version: 66.12
glider: 199
mission: 5
dive: 178
start: 8 20 114 11 35 20
data:
$ID,199
$MISSION,5
$DIVE,178
$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,-21822.26
$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,20
$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
$GPS1,200814,112826,7315.056,-14550.897,16,0.7,36,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-74.0
$GPS2,200814,113504,7315.055,-14550.875,5,0.9,25,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.4,116780,-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,-175.1,193,2363,480,506,0.0,0.0,0,69,0.00,0.00,-52.17,0.000,16386,0.000,0.000,191,2363,1776,1799,1753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,192,2363,1799,1754,3.1,-2.0,5,144,10.88,2.60,-53.60,0.000,18692,0.467,0.142,2178,3757,3945,3998,3893,0,0,0,0,0,0,14.00,14.31,14.59
$GC,354,-0.72,-175.1,2180,3758,3998,3897,85.8,-26.1,62,361,0.00,2.45,0.00,0.000,1030,0.000,0.083,2178,2364,3947,3999,3896,0,0,0,0,0,0,28.83,14.41,28.83
$GC,659,-0.72,-175.1,2179,2362,3998,3897,152.7,-20.9,93,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2361,3947,3998,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.72,-175.1,2178,2362,4000,3898,210.8,-18.7,123,965,0.00,2.42,0.00,0.000,516,0.000,0.090,2178,948,3947,3998,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1019,-0.72,-175.1,2178,948,4001,3899,221.5,-17.4,135,1025,0.12,2.50,0.00,0.000,3078,0.314,0.106,2191,2357,3948,3999,3898,0,0,0,0,0,0,14.27,14.42,28.83
$GC,1339,-0.72,-175.1,2193,2358,3998,3898,268.7,-14.5,160,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2357,3948,3998,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-0.72,-175.1,2193,2357,4000,3898,310.9,-13.7,170,1645,0.00,2.55,0.00,0.000,260,0.000,0.131,2189,3771,3947,3998,3897,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1689,-0.72,-175.1,2183,3772,4000,3898,318.2,-14.8,180,1695,0.00,2.47,0.00,0.000,1030,0.000,0.085,2183,2329,3948,3998,3898,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1999,-0.72,-175.1,2182,2328,4000,3898,361.2,-13.7,192,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2328,3947,3998,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2299,-0.72,-175.1,2184,2328,3998,3898,401.3,-13.3,202,2305,0.00,2.62,0.00,0.000,260,0.000,0.128,2172,3767,3945,3994,3897,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2334,-0.72,-175.1,2173,3765,3998,3897,406.3,-14.7,209,2340,0.00,2.47,0.00,0.000,1030,0.000,0.083,2173,2353,3946,3998,3894,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2660,-0.72,-175.1,2173,2352,3996,3898,451.3,-13.7,224,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2351,3947,3998,3897,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140820121714.669036,3,649,16,0093,0150,100,00,00,02,05,-1,-01,-01,1,3,0,0,150,15.4,1.8,-100,1.2,-01,0.0,13,900,0025*2A
$GC,2963,-0.72,-175.1,2172,2352,3999,3898,492.6,-13.7,234,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2351,3948,3998,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3260,-0.72,-175.1,2173,2351,3998,3898,533.6,-13.7,244,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2351,3947,3997,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3559,-0.72,-175.1,2173,2351,3998,3898,574.3,-13.5,254,3565,0.00,2.55,0.00,0.000,260,0.000,0.125,2161,3766,3948,3998,3898,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3589,-0.72,-175.1,2161,3767,4000,3903,578.7,-15.3,260,3595,0.15,2.40,0.00,0.000,3078,0.284,0.080,2192,2351,3948,3998,3898,0,0,0,0,0,0,14.40,14.59,28.83
$GC,3919,-0.72,-175.1,2194,2350,3999,3898,618.6,-12.0,276,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2349,3948,3999,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4219,-0.72,-175.1,2193,2350,4000,3898,654.5,-12.0,286,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2348,3948,3999,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.72,-175.1,2193,2350,3998,3895,689.6,-11.7,296,4525,0.00,2.55,0.00,0.000,260,0.000,0.125,2183,3775,3948,3998,3898,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4564,-0.72,-175.1,2183,3776,4000,3898,695.2,-13.2,305,4570,0.00,2.42,0.00,0.000,1030,0.000,0.080,2184,2362,3948,3999,3898,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4880,-0.72,-175.1,2185,2363,3998,3899,733.8,-12.2,318,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2362,3948,3998,3898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5032,-0.14,0.0,2182,2600,4000,3900,752.1,-12.2,323,5249,0.77,0.00,213.18,1.727,10246,0.269,0.000,2381,2599,3229,3280,3179,0,0,0,0,0,0,14.46,28.83,13.02
$STATE,5250,end apogee,CONTROL_FINISHED_OK
$STATE,5250,begin climb
$GC,5251,0.72,175.1,2381,2600,3279,3176,760.0,0.0,330,5410,0.98,0.00,155.45,1.896,10246,0.144,0.000,2661,2601,2515,2573,2457,0,0,0,0,0,0,13.60,28.83,12.45
$GC,5689,0.72,175.1,2661,2600,2567,2439,715.6,13.2,345,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2599,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5989,0.72,175.1,2662,2600,2565,2439,676.3,13.1,355,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2598,2499,2561,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6290,0.72,175.1,2661,2600,2567,2439,637.3,13.0,365,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2599,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6589,0.72,175.1,2662,2605,2565,2438,598.4,12.9,375,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2604,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6890,0.72,175.1,2662,2601,2565,2439,560.1,12.8,385,6895,0.00,2.42,0.00,0.000,516,0.000,0.086,2670,1194,2502,2566,2439,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6944,0.72,175.1,2671,1195,2566,2438,553.1,12.9,396,6951,0.00,2.53,0.00,0.000,1030,0.000,0.099,2671,2630,2501,2565,2438,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7250,0.72,175.1,2672,2630,2565,2438,512.2,13.5,407,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2629,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7550,0.72,175.1,2673,2630,2565,2438,472.2,13.3,417,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2629,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7850,0.72,175.1,2672,2630,2565,2438,432.7,13.1,427,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2629,2500,2564,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8150,0.72,175.1,2671,2630,2567,2438,393.6,13.0,437,8155,0.00,2.47,0.00,0.000,516,0.000,0.086,2682,1193,2501,2565,2437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8190,0.72,175.1,2682,1194,2567,2438,388.7,12.1,445,8195,0.00,2.47,0.00,0.000,1030,0.000,0.099,2682,2603,2501,2565,2437,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8511,0.72,175.1,2683,2603,2565,2438,346.7,13.0,459,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2603,2504,2572,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8810,0.72,175.1,2682,2603,2566,2438,307.7,12.9,469,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2603,2500,2564,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,0.72,175.1,2683,2603,2565,2438,270.5,12.3,479,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2603,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9410,0.75,175.1,2682,2604,2566,2438,235.8,11.0,497,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2603,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9710,0.82,245.4,2682,2604,2567,2438,205.4,8.5,527,9771,0.00,0.00,59.58,1.450,8198,0.000,0.000,2682,2603,2228,2295,2161,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10070,0.89,245.4,2683,2603,2287,2143,169.9,9.8,563,10075,0.12,2.47,0.00,0.000,2564,0.160,0.085,2737,1187,2214,2287,2142,0,0,0,0,0,0,14.44,14.39,28.83
$GC,10114,0.93,245.4,2738,1188,2287,2142,165.1,10.9,572,10121,0.00,2.53,0.00,0.000,1030,0.000,0.099,2736,2610,2215,2287,2144,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10421,0.96,245.4,2736,2604,2289,2142,130.1,10.8,603,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2604,2214,2287,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10720,1.01,299.2,2737,2603,2287,2141,99.0,9.2,633,10751,0.00,2.45,24.90,0.460,8708,0.000,0.086,2747,1193,2015,2096,1934,0,0,0,0,0,0,28.83,14.45,14.17
$GC,10776,1.07,353.6,2748,1194,2107,1938,93.7,9.2,644,10813,0.00,2.50,29.75,0.444,9222,0.000,0.099,2746,2600,1788,1870,1706,0,0,0,0,0,0,28.83,14.42,14.11
$GC,11111,1.16,450.4,2747,2601,1882,1718,58.7,7.3,681,11167,0.17,2.45,50.33,0.340,10756,0.130,0.084,2821,1194,1396,1483,1309,0,0,0,0,0,0,14.42,14.38,14.16
$GC,11257,1.16,450.4,2822,1195,1489,1315,41.5,12.6,710,11264,0.00,2.50,1.05,0.264,9222,0.000,0.099,2821,2600,1393,1479,1307,0,0,0,0,0,0,28.83,14.38,14.31
$FREEZE,8.87,-0.316,-1.463,2,1,0
$FREEZE,8.42,-0.287,-1.462,2,1,0
$FREEZE,7.84,-0.287,-1.461,2,1,0
$FREEZE,7.30,-0.173,-1.458,2,1,0
$FREEZE,6.60,-0.173,-1.458,2,1,0
$FREEZE,5.94,-0.134,-1.456,2,1,0
$FREEZE,5.19,-0.134,-1.455,2,1,0
$GC,11563,1.35,636.0,2822,2600,1485,1314,11.5,3.4,741,11665,0.15,2.53,91.55,0.210,10756,0.137,0.089,2883,1194,633,675,592,0,0,0,0,0,0,14.50,14.35,14.28
$FREEZE,3.85,0.179,-1.442,2,1,0
$FREEZE,3.26,0.199,-1.439,2,1,0
$FREEZE,2.78,0.199,-1.439,2,1,0
$FREEZE,2.06,0.201,-1.439,2,1,0
$FREEZE,1.59,0.201,-1.438,2,1,0
$STATE,11688,end climb,SURFACE_DEPTH_REACHED
$STATE,11688,begin surface coast
$FREEZE,1.42,0.106,-0.721,2,1,0
$FREEZE,1.55,0.106,-0.721,2,1,0
$FINISH,1.5,1.010613
$STATE,11698,end surface coast,CONTROL_FINISHED_OK
$STATE,11698,begin surface
$SM_CCo,11716,17.00,0.197,0,0,497,669.67
$SM_GC,2.28,8.23,2.15,17.00,0.100,0.108,0.197,201,2364,497,-6.94,-0.48,669.67,0,0,0,0,0,0,14.39,14.37,14.29
$RAFOS_CLK,458
$RAFOS_FIX,7312.624023,-14547.229492,200814,080832,2,255,0.22
$IRIDIUM_FIX,7235.57,-14545.58,200814,084125
$TT8_MAMPS,0.047936,0.047936
$HUMID,49.37
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3996764
$24V_AH,12.45,120.916
$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,21.575,59.950,625.775,17.000,0.000,0.000,0.000,230.150,0.000,0.000,27.076,0.000,9402.890,764.117,1806.401,157.482,0.000,1603.292,0.000,1139.239,1493.000,0.536,0.000
$DEVICE_MAMPS,466.650,142.290,1895.670,197.370,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11718.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.745,0.000,0.000,0.000
$MEM,256276
$DATA_FILE_SIZE,26711,761
$CAP_FILE_SIZE,126933,0
$CFSIZE,2097872896,2049179648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10195.42,0x2378b6,7,5
$SOUNDSPEED,1449.5
$GPS,200814,145224,7313.420,-14551.434,36,0.8,56,22.4