version: 66.12
glider: 199
mission: 5
dive: 273
start: 9 2 114 22 6 4
data:
$ID,199
$MISSION,5
$DIVE,273
$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,-24483.301
$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,26
$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
$GPS1,020914,184028,7448.243,-14658.303,4,0.9,24,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-2.5
$GPS2,020914,184028,7448.243,-14658.303,4,0.9,24,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.7,289401,-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,16,-0.72,-175.1,2556,2361,733,600,0.0,0.0,0,29,0.00,0.00,-11.55,0.000,16386,0.000,0.000,2556,2360,996,1066,927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.72,-175.1,2557,2361,1066,926,3.2,0.0,1,123,1.05,2.60,-84.12,0.000,21252,0.093,0.142,2190,3769,3947,4006,3889,0,0,0,0,0,0,14.28,14.27,14.59
$GC,234,-0.72,-175.1,2192,3769,4005,3893,59.7,-31.7,40,240,0.00,2.45,0.00,0.000,1030,0.000,0.074,2190,2348,3949,4006,3892,0,0,0,0,0,0,28.83,14.38,28.83
$GC,539,-0.72,-175.1,2192,2347,4012,3894,129.2,-20.0,71,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2347,3953,4013,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,839,-0.72,-175.1,2190,2351,4007,3895,186.5,-18.3,101,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2346,3948,4005,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1139,-0.72,-175.1,2190,2347,4007,3894,237.7,-15.5,131,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2347,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1441,-0.72,-175.1,2190,2347,4007,3894,282.1,-14.4,147,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2347,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-0.72,-175.1,2191,2347,4005,3894,323.4,-13.4,157,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2346,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.72,-175.1,2190,2348,4007,3894,363.1,-13.0,167,2044,0.00,2.60,0.00,0.000,260,0.000,0.122,2180,3772,3949,4005,3893,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2074,-0.72,-175.1,2180,3772,4007,3894,367.9,-14.1,174,2079,0.00,2.45,0.00,0.000,1030,0.000,0.076,2180,2367,3949,4006,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2400,-0.72,-175.1,2181,2366,4005,3894,411.6,-13.3,189,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2365,3953,4006,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2699,-0.72,-175.1,2182,2367,4005,3894,451.1,-13.1,199,2704,0.00,2.53,0.00,0.000,260,0.000,0.122,2169,3767,3950,4007,3893,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2739,-0.72,-175.1,2170,3768,4005,3894,456.7,-14.5,207,2744,0.00,2.40,0.00,0.000,1030,0.000,0.076,2169,2358,3949,4006,3893,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3061,-0.72,-175.1,2169,2357,4007,3899,500.0,-13.5,221,3062,0.12,0.00,0.00,0.000,2054,0.290,0.000,2194,2356,3950,4006,3894,0,0,0,0,0,0,14.31,28.83,28.83
$GC,3359,-0.72,-175.1,2194,2357,4002,3894,535.5,-11.7,231,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2356,3949,4005,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3659,-0.72,-175.1,2195,2356,4005,3894,570.6,-11.6,241,3664,0.00,2.58,0.00,0.000,260,0.000,0.122,2190,3773,3949,4006,3893,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3719,-0.72,-175.1,2186,3773,4005,3893,578.2,-13.0,253,3724,0.00,2.40,0.00,0.000,1030,0.000,0.076,2185,2360,3949,4006,3893,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4051,-0.72,-175.1,2186,2362,4005,3894,618.8,-12.3,269,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3949,4005,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4349,-0.72,-175.1,2185,2360,4007,3894,655.8,-12.4,279,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2359,3950,4006,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4649,-0.72,-175.1,2185,2361,4007,3895,692.2,-12.0,289,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3950,4006,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,-0.72,-175.1,2186,2360,4005,3896,728.3,-12.0,299,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3950,4006,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5157,begin apogee
$GC,5162,-0.14,0.0,2182,2608,4007,3896,753.2,-11.7,306,5385,0.77,0.00,220.62,1.678,10246,0.265,0.000,2379,2607,3231,3283,3180,0,0,0,0,0,0,14.26,28.83,12.95
$STATE,5386,end apogee,CONTROL_FINISHED_OK
$STATE,5386,begin climb
$GC,5388,0.72,175.1,2379,2608,3279,3174,761.9,0.0,313,5552,0.98,0.00,155.75,1.915,10502,0.145,0.000,2662,2607,2506,2570,2443,0,0,0,0,0,0,13.56,28.83,12.46
$GC,5849,0.72,175.1,2662,2608,2568,2431,717.5,12.7,354,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2607,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6149,0.72,175.1,2665,2608,2567,2431,679.2,12.8,364,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2607,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6449,0.72,175.1,2663,2608,2565,2430,640.3,13.1,374,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2607,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6749,0.72,175.1,2664,2606,2566,2430,601.2,13.0,384,6754,0.00,2.47,0.00,0.000,516,0.000,0.083,2673,1189,2498,2567,2430,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6804,0.72,175.1,2674,1189,2565,2430,594.2,12.8,395,6810,0.00,2.50,0.00,0.000,1030,0.000,0.097,2673,2603,2501,2573,2430,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7109,0.72,175.1,2673,2608,2568,2430,553.5,13.3,406,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2606,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,0.72,175.1,2674,2605,2566,2430,513.9,13.1,416,7414,0.00,2.45,0.00,0.000,516,0.000,0.083,2683,1193,2498,2566,2430,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7454,0.72,175.1,2685,1193,2566,2430,508.0,12.9,425,7459,0.00,2.50,0.00,0.000,1030,0.000,0.096,2683,2603,2498,2566,2430,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7770,0.72,175.1,2684,2604,2566,2430,464.8,13.7,438,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2603,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,0.72,175.1,2683,2604,2568,2431,424.7,13.2,448,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2603,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bb9aa6b1f;,*0C
$MODEM_MSG,CACST,6,0,20140903000032.923560,3,188,22,0111,0150,100,00,00,00,03,1,004,000,0,5,1,0,150,14.1,3.3,-100,-0.3,-01,0.3,23,900,0025*2F
$GC,8369,0.72,175.1,2684,2604,2566,2430,385.7,13.0,458,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2603,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8669,0.72,175.1,2683,2604,2568,2430,346.8,12.9,468,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2603,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8969,0.72,175.1,2684,2604,2566,2430,309.4,12.4,478,8974,0.00,2.45,0.00,0.000,516,0.000,0.083,2693,1189,2495,2562,2429,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9029,0.72,175.1,2695,1190,2566,2430,302.0,12.2,490,9034,0.00,2.50,0.00,0.000,1030,0.000,0.096,2694,2603,2497,2566,2429,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9361,0.72,175.1,2695,2604,2566,2431,261.7,11.8,506,9365,0.00,2.42,0.00,0.000,516,0.000,0.081,2704,1197,2498,2566,2430,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9400,0.75,175.1,2705,1197,2566,2431,257.2,11.1,514,9405,0.00,2.47,0.00,0.000,1030,0.000,0.096,2704,2601,2498,2566,2430,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9710,0.82,249.1,2705,2601,2567,2430,226.2,8.3,543,9782,0.00,2.53,62.95,1.439,8708,0.000,0.082,2714,1199,2200,2273,2128,0,0,0,0,0,0,28.83,14.21,13.57
$GC,9801,0.88,249.1,2713,1200,2271,2122,217.4,10.2,560,9806,0.00,2.53,0.00,0.000,1030,0.000,0.095,2714,2600,2194,2270,2119,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10111,0.88,249.1,2713,2600,2270,2118,181.4,11.3,592,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2601,2193,2269,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10412,0.94,249.1,2713,2601,2271,2117,149.8,10.0,622,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2600,2192,2269,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10711,1.01,321.5,2713,2601,2270,2116,122.1,8.4,652,10777,0.15,0.00,63.30,1.367,10246,0.130,0.000,2767,2600,1918,2000,1837,0,0,0,0,0,0,14.52,28.83,13.59
$GC,11071,1.01,321.5,2767,2601,1982,1811,77.1,11.8,688,11076,0.00,2.47,0.00,0.000,516,0.000,0.083,2778,1200,1895,1981,1810,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11136,1.06,370.0,2779,1200,1980,1810,70.6,9.5,701,11163,0.00,2.53,21.85,0.369,9222,0.000,0.096,2778,2600,1720,1806,1635,0,0,0,0,0,0,28.83,14.25,14.00
$GC,11461,1.25,564.6,2778,2600,1820,1652,44.3,3.0,736,11574,0.20,2.53,101.80,0.300,10756,0.126,0.085,2857,1204,927,994,860,0,0,0,0,0,0,14.30,14.18,14.02
$GC,11694,1.25,564.6,2857,1205,1007,861,20.9,11.3,782,11699,0.00,2.50,0.00,0.000,1030,0.000,0.097,2857,2600,932,1005,860,0,0,0,0,0,0,28.83,14.21,28.83
$FREEZE,8.07,-1.176,-1.441,2,2,0
$FREEZE,7.20,-1.177,-1.440,2,2,0
$FREEZE,6.16,-1.178,-1.439,2,2,0
$FREEZE,5.30,-1.178,-1.438,2,2,0
$FREEZE,4.29,-1.178,-1.438,2,2,0
$FREEZE,3.41,-1.175,-1.437,2,2,0
$FREEZE,2.49,-1.174,-1.436,2,2,0
$FREEZE,1.70,-1.173,-1.435,2,2,0
$STATE,11892,end climb,SURFACE_DEPTH_REACHED
$STATE,11892,begin surface coast
$FREEZE,1.26,-1.160,-0.521,2,2,0
$FINISH,1.3,1.007577
$STATE,11903,end surface coast,FINISH_DEPTH_REACHED
$STATE,11903,begin surface
$SM_CCo,11919,53.47,0.196,0,0,498,669.67
$SM_GC,2.28,8.25,0.43,53.47,0.105,0.094,0.196,195,2364,498,-6.95,1.05,669.67,0,0,0,0,0,0,14.37,14.39,14.21
$RAFOS_CLK,229
$MODEM,4,1409702432,75.14120,-146.31720,31.924,46233.6
$RAFOS_FIX,7453.529785,-14648.820312,020914,080829,2,255,0.00
$IRIDIUM_FIX,7405.88,-14655.12,020914,150700
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.25
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3984748
$24V_AH,12.46,154.347
$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,11.525,56.175,626.275,53.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9582.909,730.026,1641.566,144.234,0.000,1388.203,0.000,1201.353,1439.000,0.535,0.000
$DEVICE_MAMPS,289.935,141.525,1914.795,195.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11958.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.700,0.000,0.000,0.000
$MEM,204360
$DATA_FILE_SIZE,26766,804
$CAP_FILE_SIZE,122637,0
$CFSIZE,2097872896,2030862336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$GPS,030914,012713,7445.020,-14700.560,40,0.8,60,22.4