version: 66.12
glider: 199
mission: 5
dive: 169
start: 8 19 114 5 9 43
data:
$ID,199
$MISSION,5
$DIVE,169
$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,-21808.844
$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,27
$R_STBD_OVSHOOT,16
$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
$GPS1,190814,050248,7301.122,-14550.694,37,0.7,57,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-73.8
$GPS2,190814,050924,7301.141,-14550.683,5,0.8,26,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.4,25669,-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,-175.1,186,2355,488,503,0.0,0.0,0,79,0.00,0.00,-61.90,0.000,16386,0.000,0.000,184,2354,2014,2029,1999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,185,2355,2028,1996,3.4,-2.4,6,140,11.10,2.58,-40.75,0.000,18692,0.474,0.140,2180,3770,3946,4001,3892,0,0,0,0,0,0,14.02,14.32,14.57
$GC,364,-0.72,-175.1,2181,3769,4000,3896,90.5,-25.7,63,371,0.00,2.47,0.00,0.000,1030,0.000,0.080,2180,2353,3948,4001,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,670,-0.72,-175.1,2180,2353,4002,3897,157.7,-20.3,94,675,0.00,2.55,0.00,0.000,260,0.000,0.121,2169,3770,3949,4001,3897,0,0,0,0,0,0,28.83,14.44,28.83
$GC,894,-0.72,-175.1,2169,3771,4002,3898,204.9,-21.1,139,901,0.10,2.45,0.00,0.000,3078,0.289,0.079,2206,2358,3949,4001,3897,0,0,0,0,0,0,14.32,14.50,28.83
$GC,1199,-0.72,-175.1,2206,2355,4000,3897,250.7,-14.7,170,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2355,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-0.72,-175.1,2204,2355,4002,3898,290.6,-13.0,180,1505,0.00,2.55,0.00,0.000,260,0.000,0.123,2196,3771,3948,4000,3896,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1564,-0.72,-175.1,2199,3772,4000,3897,299.6,-13.4,193,1570,0.00,2.45,0.00,0.000,1030,0.000,0.078,2196,2353,3948,4001,3896,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1890,-0.72,-175.1,2196,2353,4002,3897,343.3,-13.3,208,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2352,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2189,-0.72,-175.1,2196,2353,4001,3897,382.1,-12.8,218,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2352,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2489,-0.72,-175.1,2196,2352,4002,3897,420.0,-12.6,228,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2352,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2789,-0.72,-175.1,2196,2352,4002,3897,457.8,-12.6,238,2795,0.00,2.53,0.00,0.000,260,0.000,0.122,2185,3769,3947,4000,3894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2829,-0.72,-175.1,2186,3770,4000,3896,463.3,-14.0,246,2835,0.00,2.42,0.00,0.000,1030,0.000,0.077,2185,2355,3949,4000,3898,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3150,-0.72,-175.1,2186,2355,4000,3897,505.6,-13.2,260,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2355,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3449,-0.72,-175.1,2185,2356,4002,3897,544.6,-12.9,270,3455,0.00,2.50,0.00,0.000,260,0.000,0.121,2175,3770,3948,4001,3896,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3499,-0.72,-175.1,2176,3770,4000,3898,551.6,-14.4,280,3505,0.00,2.40,0.00,0.000,1030,0.000,0.076,2175,2358,3948,4000,3896,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3809,-0.72,-175.1,2176,2355,4000,3897,593.4,-13.4,292,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2353,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.72,-175.1,2177,2358,4000,3897,633.5,-13.3,302,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2358,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.72,-175.1,2174,2358,4002,3893,673.4,-13.2,312,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2357,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.72,-175.1,2176,2358,4000,3897,712.7,-13.2,322,4715,0.00,2.50,0.00,0.000,260,0.000,0.120,2164,3771,3949,4001,3897,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4759,-0.72,-175.1,2164,3772,4002,3897,719.7,-14.1,332,4765,0.10,2.40,0.00,0.000,3078,0.262,0.076,2190,2363,3948,4001,3896,0,0,0,0,0,0,14.47,14.66,28.83
$STATE,5039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5039,begin apogee
$GC,5043,-0.14,0.0,2189,2605,4001,3897,753.4,-11.9,343,5266,0.75,0.00,219.57,1.647,10246,0.271,0.000,2383,2604,3230,3281,3179,0,0,0,0,0,0,14.45,28.83,13.05
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5268,0.72,175.1,2385,2605,3278,3176,761.8,0.0,350,5432,0.98,2.75,157.20,2.014,10756,0.151,0.080,2671,1203,2509,2570,2449,0,0,0,0,0,0,13.64,13.10,12.43
$GC,5446,0.72,175.1,2671,1205,2569,2444,751.8,11.2,359,5452,0.00,2.70,0.00,0.000,1030,0.000,0.093,2671,2595,2504,2567,2442,0,0,0,0,0,0,28.83,13.21,28.83
$GC,5763,0.72,175.1,2673,2596,2566,2438,709.0,13.6,372,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2595,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,0.72,175.1,2673,2596,2566,2438,668.3,13.6,382,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2596,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6362,0.72,175.1,2668,2596,2567,2439,627.3,13.7,392,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2596,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,0.72,175.1,2671,2595,2568,2438,586.3,13.7,402,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2601,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6962,0.72,175.1,2671,2596,2568,2438,545.4,13.7,412,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2595,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7262,0.72,175.1,2672,2597,2566,2438,504.9,13.5,422,7267,0.00,2.10,0.00,0.000,260,0.000,0.122,2671,3766,2501,2566,2437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7291,0.72,175.1,2672,3766,2566,2437,500.4,15.2,428,7297,0.00,2.00,0.00,0.000,1030,0.000,0.078,2680,2599,2501,2566,2437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7623,0.72,175.1,2680,2600,2567,2438,454.9,13.7,444,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2599,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,0.72,175.1,2680,2600,2566,2437,414.0,13.7,454,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2599,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,0.72,175.1,2681,2600,2566,2438,373.4,13.5,464,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2599,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8522,0.72,175.1,2681,2600,2566,2437,333.5,13.2,474,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2599,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8822,0.72,175.1,2680,2600,2567,2438,294.7,12.9,484,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2599,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,0.72,175.1,2681,2600,2566,2438,258.5,11.8,494,9127,0.00,2.38,0.00,0.000,516,0.000,0.083,2690,1193,2501,2566,2437,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9146,0.78,175.1,2691,1198,2566,2438,255.7,10.3,499,9153,0.00,2.45,0.00,0.000,1030,0.000,0.096,2691,2605,2501,2566,2437,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9452,0.84,175.1,2690,2606,2568,2438,222.0,10.2,526,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2605,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9752,0.92,261.4,2690,2606,2567,2438,194.7,7.8,556,9828,0.12,0.00,73.22,1.405,10502,0.155,0.000,2734,2605,2158,2225,2092,0,0,0,0,0,0,14.60,28.83,13.59
$GC,10132,0.92,261.4,2737,2606,2220,2072,147.2,12.9,600,10137,0.00,2.12,0.00,0.000,260,0.000,0.122,2738,3765,2145,2219,2072,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10176,0.92,261.4,2740,3766,2221,2073,141.2,13.5,607,10183,0.00,2.03,0.00,0.000,1030,0.000,0.079,2744,2602,2145,2220,2071,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10481,0.92,261.4,2745,2603,2220,2071,106.3,11.2,638,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2602,2143,2217,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10781,0.97,261.4,2744,2603,2221,2070,74.7,10.3,668,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2602,2144,2220,2069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11081,1.16,451.2,2744,2603,2221,2069,54.1,3.2,698,11175,0.20,0.00,91.12,0.329,10758,0.128,0.000,2812,2602,1391,1480,1303,0,0,0,0,0,0,14.35,28.83,14.11
$GC,11471,1.22,451.2,2813,2602,1486,1308,16.6,10.2,743,11476,0.00,2.45,0.00,0.000,516,0.000,0.086,2828,1184,1398,1487,1309,0,0,0,0,0,0,28.83,14.36,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b085a5621;,*0A
$MODEM_MSG,CACST,6,0,20140819080212.329227,3,1129,24,0419,0150,100,00,00,01,04,1,004,000,0,5,1,0,150,11.1,10.9,-100,-7.9,-01,-0.2,19,900,0025*09
$MODEM_MSG,CACST,6,1,20140819080443.990436,3,245,23,0107,0150,100,00,00,00,02,-1,-01,-01,1,3,1,0,150,16.5,2.8,-100,0.2,-01,0.2,23,900,0025*26
$MODEM_MSG,CACST,6,1,20140819081701.465573,3,213,23,0122,0150,100,00,00,00,04,-1,-01,-01,1,3,1,0,150,7.2,1.5,-100,1.5,-01,-0.2,30,900,0025*34
$FREEZE,8.68,0.123,-1.442,2,1,0
$FREEZE,8.07,0.123,-1.441,2,1,0
$FREEZE,7.57,0.098,-1.438,2,1,0
$FREEZE,6.70,0.098,-1.437,2,1,0
$FREEZE,6.02,0.083,-1.435,2,1,0
$FREEZE,5.18,0.083,-1.434,2,1,0
$FREEZE,4.40,0.081,-1.432,2,1,0
$FREEZE,3.50,0.081,-1.432,2,1,0
$GC,11704,1.45,684.7,2825,1188,1486,1308,11.3,1.3,789,11820,0.25,2.50,107.40,0.212,11270,0.112,0.096,2910,2600,494,509,479,0,0,0,0,0,0,14.45,14.40,14.22
$FREEZE,1.57,0.186,-1.424,2,1,0
$STATE,11823,end climb,SURFACE_DEPTH_REACHED
$STATE,11823,begin surface coast
$FREEZE,1.27,0.193,-0.381,2,1,0
$FINISH,1.3,1.005512
$STATE,11833,end surface coast,CONTROL_FINISHED_OK
$STATE,11833,begin surface
$SM_CCo,11908,0.00,0.000,0,0,497,670.40
$SM_GC,2.46,8.38,0.43,0.00,0.103,0.093,0.000,204,2365,497,-6.95,0.99,670.40,0,0,0,0,0,0,14.33,14.37,28.83
$RAFOS_CLK,78
$MODEM,4,1408435332,74.57380,-148.46680,131.329,190429.8
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7221.25,-14552.15,190814,014025
$TT8_MAMPS,0.047187,0.047187
$HUMID,47.75
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3997788
$24V_AH,12.43,117.919
$10V_AH,12.65,0.000
$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,21.975,54.150,648.525,0.000,0.000,0.000,0.000,226.900,0.000,0.000,28.897,0.000,9511.492,747.887,1889.109,152.904,0.000,1618.696,0.000,1208.798,1497.000,0.536,0.000
$DEVICE_MAMPS,474.300,139.995,2014.245,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11860.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.027,0.000,0.000,0.000
$MEM,261388
$DATA_FILE_SIZE,26707,811
$CAP_FILE_SIZE,128657,0
$CFSIZE,2097872896,2050949120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12292.33,0x2378b6,7,5
$SOUNDSPEED,1449.2
$GPS,190814,082924,7302.806,-14550.841,22,0.7,42,22.4