version: 66.12
glider: 199
mission: 5
dive: 241
start: 8 29 114 7 16 19
data:
$ID,199
$MISSION,5
$DIVE,241
$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,-23715.121
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,290814,034703,7424.071,-14654.952,181,99.0,181,22.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-66.4
$GPS2,290814,034703,7424.071,-14654.952,181,99.0,181,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.1,94348,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-175.1,198,2361,515,485,0.0,0.0,0,81,0.00,0.00,-62.28,0.000,16386,0.000,0.000,198,2360,2002,2015,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,200,2361,2015,1989,3.2,-0.6,6,146,10.77,2.50,-44.30,0.000,18948,0.463,0.112,2189,953,3946,4003,3890,0,0,0,0,0,0,14.02,14.35,14.62
$GC,225,-0.72,-175.1,2190,954,4003,3895,43.9,-29.3,35,232,0.00,2.53,0.00,0.000,1030,0.000,0.102,2181,2363,3948,4003,3894,0,0,0,0,0,0,28.83,14.31,28.83
$GC,531,-0.72,-175.1,2181,2363,4005,3895,120.8,-22.2,66,536,0.00,2.53,0.00,0.000,260,0.000,0.122,2170,3770,3949,4004,3894,0,0,0,0,0,0,28.83,14.31,28.83
$GC,591,-0.72,-175.1,2171,3771,4002,3895,134.6,-23.4,78,596,0.12,2.42,0.00,0.000,3078,0.301,0.078,2193,2348,3948,4003,3894,0,0,0,0,0,0,14.19,14.40,28.83
$GC,901,-0.72,-175.1,2194,2348,4003,3895,193.1,-17.6,110,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2347,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1201,-0.72,-175.1,2193,2348,4005,3895,243.0,-15.5,140,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2347,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1522,-0.72,-175.1,2189,2348,4006,3895,289.0,-13.9,154,1527,0.00,2.60,0.00,0.000,260,0.000,0.123,2184,3770,3949,4004,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1586,-0.72,-175.1,2185,3770,4003,3895,298.7,-15.1,167,1591,0.00,2.42,0.00,0.000,1030,0.000,0.080,2184,2356,3948,4003,3894,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1913,-0.72,-175.1,2183,2356,4005,3894,343.5,-13.4,182,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2356,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-0.72,-175.1,2183,2356,4005,3895,383.1,-13.2,192,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3946,4003,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-0.72,-175.1,2185,2355,4003,3894,422.6,-13.1,202,2516,0.00,2.58,0.00,0.000,260,0.000,0.124,2173,3770,3948,4003,3893,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2580,-0.72,-175.1,2175,3771,4005,3895,432.4,-14.5,214,2586,0.00,2.42,0.00,0.000,1030,0.000,0.080,2173,2353,3949,4004,3894,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2912,-0.72,-175.1,2173,2352,4005,3895,477.4,-13.4,230,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2351,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-0.72,-175.1,2174,2352,4003,3894,517.5,-13.4,240,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2351,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-0.72,-175.1,2174,2356,4003,3895,557.1,-13.2,250,3515,0.00,2.62,0.00,0.000,260,0.000,0.122,2163,3774,3952,4010,3895,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3575,-0.72,-175.1,2161,3778,4005,3895,566.5,-15.1,263,3581,0.15,2.45,0.00,0.000,3078,0.275,0.078,2193,2352,3948,4003,3894,0,0,0,0,0,0,14.23,14.45,28.83
$GC,3902,-0.72,-175.1,2193,2352,4005,3895,605.5,-12.0,278,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2351,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140829081359.855560,3,303,12,0252,0150,100,00,00,02,05,1,000,000,2,5,1,0,150,21.1,-1.8,-100,4.8,-01,0.1,13,900,0025*2C
$GC,4202,-0.72,-175.1,2195,2350,4003,3895,641.4,-11.9,288,4206,0.00,2.58,0.00,0.000,260,0.000,0.122,2184,3770,3949,4004,3895,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4261,-0.72,-175.1,2184,3770,4005,3896,649.0,-12.2,300,4266,0.00,2.40,0.00,0.000,1030,0.000,0.077,2184,2361,3949,4003,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4592,-0.72,-175.1,2184,2360,4005,3896,689.9,-12.2,316,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2364,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-0.72,-175.1,2184,2360,4005,3897,726.4,-12.2,326,4896,0.00,2.55,0.00,0.000,260,0.000,0.122,2173,3769,3949,4003,3896,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4946,-0.72,-175.1,2173,3770,4005,3897,733.7,-13.9,337,4952,0.00,2.40,0.00,0.000,1030,0.000,0.076,2173,2356,3948,4003,3894,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,5099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5099,begin apogee
$GC,5104,-0.14,0.0,2173,2604,4003,3896,753.1,-12.6,343,5283,0.82,0.00,171.00,1.950,10246,0.270,0.000,2381,2603,3224,3277,3172,0,0,0,0,0,0,14.31,28.83,12.96
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5285,0.72,175.1,2381,2604,3279,3170,759.3,0.0,349,5452,0.95,2.35,156.38,2.083,10500,0.148,0.117,2658,3757,2507,2572,2443,0,0,0,0,0,0,13.61,13.09,12.38
$GC,5582,0.72,175.1,2659,3758,2570,2435,732.4,15.3,409,5587,0.00,2.08,0.00,0.000,1030,0.000,0.073,2667,2599,2502,2571,2434,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5913,0.72,175.1,2668,2598,2570,2432,688.5,13.3,425,5917,0.00,2.45,0.00,0.000,516,0.000,0.085,2677,1194,2499,2567,2432,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5942,0.72,175.1,2678,1195,2570,2431,684.6,12.9,431,5947,0.00,2.53,0.00,0.000,1030,0.000,0.098,2677,2599,2500,2570,2431,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6273,0.72,175.1,2678,2599,2569,2432,638.8,13.9,447,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2598,2500,2570,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6572,0.72,175.1,2678,2599,2570,2432,597.5,13.8,457,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2500,2569,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6872,0.72,175.1,2678,2599,2569,2431,556.4,13.7,467,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2500,2570,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7172,0.72,175.1,2677,2599,2571,2432,515.6,13.6,477,7177,0.00,2.40,0.00,0.000,516,0.000,0.085,2687,1196,2500,2570,2431,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7202,0.72,175.1,2687,1202,2570,2432,511.7,13.3,483,7207,0.00,2.47,0.00,0.000,1030,0.000,0.098,2688,2604,2500,2568,2432,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7533,0.72,175.1,2687,2605,2571,2432,465.5,13.9,499,7538,0.00,2.42,0.00,0.000,516,0.000,0.084,2697,1188,2500,2570,2431,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7557,0.72,175.1,2697,1188,2571,2432,462.0,13.4,504,7564,0.12,2.47,0.00,0.000,5126,0.292,0.098,2674,2597,2501,2570,2432,0,0,0,0,0,0,14.36,14.52,28.83
$GC,7864,0.72,175.1,2675,2600,2567,2432,422.4,12.9,515,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2600,2500,2570,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8162,0.72,175.1,2675,2600,2568,2432,384.5,12.7,525,8168,0.00,2.40,0.00,0.000,516,0.000,0.083,2682,1193,2500,2570,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8182,0.72,175.1,2682,1193,2571,2432,382.0,12.1,529,8188,0.00,2.47,0.00,0.000,1030,0.000,0.098,2682,2607,2500,2570,2431,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8493,0.72,175.1,2684,2609,2569,2432,341.3,13.1,541,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2608,2500,2569,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8792,0.72,175.1,2682,2610,2568,2432,304.0,12.2,551,8798,0.00,2.42,0.00,0.000,516,0.000,0.084,2692,1192,2500,2570,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8837,0.72,175.1,2694,1193,2570,2432,298.6,11.9,560,8843,0.00,2.47,0.00,0.000,1030,0.000,0.098,2692,2604,2500,2570,2431,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9154,0.72,175.1,2694,2608,2570,2432,260.4,11.6,573,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2607,2500,2570,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,0.78,231.6,2692,2608,2566,2432,230.3,9.1,595,9508,0.00,2.53,48.20,1.395,8708,0.000,0.085,2702,1194,2274,2345,2203,0,0,0,0,0,0,28.83,14.33,13.69
$GC,9558,0.81,231.6,2704,1195,2341,2196,219.9,10.9,616,9564,0.00,2.53,0.00,0.000,1030,0.000,0.098,2699,2607,2268,2341,2195,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9863,0.87,231.6,2702,2608,2343,2193,186.5,10.2,647,9868,0.00,2.45,0.00,0.000,516,0.000,0.085,2709,1193,2266,2341,2192,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9893,0.94,231.6,2713,1193,2342,2193,183.6,9.9,653,9898,0.00,2.50,0.00,0.000,1030,0.000,0.098,2713,2600,2266,2341,2192,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10204,1.02,231.6,2714,2601,2341,2193,153.1,9.7,685,10209,0.12,2.42,0.00,0.000,2564,0.154,0.081,2773,1194,2266,2341,2192,0,0,0,0,0,0,14.50,14.47,28.83
$GC,10244,1.06,231.6,2773,1195,2341,2191,148.9,10.5,693,10249,0.00,2.50,0.00,0.000,1030,0.000,0.098,2773,2605,2266,2341,2191,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10555,1.12,231.6,2774,2606,2340,2191,115.5,10.1,725,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2606,2265,2340,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10854,1.21,322.3,2772,2606,2342,2191,90.1,7.6,755,10906,0.17,2.47,43.53,0.434,10756,0.138,0.086,2845,1198,1917,2000,1835,0,0,0,0,0,0,14.41,14.33,14.05
$GC,10955,1.21,322.3,2842,1198,2014,1843,78.6,12.6,775,10961,0.00,2.53,1.65,0.246,9222,0.000,0.099,2840,2604,1914,1999,1830,0,0,0,0,0,0,28.83,14.29,14.13
$GC,11267,1.52,624.4,2841,2604,2014,1848,54.1,-1.8,807,11432,0.22,2.55,156.10,0.318,10756,0.131,0.087,2928,1202,685,717,653,0,0,0,0,0,0,14.32,14.14,13.99
$FREEZE,8.73,-1.194,-1.461,2,2,0
$FREEZE,8.00,-1.201,-1.460,2,2,0
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$STATE,12026,end climb,NO_VERTICAL_VELOCITY
$STATE,12028,begin subsurface finish
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$STATE,12040,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12040,begin surface
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$IRIDIUM_FIX,7342.54,-14658.57,290814,034243
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$HUMID,50.39
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$TCM_TEMP,12.40
$XPDR_PINGS,2
$SC_FREEKB,3988944
$24V_AH,12.38,142.569
$10V_AH,12.55,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.591,0.000,0.000,0.000
$MEM,221952
$DATA_FILE_SIZE,33377,929
$CAP_FILE_SIZE,143361,0
$CFSIZE,2097872896,2037055488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12535.40,0x2378b6,7,5
$SOUNDSPEED,1449.5
$GPS,290814,034703,7424.071,-14654.952,181,99.0,181,22.3