version: 66.12
glider: 199
mission: 5
dive: 162
start: 8 18 114 5 29 10
data:
$ID,199
$MISSION,5
$DIVE,162
$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,-21799.025
$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,25
$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,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
$GPS1,180814,052224,7252.361,-14553.508,53,0.7,73,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-69.7
$GPS2,180814,052854,7252.380,-14553.605,5,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.1,74812,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-175.1,173,2368,517,494,0.0,0.0,0,79,0.00,0.00,-62.72,0.000,16386,0.000,0.000,172,2368,2017,2032,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,173,2368,2032,2006,3.3,-2.5,6,140,11.02,2.45,-40.92,0.000,18948,0.469,0.106,2195,950,3945,4001,3889,0,0,0,0,0,0,14.03,14.36,14.57
$GC,349,-0.72,-175.1,2197,951,3999,3894,76.8,-21.6,60,355,0.00,2.55,0.00,0.000,1030,0.000,0.102,2187,2360,3948,4002,3894,0,0,0,0,0,0,28.83,14.38,28.83
$GC,659,-0.72,-175.1,2188,2363,4001,3894,144.7,-21.2,92,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2363,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.72,-175.1,2187,2363,4003,3896,201.4,-17.9,122,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2363,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-0.72,-175.1,2187,2363,4002,3894,250.3,-15.0,152,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2363,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.72,-175.1,2188,2363,4004,3895,293.7,-14.0,162,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2362,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1859,-0.72,-175.1,2187,2363,4003,3895,335.2,-13.8,172,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2363,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2159,-0.72,-175.1,2188,2363,4001,3895,376.4,-13.6,182,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2362,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.72,-175.1,2187,2363,4003,3894,416.3,-13.2,192,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2362,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,-0.72,-175.1,2187,2364,4002,3895,454.9,-12.8,202,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2363,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3059,-0.72,-175.1,2188,2363,4001,3895,492.9,-12.7,212,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2363,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-0.72,-175.1,2188,2363,4001,3894,531.4,-12.9,222,3364,0.00,2.50,0.00,0.000,260,0.000,0.123,2176,3777,3947,4001,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3409,-0.72,-175.1,2177,3778,4001,3895,538.5,-14.3,232,3415,0.00,2.42,0.00,0.000,1030,0.000,0.078,2173,2360,3947,4001,3894,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3719,-0.72,-175.1,2176,2360,4003,3895,580.3,-13.4,244,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2359,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4019,-0.72,-175.1,2176,2361,4003,3895,620.3,-13.3,254,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2357,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-0.72,-175.1,2177,2361,4005,3895,660.1,-13.3,264,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2364,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-0.72,-175.1,2175,2360,4003,3895,699.7,-13.1,274,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2356,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4919,-0.72,-175.1,2176,2360,4003,3895,738.6,-12.8,284,4924,0.00,2.53,0.00,0.000,260,0.000,0.122,2165,3778,3947,4001,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4949,-0.72,-175.1,2165,3778,4003,3895,742.8,-15.0,290,4955,0.15,2.42,0.00,0.000,3078,0.284,0.077,2196,2360,3947,4001,3894,0,0,0,0,0,0,14.50,14.65,28.83
$STATE,5008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5008,begin apogee
$GC,5012,-0.14,0.0,2196,2612,3999,3895,750.1,-11.9,297,5185,0.73,0.00,164.75,2.469,10246,0.267,0.000,2390,2611,3231,3282,3180,0,0,0,0,1,0,14.49,28.83,12.59
$STATE,5186,end apogee,CONTROL_FINISHED_OK
$STATE,5186,begin climb
$GC,5187,0.72,175.1,2385,2612,3291,3182,755.8,0.0,302,5356,0.95,2.33,161.68,1.948,10500,0.142,0.115,2661,3770,2508,2571,2446,0,0,0,0,0,0,13.44,12.97,12.33
$GC,5386,0.72,175.1,2662,3771,2565,2442,744.1,14.8,332,5391,0.00,2.20,0.00,0.000,1030,0.000,0.072,2670,2601,2502,2566,2439,0,0,0,0,0,0,28.83,13.26,28.83
$GC,5702,0.72,175.1,2671,2603,2565,2438,701.1,13.4,345,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2605,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,0.72,175.1,2670,2604,2567,2438,660.5,13.5,355,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2605,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,0.72,175.1,2671,2605,2566,2437,619.9,13.5,365,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2603,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6601,0.72,175.1,2671,2605,2565,2437,580.3,13.2,375,6606,0.00,2.40,0.00,0.000,516,0.000,0.086,2681,1199,2501,2566,2436,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6641,0.72,175.1,2680,1199,2567,2437,575.1,12.8,383,6646,0.00,2.47,0.00,0.000,1030,0.000,0.099,2680,2602,2500,2565,2436,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6962,0.72,175.1,2681,2603,2565,2436,531.1,13.7,397,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2605,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7261,0.72,175.1,2680,2603,2567,2436,490.0,13.7,407,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2602,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7561,0.72,175.1,2682,2602,2565,2436,448.8,13.7,417,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2504,2572,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7861,0.72,175.1,2680,2603,2567,2436,407.2,13.9,427,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2602,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8161,0.72,175.1,2682,2603,2566,2436,365.6,13.7,437,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2602,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8461,0.72,175.1,2680,2602,2567,2436,325.8,13.2,447,8466,0.00,2.40,0.00,0.000,516,0.000,0.085,2691,1195,2498,2565,2432,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8496,0.72,175.1,2692,1195,2565,2436,321.4,12.3,454,8501,0.00,2.50,0.00,0.000,1030,0.000,0.099,2690,2598,2500,2566,2435,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8822,0.72,175.1,2692,2599,2565,2436,278.2,13.3,469,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2598,2502,2568,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9121,0.72,175.1,2690,2599,2567,2436,239.6,12.3,483,9126,0.00,2.10,0.00,0.000,260,0.000,0.122,2691,3763,2500,2565,2435,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9166,0.72,175.1,2691,3763,2567,2438,233.4,14.0,492,9172,0.10,2.00,0.00,0.000,5126,0.264,0.079,2674,2596,2500,2566,2435,0,0,0,0,0,0,14.38,14.57,28.83
$GC,9472,0.79,242.2,2673,2599,2567,2436,204.1,8.7,523,9533,0.00,2.50,56.28,1.364,8708,0.000,0.083,2682,1200,2237,2308,2167,0,0,0,0,0,0,28.83,14.19,13.65
$GC,9598,0.85,242.2,2683,1200,2303,2156,191.6,10.2,548,9605,0.00,2.55,0.00,0.000,1030,0.000,0.099,2683,2593,2228,2303,2154,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9903,0.89,288.8,2683,2594,2303,2152,161.1,9.6,579,9945,0.12,0.00,40.60,1.306,10246,0.155,0.000,2723,2593,2051,2133,1970,0,0,0,0,0,0,14.33,28.83,13.57
$GC,10243,0.89,288.8,2725,2594,2123,1948,118.6,12.0,613,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2593,2034,2122,1947,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5a85fa2bb7;,*63
$MODEM_MSG,CACST,6,0,20140818081503.603942,3,946,11,0125,0150,100,00,00,03,04,1,010,000,0,5,1,0,150,-51.9,1.5,-100,1.6,-01,0.4,27,900,0025*23
$GC,10543,0.95,288.8,2723,2594,2123,1947,86.1,10.2,643,10548,0.00,2.42,0.00,0.000,516,0.000,0.086,2733,1198,2036,2126,1946,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10578,1.00,341.0,2734,1199,2123,1946,82.9,9.3,650,10609,0.00,2.50,24.00,0.409,9222,0.000,0.099,2734,2603,1840,1925,1755,0,0,0,0,0,0,28.83,14.42,14.12
$GC,10913,1.11,450.8,2736,2604,1941,1765,53.1,6.8,687,10975,0.17,0.00,56.67,0.323,10502,0.129,0.000,2795,2603,1393,1484,1302,0,0,0,0,0,0,14.44,28.83,14.19
$GC,11273,1.28,622.2,2796,2604,1489,1308,17.5,4.0,726,11367,0.15,2.47,85.07,0.226,10756,0.142,0.086,2858,1191,693,751,636,0,0,0,0,0,0,14.45,14.33,14.24
$FREEZE,8.66,0.786,-1.422,2,1,0
$FREEZE,8.16,0.789,-1.421,2,1,0
$FREEZE,7.75,0.789,-1.420,2,1,0
$FREEZE,7.32,0.789,-1.420,2,1,0
$FREEZE,6.86,0.789,-1.420,2,1,0
$FREEZE,6.34,0.790,-1.419,2,1,0
$FREEZE,5.88,0.790,-1.419,2,1,0
$FREEZE,5.30,0.790,-1.418,2,1,0
$FREEZE,4.74,0.790,-1.418,2,1,0
$FREEZE,4.20,0.789,-1.418,2,1,0
$FREEZE,3.51,0.789,-1.417,2,1,0
$FREEZE,2.97,0.790,-1.417,2,1,0
$FREEZE,2.33,0.790,-1.416,2,1,0
$FREEZE,1.99,0.788,-1.416,2,1,0
$STATE,11465,end climb,SURFACE_DEPTH_REACHED
$STATE,11465,begin surface coast
$FREEZE,1.61,0.788,-1.416,2,1,0
$FREEZE,1.35,0.722,-1.419,2,1,0
$FINISH,1.4,1.020880
$STATE,11475,end surface coast,CONTROL_FINISHED_OK
$STATE,11475,begin surface
$SM_CCo,11491,23.98,0.196,0,0,498,669.91
$SM_GC,2.10,8.10,2.12,23.98,0.098,0.096,0.196,200,2366,498,-6.94,-0.48,669.91,0,0,0,0,0,0,14.40,14.40,14.31
$RAFOS_CLK,111
$MODEM,10,1408349703,74.15660,-152.81000,182.604,264740.4
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7214.16,-14602.46,180814,015832
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.37
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.70
$XPDR_PINGS,1
$SC_FREEKB,3998584
$24V_AH,12.33,115.616
$10V_AH,12.49,0.000
$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,21.500,48.325,589.050,23.975,0.000,0.000,0.000,221.450,0.250,0.000,27.656,0.000,9264.166,688.799,1811.758,145.589,0.000,1535.793,0.000,1148.102,1491.000,0.537,0.000
$DEVICE_MAMPS,468.945,125.460,2468.655,195.840,0.000,0.000,0.000,167.535,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11513.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.950,0.000,0.000,0.000
$MEM,265428
$DATA_FILE_SIZE,26702,766
$CAP_FILE_SIZE,125016,0
$CFSIZE,2097872896,2052259840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,12383.67,0x2378b6,7,5
$SOUNDSPEED,1449.8
$GPS,180814,084242,7250.948,-14553.827,36,0.9,56,22.3