version: 66.12
glider: 199
mission: 5
dive: 207
start: 8 24 114 14 57 20
data:
$ID,199
$MISSION,5
$DIVE,207
$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,-22221.535
$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,36
$R_STBD_OVSHOOT,17
$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
$GPS1,240814,144948,7341.627,-14651.302,37,0.8,57,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-72.2
$GPS2,240814,145700,7341.598,-14651.358,5,0.8,25,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.5,165936,-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,-175.1,198,2351,489,508,0.0,0.0,0,79,0.00,0.00,-62.25,0.000,16386,0.000,0.000,197,2351,1993,2007,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,197,2352,2009,1980,3.1,-1.8,6,144,10.95,2.62,-45.05,0.000,18692,0.465,0.145,2181,3774,3946,4002,3891,0,0,0,0,0,0,13.95,14.25,14.53
$GC,368,-0.72,-175.1,2180,3769,4004,3895,90.9,-25.4,64,374,0.00,2.42,0.00,0.000,1030,0.000,0.080,2178,2363,3948,4002,3894,0,0,0,0,0,0,28.83,14.36,28.83
$GC,678,-0.72,-175.1,2182,2362,4002,3895,158.6,-20.8,96,684,0.00,2.55,0.00,0.000,260,0.000,0.122,2170,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.39,28.83
$GC,763,-0.72,-175.1,2169,3768,4004,3896,176.8,-21.5,113,770,0.12,2.42,0.00,0.000,3078,0.305,0.078,2193,2355,3948,4002,3895,0,0,0,0,0,0,14.23,14.45,28.83
$GC,1068,-0.72,-175.1,2194,2354,4002,3895,229.6,-16.0,144,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-0.72,-175.1,2194,2354,4002,3895,276.9,-14.2,164,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2354,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1688,-0.72,-175.1,2191,2354,4004,3896,318.2,-13.8,174,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2354,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-0.72,-175.1,2194,2354,4002,3895,357.8,-13.0,184,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2354,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.72,-175.1,2194,2354,4002,3895,396.1,-12.7,194,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2588,-0.72,-175.1,2192,2354,4004,3895,433.9,-12.6,204,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-0.72,-175.1,2193,2354,4004,3896,471.1,-12.3,214,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3188,-0.72,-175.1,2193,2354,4002,3894,507.5,-12.0,224,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3488,-0.72,-175.1,2193,2354,4004,3896,543.5,-11.9,234,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3790,-0.72,-175.1,2194,2354,4002,3895,578.9,-11.7,244,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2357,3944,3997,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4088,-0.72,-175.1,2192,2354,4004,3896,614.4,-11.9,254,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4388,-0.72,-175.1,2192,2354,4004,3896,650.0,-11.9,264,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2353,3947,3999,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4688,-0.72,-175.1,2198,2354,4004,3897,685.8,-12.0,274,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4988,-0.72,-175.1,2194,2354,4002,3898,721.5,-11.9,284,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2354,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140824160533.533710,3,440,14,0105,0150,100,00,00,02,04,-1,-01,-01,1,3,0,0,150,2.8,1.5,-100,1.6,-01,-0.3,25,900,0025*38
$STATE,5260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5261,begin apogee
$GC,5265,-0.14,0.0,2193,2601,4002,3898,753.0,-11.6,293,5488,0.75,0.00,220.07,1.727,10246,0.265,0.000,2384,2600,3231,3282,3180,0,0,0,0,0,0,14.31,28.83,12.88
$STATE,5488,end apogee,CONTROL_FINISHED_OK
$STATE,5489,begin climb
$GC,5490,0.72,175.1,2384,2601,3279,3175,762.0,0.0,300,5656,0.95,2.35,156.20,2.003,10500,0.134,0.118,2664,3764,2511,2572,2450,0,0,0,0,0,0,13.50,13.06,12.38
$GC,5755,0.72,175.1,2664,3765,2569,2444,740.0,15.4,357,5760,0.00,2.17,0.00,0.000,1030,0.000,0.075,2673,2592,2505,2567,2443,0,0,0,0,0,0,28.83,13.61,28.83
$GC,6072,0.72,175.1,2674,2592,2567,2442,696.8,13.7,370,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2592,2504,2568,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,0.72,175.1,2673,2592,2567,2441,656.0,13.6,380,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2591,2504,2567,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,0.72,175.1,2674,2591,2567,2441,615.2,13.6,390,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2592,2503,2567,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,0.72,175.1,2672,2593,2569,2441,574.4,13.6,400,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2593,2504,2567,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,0.72,175.1,2672,2593,2569,2440,533.4,13.6,410,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2592,2503,2567,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,0.72,175.1,2672,2593,2569,2441,492.7,13.6,420,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2507,2568,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,0.72,175.1,2674,2592,2567,2441,452.5,13.4,430,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2593,2503,2567,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8170,0.72,175.1,2674,2589,2567,2441,413.2,13.1,440,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2504,2568,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8470,0.72,175.1,2671,2592,2567,2441,374.7,12.7,450,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2506,2572,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8770,0.72,175.1,2674,2592,2567,2441,336.5,12.7,460,8775,0.00,2.40,0.00,0.000,516,0.000,0.087,2683,1187,2503,2567,2440,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8820,0.72,175.1,2683,1187,2569,2441,330.2,12.4,470,8825,0.00,2.47,0.00,0.000,1030,0.000,0.099,2683,2601,2503,2567,2440,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9130,0.72,175.1,2685,2601,2567,2441,290.2,12.7,482,9136,0.00,2.10,0.00,0.000,260,0.000,0.122,2683,3765,2503,2567,2440,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9170,0.72,175.1,2684,3768,2567,2441,284.6,13.9,490,9175,0.00,2.00,0.00,0.000,1030,0.000,0.080,2692,2600,2504,2567,2441,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9481,0.72,175.1,2690,2601,2569,2441,247.0,11.4,505,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2600,2503,2567,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9780,0.78,234.9,2692,2601,2569,2441,216.6,9.0,535,9836,0.00,2.42,50.83,1.408,8708,0.000,0.083,2702,1196,2265,2333,2198,0,0,0,0,0,0,28.83,14.31,13.70
$GC,9876,0.82,234.9,2704,1197,2329,2189,206.9,10.8,554,9883,0.00,2.53,0.00,0.000,1030,0.000,0.099,2702,2607,2258,2329,2188,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10181,0.87,234.9,2702,2608,2330,2188,174.8,10.2,585,10186,0.00,2.45,0.00,0.000,516,0.000,0.086,2718,1196,2258,2328,2188,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10286,0.93,234.9,2712,1197,2330,2188,164.5,10.1,606,10292,0.00,2.50,0.00,0.000,1030,0.000,0.101,2712,2608,2256,2328,2185,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10592,0.98,283.3,2713,2604,2328,2186,134.8,9.5,637,10636,0.12,0.00,42.25,1.323,10246,0.149,0.000,2761,2603,2074,2152,1997,0,0,0,0,0,0,14.54,28.83,13.68
$GC,10931,0.98,283.3,2762,2603,2140,1974,92.1,11.9,671,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2603,2056,2140,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11231,1.06,363.8,2760,2604,2142,1972,61.3,8.1,701,11273,0.00,2.55,37.35,0.351,8708,0.000,0.086,2771,1194,1748,1832,1664,0,0,0,0,0,0,28.83,14.31,14.10
$GC,11333,1.13,426.1,2771,1195,1846,1669,52.4,8.9,721,11374,0.00,2.53,33.12,0.325,9222,0.000,0.100,2771,2602,1493,1582,1405,0,0,0,0,0,0,28.83,14.26,14.07
$GC,11673,1.23,528.7,2771,2602,1591,1412,23.0,7.1,759,11735,0.17,2.53,52.30,0.239,10756,0.131,0.086,2844,1201,1072,1154,990,0,0,0,0,0,0,14.37,14.27,14.16
$FREEZE,8.80,-0.730,-1.465,2,1,0
$FREEZE,8.39,-0.730,-1.465,2,1,0
$FREEZE,8.14,-0.673,-1.463,2,1,0
$FREEZE,7.71,-0.673,-1.463,2,1,0
$FREEZE,7.41,-0.640,-1.462,2,1,0
$FREEZE,7.09,-0.640,-1.462,2,1,0
$FREEZE,6.60,-0.598,-1.461,2,1,0
$FREEZE,6.25,-0.598,-1.460,2,1,0
$FREEZE,5.91,-0.587,-1.460,2,1,0
$FREEZE,5.62,-0.587,-1.460,2,1,0
$FREEZE,5.14,-0.542,-1.459,2,1,0
$FREEZE,4.81,-0.542,-1.459,2,1,0
$FREEZE,4.42,-0.540,-1.459,2,1,0
$FREEZE,4.13,-0.540,-1.458,2,1,0
$FREEZE,3.78,-0.538,-1.458,2,1,0
$FREEZE,3.43,-0.538,-1.458,2,1,0
$FREEZE,2.88,-0.546,-1.458,2,1,0
$FREEZE,2.23,-0.546,-1.458,2,1,0
$FREEZE,1.80,-0.529,-1.457,2,1,0
$GC,11925,1.34,638.1,2846,1202,1161,991,3.8,6.8,809,11953,0.00,2.53,23.90,0.197,9218,0.000,0.102,2844,2604,879,956,803,0,0,0,0,0,0,28.83,14.30,28.83
$STATE,11953,end climb,SURFACE_DEPTH_REACHED
$STATE,11954,begin surface coast
$FREEZE,1.43,-0.529,-1.457,2,1,0
$FREEZE,1.40,-0.586,-0.748,2,1,0
$FINISH,1.4,1.011012
$STATE,11963,end surface coast,CONTROL_FINISHED_OK
$STATE,11963,begin surface
$SM_CCo,11978,46.62,0.191,0,0,498,669.67
$SM_GC,2.40,8.07,0.43,46.62,0.093,0.097,0.191,197,2367,498,-6.94,1.13,669.67,0,0,0,0,0,0,14.38,14.38,14.23
$RAFOS_CLK,371
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14646.32,240814,112844
$TT8_MAMPS,0.047936,0.047936
$HUMID,48.74
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3993348
$24V_AH,12.38,130.938
$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,21.150,44.450,616.025,46.625,0.000,0.000,0.000,253.900,0.000,0.000,26.292,0.000,9653.503,712.940,1930.023,165.944,0.000,1633.975,0.000,1215.277,1474.000,0.536,0.000
$DEVICE_MAMPS,465.120,144.585,2002.770,191.250,0.000,0.000,0.000,169.830,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.851,0.000,0.000,0.000
$MEM,240572
$DATA_FILE_SIZE,26751,815
$CAP_FILE_SIZE,128580,0
$CFSIZE,2097872896,2043674624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12272.35,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,240814,181918,7339.972,-14651.846,39,0.8,59,22.1