195,954,4004,3896,269.6,-12.8,178,1435,0.00,2.50,0.00,0.000,1030,0.000,0.103,2186,2365,3948,4002,3895,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1740,-0.72,-175.1,2186,2366,4004,3895,310.9,-13.1,190,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2364,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.72,-175.1,2187,2366,4002,3894,350.4,-13.2,200,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2365,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.72,-175.1,2187,2365,4002,3893,389.5,-12.9,210,2346,0.00,2.53,0.00,0.000,260,0.000,0.125,2175,3773,3947,4002,3893,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2395,-0.72,-175.1,2176,3774,4002,3893,397.4,-14.4,221,2403,0.00,2.42,0.00,0.000,1030,0.000,0.081,2175,2353,3947,4002,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2700,-0.72,-175.1,2179,2351,4002,3893,437.9,-13.0,232,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2352,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,-0.72,-175.1,2175,2353,4004,3892,477.0,-13.0,242,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2353,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3300,-0.72,-175.1,2176,2353,4002,3898,516.0,-13.0,252,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2353,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3600,-0.72,-175.1,2175,2348,4004,3893,555.5,-13.1,262,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2353,3947,4003,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,-0.72,-175.1,2174,2353,4002,3891,594.4,-13.0,272,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2352,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-0.72,-175.1,2175,2353,4004,3891,632.6,-12.6,282,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2353,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4500,-0.72,-175.1,2176,2353,4002,3891,670.4,-12.6,292,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2353,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4800,-0.72,-175.1,2175,2353,4004,3891,708.1,-12.5,302,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2352,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5100,-0.72,-175.1,2175,2353,4004,3890,745.5,-12.4,312,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2352,3947,4006,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5163,-0.14,0.0,2174,2601,4004,3890,753.0,-12.4,314,5389,0.82,0.00,221.73,1.701,10246,0.275,0.000,2381,2600,3227,3280,3175,0,0,0,0,0,0,14.29,28.83,12.93
$STATE,5391,end apogee,CONTROL_FINISHED_OK
$STATE,5391,begin climb
$GC,5393,0.72,175.1,2379,2601,3278,3171,760.7,0.0,321,5562,0.98,2.35,154.48,1.892,10500,0.160,0.117,2662,3765,2506,2570,2442,0,0,0,0,0,0,13.50,12.97,12.36
$GC,5727,0.72,175.1,2660,3765,2565,2432,724.9,15.0,390,5733,0.00,2.10,0.00,0.000,1030,0.000,0.076,2667,2601,2499,2567,2431,0,0,0,0,0,0,28.83,13.68,28.83
$GC,6043,0.72,175.1,2669,2602,2565,2430,681.8,13.4,403,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6342,0.72,175.1,2667,2601,2567,2430,641.2,13.5,413,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,0.72,175.1,2668,2601,2565,2429,600.9,13.3,423,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6942,0.72,175.1,2667,2601,2567,2429,561.2,13.3,433,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2602,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7242,0.72,175.1,2667,2601,2568,2428,521.4,13.2,443,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7542,0.72,175.1,2667,2601,2566,2428,481.5,13.3,453,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7842,0.72,175.1,2669,2601,2566,2428,442.0,13.0,463,7849,0.00,2.42,0.00,0.000,516,0.000,0.090,2678,1196,2498,2565,2432,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7863,0.72,175.1,2677,1196,2567,2428,439.2,13.0,467,7870,0.00,2.50,0.00,0.000,1030,0.000,0.102,2678,2608,2496,2566,2427,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8175,0.72,175.1,2683,2608,2568,2428,397.2,13.5,479,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2608,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,0.72,175.1,2679,2608,2565,2428,357.2,13.2,489,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2605,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,0.72,175.1,2678,2609,2567,2428,317.9,13.2,499,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2608,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9074,0.72,175.1,2678,2608,2567,2428,279.7,12.6,509,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2608,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,0.72,175.1,2678,2609,2567,2430,242.4,12.2,523,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2608,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,0.78,175.1,2679,2608,2565,2428,208.1,10.2,553,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2608,2497,2567,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9974,0.84,239.6,2678,2609,2567,2428,179.5,8.8,583,10036,0.00,0.00,55.08,1.393,8198,0.000,0.000,2678,2608,2241,2315,2168,0,0,0,0,0,0,28.83,28.83,13.53
$GC,10334,0.90,293.2,2678,2608,2312,2155,144.9,9.3,619,10388,0.12,2.62,46.08,1.373,10756,0.156,0.090,2735,1191,2024,2110,1938,0,0,0,0,0,0,14.32,14.05,13.50
$GC,10437,0.90,293.2,2737,1192,2100,1928,132.5,12.5,639,10443,0.00,2.58,0.00,0.000,1030,0.000,0.102,2735,2597,2013,2101,1926,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10748,0.90,293.2,2741,2599,2101,1923,92.0,12.2,671,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2599,2011,2101,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11048,0.96,359.3,2737,2599,2101,1921,59.9,8.7,701,11085,0.00,2.17,29.77,0.343,8452,0.000,0.127,2736,3794,1766,1854,1679,0,0,0,0,0,0,28.83,14.26,14.13
$GC,11104,1.01,405.7,2735,3795,1857,1689,54.7,9.6,711,11137,0.00,2.05,24.90,0.332,9222,0.000,0.083,2744,2599,1576,1670,1482,0,0,0,0,0,0,28.83,14.32,14.07
$GC,11441,1.08,470.8,2744,2604,1685,1494,23.0,8.7,748,11484,0.12,2.45,33.92,0.245,10756,0.156,0.091,2797,1195,1310,1402,1218,0,0,0,0,0,0,14.31,14.31,14.20
$GC,11563,1.33,720.1,2797,1195,1409,1225,15.0,0.6,772,11672,0.20,2.53,99.53,0.223,11270,0.114,0.102,2875,2604,499,521,478,0,0,0,0,0,0,14.35,14.30,14.14
$FREEZE,8.14,4.236,-1.349,2,1,0
$FREEZE,7.42,4.236,-1.349,2,1,0
$FREEZE,6.63,4.233,-1.348,2,1,0
$FREEZE,5.87,4.234,-1.348,2,1,0
$FREEZE,4.88,4.248,-1.347,2,1,0
$FREEZE,3.96,4.254,-1.347,2,1,0
$FREEZE,3.26,4.256,-1.346,2,1,0
$FREEZE,2.35,4.254,-1.346,2,1,0
$FREEZE,1.36,4.253,-1.345,2,1,0
$STATE,11815,end climb,SURFACE_DEPTH_REACHED
$STATE,11815,begin surface coast
$FREEZE,1.17,4.146,-1.282,2,1,0
$FREEZE,1.13,4.127,-1.255,2,1,0
$FINISH,1.1,1.018333
$STATE,11835,end surface coast,CONTROL_FINISHED_OK
$STATE,11835,begin surface
$SM_CCo,11857,0.50,0.334,0,0,499,669.67
$SM_GC,2.68,8.18,0.45,0.50,0.093,0.101,0.334,193,2358,499,-6.94,0.79,669.67,0,0,0,0,0,0,14.37,14.35,14.26
$RAFOS_CLK,500
$MODEM,10,1408061686,73.77300,-150.84399,165.986,240889.1
$MODEM,4,1408060961,74.26720,-146.63080,160.658,233156.2
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7132.53,-14549.38,140814,205334
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.75
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4001112
$TM_FREEKB,5576320
$24V_AH,12.36,107.097
$10V_AH,12.54,0.000
$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,21.650,44.600,665.475,0.500,0.000,0.000,0.000,512.325,0.000,0.000,26.032,0.000,9450.111,683.326,2340.013,176.798,0.000,1962.900,0.000,1203.783,0.000,0.537,0.000
$DEVICE_MAMPS,466.650,141.525,1891.845,333.540,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11866.000,11913.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.105,43.687,0.000,0.000
$MEM,277780
$DATA_FILE_SIZE,26732,810
$CAP_FILE_SIZE,138496,0
$CFSIZE,2097872896,2056978432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12852.35,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,150814,035554,7214.170,-14551.895,34,0.8,54,22.2