version: 66.12
glider: 199
mission: 5
dive: 259
start: 8 31 114 21 40 44
data:
$ID,199
$MISSION,5
$DIVE,259
$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,-24100.736
$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,31
$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
$GPS1,310814,213224,7453.963,-14654.112,26,0.9,46,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-69.2
$GPS2,310814,214024,7454.038,-14654.124,5,0.9,25,22.5
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.4,38871,-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,-175.1,197,2365,514,487,0.0,0.0,0,70,0.00,0.00,-52.25,0.000,16386,0.000,0.000,197,2364,1751,1765,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.72,-175.1,197,2365,1766,1738,3.2,-2.5,5,145,11.10,2.50,-52.30,0.000,19204,0.469,0.109,2187,962,3946,4003,3889,0,0,0,0,0,0,13.96,14.26,14.53
$GC,151,-0.72,-175.1,2189,961,4001,3889,21.4,-37.8,21,156,0.00,2.50,0.00,0.000,1030,0.000,0.092,2179,2367,3945,4001,3889,0,0,0,0,0,0,28.83,14.22,28.83
$GC,461,-0.72,-175.1,2181,2368,4003,3891,110.9,-25.1,53,466,0.00,2.45,0.00,0.000,516,0.000,0.082,2179,952,3946,4002,3890,0,0,0,0,0,0,28.83,14.29,28.83
$GC,691,-0.72,-175.1,2179,952,4004,3893,159.9,-19.6,99,696,0.15,2.50,0.00,0.000,3078,0.316,0.097,2197,2366,3947,4003,3892,0,0,0,0,0,0,14.12,14.35,28.83
$GC,1001,-0.72,-175.1,2198,2362,4002,3893,215.6,-17.5,131,1006,0.00,2.42,0.00,0.000,516,0.000,0.082,2197,954,3947,4003,3892,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1232,-0.72,-175.1,2197,954,4004,3893,250.9,-14.6,177,1237,0.00,2.47,0.00,0.000,1030,0.000,0.099,2188,2355,3947,4003,3891,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1542,-0.72,-175.1,2189,2355,4002,3893,296.1,-14.0,189,1547,0.00,2.53,0.00,0.000,260,0.000,0.119,2177,3772,3947,4003,3892,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1646,-0.72,-175.1,2179,3773,4002,3893,311.6,-15.1,210,1652,0.00,2.40,0.00,0.000,1030,0.000,0.073,2177,2352,3947,4002,3892,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1963,-0.72,-175.1,2177,2352,4005,3893,357.0,-14.3,223,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2351,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2262,-0.72,-175.1,2179,2352,4001,3893,398.3,-13.6,233,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2351,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2562,-0.72,-175.1,2177,2352,4004,3894,438.2,-13.2,243,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2351,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2862,-0.72,-175.1,2177,2352,4005,3892,478.0,-13.2,253,2867,0.00,2.55,0.00,0.000,260,0.000,0.119,2167,3771,3947,4003,3892,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2922,-0.72,-175.1,2168,3771,4002,3892,486.5,-14.3,265,2927,0.12,2.38,0.00,0.000,3078,0.280,0.073,2193,2359,3947,4002,3892,0,0,0,0,0,0,14.33,14.57,28.83
$GC,3252,-0.72,-175.1,2193,2358,4004,3893,525.8,-11.7,281,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-0.72,-175.1,2195,2359,4001,3893,561.2,-11.7,291,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3852,-0.72,-175.1,2194,2359,4002,3893,596.6,-11.8,301,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2358,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.72,-175.1,2195,2358,4002,3893,631.8,-11.8,311,4157,0.00,2.53,0.00,0.000,260,0.000,0.120,2184,3769,3948,4003,3893,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4191,-0.72,-175.1,2184,3769,4004,3894,636.9,-12.9,319,4197,0.00,2.38,0.00,0.000,1030,0.000,0.073,2184,2352,3948,4003,3893,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4513,-0.72,-175.1,2184,2353,4004,3893,677.0,-12.4,333,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2352,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4812,-0.72,-175.1,2185,2353,4002,3893,713.9,-12.2,343,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2350,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5110,begin apogee
$GC,5115,-0.14,0.0,2183,2602,4002,3894,750.1,-12.0,353,5328,0.77,0.00,210.60,1.655,10246,0.265,0.000,2380,2602,3231,3281,3181,0,0,0,0,0,0,14.32,28.83,13.02
$STATE,5329,end apogee,CONTROL_FINISHED_OK
$STATE,5330,begin climb
$GC,5331,0.72,175.1,2380,2602,3279,3173,758.5,0.0,360,5491,1.00,0.00,155.75,1.878,10246,0.145,0.000,2667,2601,2512,2575,2450,0,0,0,0,0,0,13.62,28.83,12.52
$GC,5772,0.72,175.1,2667,2601,2569,2432,716.0,12.9,375,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6072,0.72,175.1,2669,2602,2567,2432,677.3,12.9,385,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2499,2568,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6372,0.72,175.1,2669,2602,2567,2432,638.4,13.0,395,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,0.72,175.1,2669,2602,2567,2432,599.6,13.0,405,6677,0.00,2.45,0.00,0.000,516,0.000,0.080,2677,1194,2499,2568,2431,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6707,0.72,175.1,2679,1195,2569,2430,595.1,12.4,412,6712,0.00,2.47,0.00,0.000,1030,0.000,0.096,2678,2599,2499,2567,2431,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7033,0.72,175.1,2679,2600,2567,2431,551.5,13.5,427,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2599,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7332,0.72,175.1,2677,2600,2569,2432,511.6,13.2,437,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2599,2499,2568,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,0.72,175.1,2678,2600,2569,2432,471.7,13.3,447,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2599,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7932,0.72,175.1,2677,2600,2569,2431,432.0,13.2,457,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2603,2499,2568,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,0.72,175.1,2679,2600,2568,2431,392.8,13.1,467,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2596,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8533,0.72,175.1,2676,2600,2569,2432,354.1,13.0,477,8538,0.00,2.42,0.00,0.000,516,0.000,0.080,2688,1191,2496,2567,2425,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8572,0.72,175.1,2688,1192,2569,2432,349.0,12.4,485,8577,0.00,2.47,0.00,0.000,1030,0.000,0.094,2688,2598,2499,2567,2431,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8894,0.72,175.1,2688,2599,2569,2432,307.8,12.7,499,8898,0.00,2.40,0.00,0.000,516,0.000,0.079,2698,1205,2499,2567,2431,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8908,0.72,175.1,2698,1200,2568,2431,305.8,12.4,502,8913,0.00,2.47,0.00,0.000,1030,0.000,0.094,2698,2604,2499,2567,2431,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9224,0.72,175.1,2697,2605,2568,2432,266.1,12.2,515,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2604,2497,2564,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9523,0.80,175.1,2698,2605,2569,2432,234.0,9.7,535,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2604,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,6,0,1,0,0,1;5;5c3499f723;,*0B
$MODEM_MSG,CACST,6,0,20140901001948.687667,3,665,10,0106,0150,100,00,00,03,05,1,006,000,0,5,1,0,150,-0.4,3.0,-100,0.0,-01,0.3,24,900,0025*15
$MODEM_MSG,CARDP,8,0,1,0,0,1;5;5c02fa1bf7;,*51
$MODEM_MSG,CACST,6,0,20140901002234.246727,3,1796,20,0297,0150,100,00,00,02,04,1,008,000,0,5,1,0,150,6.4,7.4,-100,-4.4,-01,0.1,24,900,0025*20
$GC,9823,0.90,279.5,2698,2604,2569,2432,210.0,7.0,565,9915,0.00,0.00,89.70,1.419,8198,0.000,0.000,2698,2604,2089,2166,2012,0,0,0,0,0,0,28.83,28.83,13.40
$GC,10213,0.96,279.5,2699,2604,2156,1985,168.9,10.3,604,10218,0.15,2.47,0.00,0.000,2564,0.133,0.080,2768,1191,2070,2156,1984,0,0,0,0,0,0,14.31,14.34,28.83
$GC,10228,1.02,279.5,2763,1191,2156,1985,167.3,10.1,607,10234,0.00,2.53,0.00,0.000,1030,0.000,0.094,2762,2604,2070,2156,1984,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10535,1.04,279.5,2762,2605,2158,1984,130.1,11.1,638,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2604,2069,2156,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10833,1.10,279.5,2763,2605,2156,1983,98.7,10.0,668,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2604,2069,2156,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11133,1.18,354.3,2763,2605,2156,1982,72.1,8.3,698,11174,0.17,0.00,34.97,0.378,10246,0.136,0.000,2820,2604,1786,1868,1704,0,0,0,0,0,0,14.31,28.83,14.06
$GC,11473,1.28,459.9,2822,2604,1879,1717,36.2,6.9,732,11535,0.00,2.50,54.15,0.277,8708,0.000,0.081,2831,1194,1357,1443,1272,0,0,0,0,0,0,28.83,14.26,14.07
$GC,11541,1.37,547.2,2831,1195,1446,1274,31.6,7.8,745,11591,0.15,2.53,45.30,0.262,11270,0.140,0.093,2883,2604,999,1070,928,0,0,0,0,0,0,14.24,14.19,14.06
$FREEZE,8.29,-1.163,-1.445,2,1,0
$FREEZE,7.59,-1.161,-1.444,2,1,0
$FREEZE,6.80,-1.159,-1.442,2,1,0
$FREEZE,5.94,-1.159,-1.441,2,1,0
$FREEZE,5.03,-1.158,-1.440,2,1,0
$FREEZE,4.28,-1.162,-1.440,2,1,0
$FREEZE,3.39,-1.160,-1.438,2,1,0
$FREEZE,2.58,-1.155,-1.438,2,1,0
$FREEZE,1.62,-1.156,-1.437,2,1,0
$STATE,11844,end climb,SURFACE_DEPTH_REACHED
$STATE,11844,begin surface coast
$FREEZE,1.28,-1.153,-1.437,2,1,0
$FREEZE,1.30,-1.110,-0.865,2,1,0
$FINISH,1.3,1.012747
$STATE,11864,end surface coast,FINISH_DEPTH_REACHED
$STATE,11864,begin surface
$SM_CCo,11880,61.60,0.194,0,0,498,669.67
$SM_GC,2.50,8.20,0.43,61.60,0.091,0.090,0.194,191,2365,498,-6.97,1.10,669.67,0,0,0,0,0,0,14.36,14.40,14.21
$RAFOS_CLK,160
$MODEM,8,1409530954,75.37580,-154.42281,153.247,222156.6
$MODEM,6,1409530788,75.53460,-158.19400,227.688,330071.1
$RAFOS_FIX,7447.239746,-14654.475586,310814,080805,2,255,0.09
$IRIDIUM_FIX,7405.88,-14650.62,310814,180623
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.21
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3986564
$24V_AH,12.52,149.218
$10V_AH,12.77,0.000
$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,21.825,55.225,590.475,61.600,0.000,0.000,0.000,278.825,0.000,0.000,27.725,0.000,9544.646,761.670,1913.905,203.086,0.000,1661.059,0.000,1170.392,1417.000,0.538,0.000
$DEVICE_MAMPS,468.945,124.695,1878.075,193.545,0.000,0.000,0.000,172.890,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.035,0.000,0.000,0.000
$MEM,212148
$DATA_FILE_SIZE,26717,783
$CAP_FILE_SIZE,129376,0
$CFSIZE,2097872896,2033614848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12550.38,0x2378b6,7,5
$SOUNDSPEED,1449.8
$GPS,010914,010118,7455.417,-14654.556,34,0.8,54,22.5