version: 66.12
glider: 199
mission: 5
dive: 51
start: 8 1 114 21 28 49
data:
$ID,199
$MISSION,5
$DIVE,51
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,688.85968
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-21685.314
$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,28
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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,3
$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
$GPS1,010814,211756,7120.215,-14507.845,41,0.8,61,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-73.7
$GPS2,010814,212835,7120.195,-14507.984,5,0.8,25,22.2
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.7,38211,-21.5,-11.628,-24.76,1932
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.75,-145.9,193,2352,542,469,0.0,0.0,0,75,0.00,0.00,-53.58,0.000,16386,0.000,0.000,194,2351,1875,1881,1869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.75,-145.9,194,2352,1876,1869,3.4,-3.4,5,134,11.15,2.65,-37.42,0.000,19204,0.480,0.148,2175,3766,3826,3882,3771,0,0,0,0,0,0,14.04,14.23,14.46
$GC,358,-0.75,-145.9,2176,3767,3882,3776,72.9,-23.8,58,367,0.00,2.42,0.00,0.000,1030,0.000,0.084,2175,2360,3828,3882,3775,0,0,0,0,0,0,28.83,14.35,28.83
$GC,663,-0.75,-145.9,2175,2361,3884,3776,131.3,-18.4,89,672,0.00,2.55,0.00,0.000,260,0.000,0.126,2164,3772,3828,3881,3775,0,0,0,0,0,0,28.83,14.38,28.83
$GC,896,-0.75,-145.9,2165,3772,3883,3777,176.2,-17.4,135,904,0.00,2.42,0.00,0.000,1030,0.000,0.083,2164,2348,3828,3882,3775,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1208,-0.75,-145.9,2165,2348,3883,3776,223.9,-14.6,167,1215,0.00,2.55,0.00,0.000,260,0.000,0.127,2153,3767,3828,3882,3775,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1399,-0.75,-145.9,2153,3768,3884,3776,253.7,-15.2,205,1409,0.15,2.40,0.00,0.000,3078,0.324,0.084,2184,2353,3829,3884,3775,0,0,0,0,0,0,14.34,14.47,28.83
$GC,1723,-0.75,-145.9,2183,2355,3884,3775,292.3,-11.7,219,1732,0.00,2.53,0.00,0.000,260,0.000,0.129,2175,3764,3828,3882,3774,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1775,-0.75,-145.9,2174,3765,3883,3774,299.0,-13.2,229,1783,0.00,2.40,0.00,0.000,1030,0.000,0.083,2175,2350,3828,3882,3774,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2088,-0.75,-145.9,2174,2350,3883,3774,336.2,-11.8,241,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2350,3828,3882,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2387,-0.75,-145.9,2176,2350,3882,3773,371.9,-11.9,251,2395,0.00,2.53,0.00,0.000,260,0.000,0.129,2164,3767,3827,3882,3772,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2449,-0.75,-145.9,2164,3767,3883,3772,380.2,-13.6,263,2458,0.00,2.38,0.00,0.000,1030,0.000,0.083,2164,2358,3826,3882,3771,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2782,-0.75,-145.9,2164,2359,3884,3772,421.4,-12.3,279,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2359,3826,3882,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3082,-0.75,-145.9,2165,2359,3882,3771,458.1,-12.2,289,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2358,3826,3882,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3382,-0.75,-145.9,2164,2359,3884,3772,494.0,-12.0,299,3389,0.00,2.50,0.00,0.000,260,0.000,0.129,2153,3765,3826,3882,3770,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3438,-0.75,-145.9,2153,3766,3883,3771,501.5,-13.4,310,3448,0.15,2.38,0.00,0.000,3078,0.322,0.082,2184,2357,3826,3882,3770,0,0,0,0,0,0,14.45,14.58,28.83
$GC,3744,-0.75,-145.9,2185,2358,3882,3771,535.3,-11.0,321,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3827,3882,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4043,-0.75,-145.9,2184,2358,3884,3771,567.7,-10.7,331,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3826,3882,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4343,-0.75,-145.9,2184,2358,3884,3771,599.9,-10.7,341,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3826,3882,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4643,-0.75,-145.9,2183,2358,3883,3771,631.2,-10.3,351,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3826,3882,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-0.75,-145.9,2185,2357,3882,3770,662.0,-10.3,361,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3826,3882,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5243,-0.75,-145.9,2185,2357,3883,3770,692.4,-10.1,371,5252,0.00,2.53,0.00,0.000,260,0.000,0.129,2175,3770,3825,3882,3769,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5301,-0.75,-145.9,2176,3771,3882,3768,698.9,-11.7,382,5311,0.00,2.38,0.00,0.000,1030,0.000,0.083,2174,2357,3825,3882,3768,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5606,-0.75,-145.9,2176,2358,3882,3769,731.0,-10.5,393,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2357,3825,3882,3769,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5815,begin apogee
$GC,5818,-0.14,0.0,2175,2601,3882,3769,752.8,-10.4,400,6003,0.82,0.00,180.80,1.624,10246,0.295,0.000,2380,2601,3230,3283,3178,0,0,0,0,0,0,14.49,28.83,13.16
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6007,0.75,145.9,2377,2601,3277,3173,756.4,0.0,406,6151,1.05,0.00,129.32,1.877,10246,0.178,0.000,2672,2600,2624,2679,2569,0,0,0,0,0,0,13.76,28.83,12.84
$GC,6446,0.75,145.9,2674,2601,2677,2555,705.4,13.4,421,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2600,2616,2677,2555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,0.75,145.9,2672,2601,2678,2553,665.5,13.1,431,6755,0.00,2.47,0.00,0.000,516,0.000,0.093,2683,1192,2615,2677,2553,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6773,0.75,145.9,2683,1192,2679,2554,662.0,12.2,436,6784,0.00,2.53,0.00,0.000,1030,0.000,0.103,2684,2601,2615,2677,2553,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7079,0.75,145.9,2684,2601,2676,2553,620.7,13.6,447,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2601,2614,2677,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7379,0.75,145.9,2684,2601,2677,2553,580.3,13.4,457,7386,0.00,2.42,0.00,0.000,516,0.000,0.092,2693,1198,2614,2677,2552,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7430,0.75,145.9,2694,1198,2678,2554,573.4,13.3,467,7438,0.00,2.47,0.00,0.000,1030,0.000,0.103,2693,2602,2614,2677,2552,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7743,0.75,145.9,2693,2603,2677,2553,530.4,13.7,479,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2602,2614,2677,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8042,0.75,145.9,2695,2603,2676,2553,489.0,13.9,489,8050,0.00,2.42,0.00,0.000,516,0.000,0.092,2703,1193,2614,2677,2552,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8084,0.75,145.9,2705,1194,2680,2552,483.3,13.9,497,8092,0.00,2.47,0.00,0.000,1030,0.000,0.103,2703,2608,2614,2677,2552,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8406,0.75,145.9,2703,2609,2678,2553,437.5,14.3,511,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2608,2614,2676,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8706,0.75,145.9,2703,2609,2678,2553,394.5,14.3,521,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2608,2614,2676,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9006,0.75,145.9,2702,2611,2678,2551,351.7,14.3,531,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2608,2613,2676,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9307,0.75,145.9,2702,2609,2677,2553,308.9,14.2,541,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2608,2614,2676,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9606,0.75,145.9,2703,2608,2678,2553,267.3,13.7,551,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2608,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9906,0.75,145.9,2705,2609,2676,2552,227.2,13.5,571,9914,0.00,2.45,0.00,0.000,516,0.000,0.093,2714,1198,2613,2676,2551,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9943,0.75,145.9,2714,1194,2676,2552,222.4,12.9,578,9952,0.15,2.47,0.00,0.000,5126,0.291,0.103,2683,2601,2613,2676,2551,0,0,0,0,0,0,14.35,14.45,28.83
$GC,10249,0.81,145.9,2683,2601,2678,2552,188.5,10.1,609,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2600,2614,2676,2552,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140802000413.267080,3,501,26,0104,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,13.9,1.3,-100,1.7,-01,-0.0,33,900,0025*07
$GC,10551,0.87,202.4,2684,2601,2676,2551,161.6,8.6,639,10603,0.00,0.00,48.38,1.266,8198,0.000,0.000,2682,2600,2404,2469,2340,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10898,0.91,243.5,2684,2600,2448,2314,127.8,9.4,674,10941,0.12,2.58,34.62,1.193,10756,0.164,0.093,2737,1191,2225,2298,2152,0,0,0,0,0,0,14.32,14.13,13.69
$GC,10985,0.91,243.5,2738,1192,2290,2144,118.3,11.8,689,10994,0.00,2.55,0.00,0.000,1030,0.000,0.102,2735,2605,2216,2290,2143,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11290,0.91,243.5,2738,2605,2289,2141,82.7,11.5,720,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2605,2215,2290,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11590,0.98,316.1,2738,2606,2289,2141,52.1,7.8,750,11632,0.00,2.45,33.08,0.321,8708,0.000,0.092,2747,1199,1943,2026,1860,0,0,0,0,0,0,28.83,14.34,14.21
$GC,11766,1.06,391.3,2746,1199,2048,1869,38.1,7.6,783,11813,0.00,2.50,39.58,0.279,9222,0.000,0.105,2747,2601,1633,1723,1543,0,0,0,0,0,0,28.83,14.36,14.21
$GC,12117,1.23,565.5,2748,2602,1736,1548,10.6,2.4,820,12215,0.22,2.12,87.62,0.205,10500,0.130,0.132,2828,3770,921,1008,835,0,0,0,0,0,0,14.36,14.24,14.24
$GC,12240,1.44,779.5,2828,3771,1009,838,9.7,0.2,839,12303,0.20,2.05,53.30,0.206,11270,0.129,0.087,2901,2580,498,537,459,0,0,0,0,0,0,14.32,14.33,14.21
$STATE,12406,end climb,SURFACE_DEPTH_REACHED
$STATE,12406,begin surface coast
$FINISH,0.8,1.007833
$STATE,12426,end surface coast,CONTROL_FINISHED_OK
$STATE,12426,begin surface
$SM_CCo,12447,0.25,0.485,0,0,498,669.67
$SM_CCo,12449,-0.17,0.000,0,0,501,669.67
$SM_CCo,12451,0.30,0.438,0,0,499,669.67
$SM_GC,3.39,8.35,0.38,0.30,0.106,0.112,0.438,200,2366,499,-6.95,1.07,669.67,0,0,0,0,0,0,14.33,14.34,14.28
$RAFOS_CLK,146
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7045.80,-14509.81,010814,173750
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.87
$INTERNAL_PRESSURE,8.45573
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4011260
$TM_FREEKB,7250784
$24V_AH,12.84,68.622
$10V_AH,13.07,0.000
$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,22.375,69.400,606.700,0.550,0.000,0.000,0.000,386.775,0.000,0.000,26.841,0.000,9761.377,757.758,2458.807,108.689,0.000,1923.475,0.000,1281.238,1417.000,0.537,0.000
$DEVICE_MAMPS,480.420,147.645,1877.310,485.010,0.000,0.000,0.000,198.900,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12442.000,12493.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.246,12.678,0.000,0.000
$MEM,289756
$DATA_FILE_SIZE,30085,861
$CAP_FILE_SIZE,146459,0
$CFSIZE,2097872896,2080997376
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13409.80,0x2378b6,7,5
$INTR,1,11801.70,0x234484,1,24
$SOUNDSPEED,1450.7
$EKF,12578,4281.610352,-8709.130859,0.843620,-0.012588,0.088106,-0.006626,0.000293,0.002867,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.089,190.01,1
$GPS,020814,005824,7121.013,-14509.437,67,0.7,87,22.2