version: 66.12
glider: 199
mission: 5
dive: 373
start: 9 16 114 21 44 19
data:
$ID,199
$MISSION,5
$DIVE,373
$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,190
$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,-26254.48
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,160914,180233,7503.811,-14353.625,5,0.8,25,23.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-11.4
$GPS2,160914,180233,7503.811,-14353.625,5,0.8,25,23.6
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,9
$TGT_LATLONG,7330.000,-14445.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,165.2,175827,-18.9,-11.628,-22.41,2446
$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,17,-0.72,-184.8,2552,2378,652,532,0.0,0.0,0,30,0.00,0.00,-11.88,0.000,16386,0.000,0.000,2550,2378,939,990,888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.72,-184.8,2551,2378,990,887,3.5,0.0,1,133,1.10,2.58,-92.82,0.000,20996,0.140,0.102,2212,933,3963,4022,3904,0,0,0,0,0,0,14.14,14.23,14.52
$GC,314,-0.72,-184.8,2214,931,4021,3909,65.7,-20.0,57,319,0.00,2.55,0.00,0.000,1030,0.000,0.093,2202,2359,3965,4022,3908,0,0,0,0,0,0,28.83,14.19,28.83
$GC,624,-0.72,-184.8,2201,2360,4022,3909,126.2,-18.1,89,629,0.00,2.42,0.00,0.000,516,0.000,0.080,2202,933,3965,4022,3908,0,0,0,0,0,0,28.83,14.27,28.83
$GC,699,-0.72,-184.8,2202,933,4023,3909,139.3,-17.3,104,706,0.00,2.55,0.00,0.000,1030,0.000,0.093,2192,2365,3965,4022,3908,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1004,-0.72,-184.8,2189,2366,4023,3908,194.3,-17.5,135,1009,0.00,2.47,0.00,0.000,516,0.000,0.080,2192,940,3964,4021,3908,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1054,-0.72,-184.8,2191,941,4030,3910,202.8,-16.1,145,1060,0.00,2.55,0.00,0.000,1030,0.000,0.094,2181,2367,3964,4021,3908,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1365,-0.72,-184.8,2182,2367,4021,3909,255.2,-15.5,175,1369,0.00,2.50,0.00,0.000,260,0.000,0.116,2170,3767,3965,4022,3908,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1429,-0.72,-184.8,2171,3768,4021,3908,265.9,-15.5,188,1435,0.12,2.42,0.00,0.000,3078,0.284,0.070,2195,2341,3964,4021,3908,0,0,0,0,0,0,14.00,14.38,28.83
$GC,1755,-0.72,-184.8,2195,2340,4023,3909,308.2,-12.6,203,1760,0.00,2.60,0.00,0.000,260,0.000,0.114,2185,3770,3965,4022,3908,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1835,-0.72,-184.8,2186,3771,4021,3909,319.4,-13.9,219,1840,0.00,2.40,0.00,0.000,1030,0.000,0.070,2186,2358,3965,4022,3908,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2145,-0.72,-184.8,2187,2357,4021,3909,359.4,-12.8,231,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2357,3965,4022,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2445,-0.72,-184.8,2187,2357,4021,3909,396.7,-12.2,241,2450,0.00,2.60,0.00,0.000,260,0.000,0.116,2175,3767,3965,4022,3909,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2495,-0.72,-184.8,2175,3768,4023,3909,403.3,-13.6,251,2500,0.00,2.40,0.00,0.000,1030,0.000,0.070,2178,2362,3965,4022,3908,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2805,-0.72,-184.8,2175,2361,4023,3909,442.6,-12.5,263,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3964,4021,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3105,-0.72,-184.8,2175,2361,4022,3909,480.3,-12.7,273,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2360,3964,4021,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3405,-0.72,-184.8,2175,2361,4023,3909,517.5,-12.3,283,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3965,4022,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3705,-0.72,-184.8,2175,2361,4023,3909,553.9,-12.0,293,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3964,4022,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4005,-0.72,-184.8,2175,2360,4023,3909,590.3,-12.2,303,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3965,4022,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4305,-0.72,-184.8,2174,2361,4023,3910,627.0,-12.3,313,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2359,3964,4019,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4605,-0.72,-184.8,2175,2361,4023,3910,663.8,-12.2,323,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3965,4022,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4905,-0.72,-184.8,2175,2362,4022,3911,700.3,-12.2,333,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3966,4022,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5205,-0.72,-184.8,2177,2361,4021,3911,737.2,-12.2,343,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2360,3966,4022,3910,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5323,begin apogee
$GC,5328,-0.14,0.0,2173,2603,4022,3911,751.7,-12.1,347,5566,0.82,0.00,229.77,1.667,10246,0.262,0.000,2379,2604,3225,3274,3177,0,0,0,0,0,0,14.01,28.83,12.83
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5569,0.72,184.8,2379,2604,3275,3175,762.2,0.0,355,5740,1.00,0.00,167.18,1.985,10246,0.139,0.000,2670,2603,2473,2533,2414,0,0,0,0,0,0,13.52,28.83,12.39
$GC,6015,0.72,184.8,2665,2603,2526,2393,719.6,12.9,370,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2603,2458,2524,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6315,0.72,184.8,2665,2604,2526,2393,680.9,13.0,380,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2603,2458,2524,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,0.72,184.8,2666,2603,2524,2393,642.1,12.9,390,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2600,2458,2524,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,0.72,184.8,2667,2604,2524,2393,603.9,12.7,400,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2603,2458,2524,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,0.72,184.8,2667,2603,2524,2393,565.3,12.9,410,7220,0.00,2.47,0.00,0.000,516,0.000,0.080,2676,1192,2458,2525,2392,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7295,0.72,184.8,2676,1194,2526,2393,555.2,12.6,426,7300,0.00,2.53,0.00,0.000,1030,0.000,0.092,2676,2609,2458,2524,2392,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7605,0.72,184.8,2677,2609,2524,2392,514.1,13.2,438,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2608,2458,2524,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7905,0.72,184.8,2677,2609,2524,2392,474.8,13.0,448,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2608,2458,2524,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8207,0.72,184.8,2678,2609,2524,2392,435.7,13.0,458,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2609,2458,2524,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8505,0.72,184.8,2676,2609,2525,2393,397.4,12.8,468,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2609,2457,2523,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8805,0.72,184.8,2677,2609,2523,2392,359.4,12.3,478,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2609,2458,2524,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9105,0.72,184.8,2676,2609,2525,2393,321.8,12.6,488,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2608,2457,2523,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9405,0.72,184.8,2677,2609,2524,2392,285.9,11.5,498,9410,0.00,2.50,0.00,0.000,516,0.000,0.078,2686,1197,2458,2524,2392,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9470,0.79,184.8,2686,1198,2525,2393,279.4,9.9,511,9475,0.00,2.53,0.00,0.000,1030,0.000,0.090,2686,2605,2458,2524,2392,0,0,0,0,0,0,28.83,14.23,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b990a74a2;,*5B
$MODEM_MSG,CACST,6,0,20140917000429.999751,3,311,24,0233,0150,100,00,00,00,02,1,004,000,0,5,1,0,150,8.1,4.0,-100,-1.0,-01,0.2,33,900,0025*16
$GC,9795,0.86,255.5,2688,2606,2523,2392,249.1,8.7,526,9861,0.00,2.12,59.67,1.369,8452,0.000,0.117,2685,3770,2181,2246,2116,0,0,0,0,0,0,28.83,14.18,13.56
$GC,10008,0.86,255.5,2688,3770,2233,2107,226.1,12.0,568,10012,0.00,2.03,0.00,0.000,1030,0.000,0.073,2695,2593,2170,2234,2106,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10319,0.91,255.5,2695,2594,2236,2105,193.1,10.2,600,10320,0.10,0.00,0.00,0.000,2054,0.174,0.000,2730,2593,2169,2234,2104,0,0,0,0,0,0,14.39,28.83,28.83
$GC,10618,0.96,255.5,2732,2593,2234,2104,160.4,10.6,630,10622,0.00,2.42,0.00,0.000,516,0.000,0.079,2741,1193,2169,2235,2103,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10700,1.02,255.5,2742,1193,2234,2103,152.3,10.1,646,10705,0.00,2.47,0.00,0.000,1030,0.000,0.091,2741,2600,2168,2234,2102,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11011,1.05,255.5,2743,2600,2234,2102,119.9,10.8,678,11016,0.00,2.45,0.00,0.000,516,0.000,0.079,2751,1195,2167,2234,2101,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11116,1.11,255.5,2751,1196,2236,2102,108.7,10.2,699,11122,0.12,2.53,0.00,0.000,3078,0.156,0.092,2794,2600,2168,2235,2101,0,0,0,0,0,0,14.26,14.23,28.83
$GC,11423,1.14,255.5,2796,2600,2234,2101,74.4,10.8,730,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2600,2167,2234,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11721,1.41,518.7,2796,2600,2234,2101,54.2,0.6,760,11859,0.28,2.10,130.07,0.323,10500,0.110,0.116,2891,3763,1115,1188,1042,0,0,0,0,0,0,14.16,14.12,13.96
$GC,12084,1.44,518.7,2892,3764,1188,1052,13.7,10.8,832,12089,0.00,2.03,0.00,0.000,1030,0.000,0.073,2900,2594,1119,1188,1051,0,0,0,0,0,0,28.83,14.11,28.83
$FREEZE,8.80,-1.358,-1.452,2,2,0
$FREEZE,7.62,-1.359,-1.451,2,2,0
$FREEZE,6.78,-1.359,-1.450,2,2,0
$FREEZE,6.00,-1.359,-1.450,2,2,0
$FREEZE,5.09,-1.359,-1.449,2,2,0
$FREEZE,4.11,-1.359,-1.448,2,2,0
$FREEZE,3.29,-1.360,-1.448,2,2,0
$FREEZE,2.67,-1.362,-1.447,2,2,0
$FREEZE,1.93,-1.363,-1.446,2,2,0
$STATE,12212,end climb,SURFACE_DEPTH_REACHED
$STATE,12212,begin surface coast
$FREEZE,1.79,-1.364,-1.446,2,2,0
$FREEZE,1.75,-1.363,-1.446,2,2,0
$FINISH,1.8,1.021317
$STATE,12232,end surface coast,CONTROL_FINISHED_OK
$STATE,12232,begin surface
$SM_CCo,12276,76.68,0.192,0,0,497,669.67
$SM_GC,2.53,8.82,0.40,76.68,0.141,0.091,0.192,201,2358,497,-6.95,0.90,669.67,0,0,0,0,0,0,14.26,14.34,14.12
$RAFOS_CLK,184
$MODEM,4,1410912269,75.03680,-145.34320,269.000,389779.4
$RAFOS_FIX,7514.175781,-14347.997070,160914,000053,2,255,8.39
$IRIDIUM_FIX,7421.75,-14359.58,160914,141855
$TT8_MAMPS,0.043442,0.043442
$HUMID,48.74
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3971460
$24V_AH,12.39,188.022
$10V_AH,12.64,0.000
$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,12.375,59.550,586.700,76.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9815.511,754.046,1736.534,182.338,0.000,1425.163,0.000,1272.033,1438.000,0.535,0.000
$DEVICE_MAMPS,283.815,132.345,1985.175,192.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12270.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.288,0.000,0.000,0.000
$MEM,149752
$DATA_FILE_SIZE,30057,848
$CAP_FILE_SIZE,128542,0
$CFSIZE,2097872896,2012184576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,51.97,0x234484,0,24
$SOUNDSPEED,1450.1
$GPS,170914,011148,7500.905,-14353.989,39,0.8,59,23.6