version: 66.12
glider: 199
mission: 5
dive: 152
start: 8 16 114 19 11 20
data:
$ID,199
$MISSION,5
$DIVE,152
$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,-21786.416
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,160814,190418,7234.876,-14556.643,35,0.8,55,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-68.0
$GPS2,160814,191101,7234.916,-14556.783,5,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,341.6,55837,-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,-175.1,167,2354,514,485,0.0,0.0,0,69,0.00,0.00,-51.67,0.000,16386,0.000,0.000,166,2350,1794,1806,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,168,2351,1806,1784,3.3,-2.8,5,134,11.07,2.62,-43.50,0.000,18692,0.470,0.142,2183,3772,3945,4002,3889,0,0,0,0,0,0,14.07,14.31,14.57
$GC,358,-0.72,-175.1,2184,3769,4002,3895,88.9,-26.0,63,364,0.00,2.45,0.00,0.000,1030,0.000,0.080,2182,2365,3948,4002,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,668,-0.72,-175.1,2184,2360,4002,3896,153.5,-20.0,95,673,0.00,2.50,0.00,0.000,260,0.000,0.122,2174,3766,3950,4006,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,813,-0.72,-175.1,2174,3767,4003,3896,183.9,-20.4,124,820,0.00,2.45,0.00,0.000,1030,0.000,0.080,2173,2352,3948,4001,3895,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1118,-0.72,-175.1,2175,2350,4002,3896,237.5,-16.5,155,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2349,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1439,-0.72,-175.1,2173,2350,4002,3896,287.1,-15.2,171,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2349,3951,4002,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-0.72,-175.1,2175,2350,4002,3895,331.3,-14.5,181,1743,0.00,2.53,0.00,0.000,260,0.000,0.125,2163,3766,3948,4002,3895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1773,-0.72,-175.1,2164,3767,4004,3896,336.8,-16.0,188,1779,0.10,2.42,0.00,0.000,3078,0.275,0.080,2185,2356,3948,4002,3894,0,0,0,0,0,0,14.43,14.59,28.83
$GC,2098,-0.72,-175.1,2188,2356,4003,3896,379.9,-13.1,203,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2351,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2398,-0.72,-175.1,2189,2356,4002,3895,418.8,-13.0,213,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3946,3998,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.72,-175.1,2188,2356,4004,3895,457.4,-12.8,223,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2354,3951,4002,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2999,-0.72,-175.1,2189,2361,4002,3895,495.4,-12.7,233,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2355,3952,4001,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-0.72,-175.1,2190,2356,4002,3895,532.5,-12.3,243,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2356,3946,3998,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.72,-175.1,2189,2356,4002,3895,569.4,-12.3,253,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2352,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.72,-175.1,2187,2356,4004,3895,605.6,-12.0,263,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2358,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.72,-175.1,2189,2356,4004,3895,641.5,-12.0,273,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2355,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140816200408.599545,3,989,29,0164,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,13.3,1.0,-100,2.0,-01,0.5,37,900,0025*2C
$GC,4499,-0.72,-175.1,2188,2356,4004,3895,677.4,-12.0,283,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2355,3953,4007,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4798,-0.72,-175.1,2189,2356,4002,3893,713.4,-12.0,293,4803,0.00,2.55,0.00,0.000,260,0.000,0.125,2179,3772,3948,4002,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4848,-0.72,-175.1,2183,3772,4003,3895,720.0,-13.3,303,4854,0.00,2.45,0.00,0.000,1030,0.000,0.081,2178,2353,3948,4002,3894,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,5097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5097,begin apogee
$GC,5101,-0.14,0.0,2177,2597,4004,3895,751.4,-12.5,313,5325,0.80,0.00,220.82,1.754,10246,0.275,0.000,2382,2596,3228,3280,3177,0,0,0,0,0,0,14.45,28.83,12.95
$STATE,5326,end apogee,CONTROL_FINISHED_OK
$STATE,5326,begin climb
$GC,5328,0.72,175.1,2383,2597,3278,3174,759.1,0.0,320,5495,0.98,2.42,156.12,2.066,10500,0.154,0.119,2662,3768,2509,2574,2445,0,0,0,0,0,0,13.57,12.96,12.26
$GC,5599,0.72,175.1,2663,3769,2567,2439,733.4,15.2,378,5604,0.00,2.15,0.00,0.000,1030,0.000,0.074,2671,2602,2502,2567,2437,0,0,0,0,0,0,28.83,13.56,28.83
$GC,5909,0.72,175.1,2672,2605,2567,2436,690.8,13.6,390,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2605,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6209,0.72,175.1,2672,2604,2567,2435,649.8,13.7,400,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2609,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6509,0.72,175.1,2671,2606,2569,2436,609.2,13.4,410,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2605,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6809,0.72,175.1,2671,2604,2569,2435,568.7,13.5,420,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2605,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,0.72,175.1,2671,2605,2569,2435,528.0,13.5,430,7114,0.00,2.40,0.00,0.000,516,0.000,0.086,2681,1192,2497,2563,2431,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7134,0.72,175.1,2681,1193,2568,2435,524.5,13.5,435,7141,0.00,2.50,0.00,0.000,1030,0.000,0.099,2681,2592,2500,2567,2434,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7439,0.72,175.1,2682,2596,2567,2434,482.2,13.9,446,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2596,2504,2574,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7739,0.72,175.1,2682,2596,2567,2434,440.8,13.8,456,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2595,2498,2567,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8039,0.72,175.1,2682,2596,2567,2434,399.7,13.6,466,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2599,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8339,0.72,175.1,2682,2596,2567,2434,359.0,13.5,476,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2596,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,0.72,175.1,2682,2596,2567,2434,318.7,13.4,486,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2596,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8939,0.72,175.1,2681,2596,2569,2434,279.4,12.9,496,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2595,2501,2567,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9239,0.72,175.1,2682,2596,2568,2434,243.2,11.7,508,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2595,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,0.78,175.1,2681,2596,2568,2434,211.0,10.2,538,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2596,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9839,0.87,260.2,2683,2596,2567,2434,185.0,7.9,568,9916,0.00,2.47,71.82,1.414,8708,0.000,0.083,2691,1194,2162,2237,2088,0,0,0,0,0,0,28.83,14.14,13.57
$GC,9940,0.91,260.2,2691,1195,2233,2081,175.6,10.5,586,9946,0.12,2.55,0.00,0.000,3078,0.150,0.099,2736,2605,2152,2230,2075,0,0,0,0,0,0,14.18,14.14,28.83
$GC,10251,0.91,260.2,2737,2605,2229,2074,136.6,11.9,618,10256,0.00,2.45,0.00,0.000,516,0.000,0.085,2744,1193,2152,2230,2074,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10325,0.91,260.2,2748,1193,2229,2074,127.8,11.3,633,10332,0.00,2.55,0.00,0.000,1030,0.000,0.099,2747,2602,2151,2230,2073,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10631,0.94,260.2,2747,2603,2231,2073,91.9,10.8,664,10636,0.00,2.10,0.00,0.000,260,0.000,0.124,2747,3763,2151,2225,2077,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10740,0.94,260.2,2747,3764,2231,2073,78.4,12.4,686,10746,0.00,2.00,0.00,0.000,1030,0.000,0.080,2756,2603,2157,2235,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11050,1.10,414.2,2755,2606,2230,2073,55.5,4.8,718,11132,0.00,2.15,73.25,0.334,8452,0.000,0.125,2756,3762,1541,1633,1449,0,0,0,0,0,0,28.83,14.33,14.21
$GC,11171,1.10,414.2,2757,3763,1630,1456,45.3,11.9,739,11177,0.00,2.03,0.00,0.000,1030,0.000,0.081,2765,2604,1544,1632,1456,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11482,1.21,525.6,2764,2604,1639,1456,17.9,6.7,771,11544,0.20,2.42,54.97,0.231,10756,0.129,0.085,2851,1191,1086,1175,998,0,0,0,0,0,0,14.49,14.40,14.26
$GC,11648,1.48,794.2,2845,1195,1180,1003,12.6,-0.3,804,11726,0.20,2.47,71.53,0.216,11270,0.122,0.099,2914,2598,498,523,474,0,0,0,0,0,0,14.46,14.42,14.23
$FREEZE,7.74,3.324,-1.363,2,1,0
$FREEZE,6.65,3.325,-1.363,2,1,0
$FREEZE,5.74,3.326,-1.362,2,1,0
$FREEZE,4.51,3.326,-1.361,2,1,0
$FREEZE,3.00,3.333,-1.360,2,1,0
$FREEZE,1.76,3.330,-1.359,2,1,0
$STATE,11782,end climb,SURFACE_DEPTH_REACHED
$STATE,11782,begin surface coast
$FREEZE,1.28,3.335,-1.358,2,1,0
$FINISH,1.3,1.019875
$STATE,11792,end surface coast,CONTROL_FINISHED_OK
$STATE,11792,begin surface
$SM_CCo,11868,0.00,0.000,0,0,498,669.91
$SM_GC,2.39,8.27,0.43,0.00,0.093,0.099,0.000,195,2364,498,-6.95,1.02,669.91,0,0,0,0,0,0,14.40,14.42,28.83
$RAFOS_CLK,393
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7200.11,-14552.75,160814,154158
$TT8_MAMPS,0.050932,0.050932
$HUMID,51.92
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3999732
$24V_AH,12.26,112.174
$10V_AH,12.53,0.000
$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,21.750,53.525,648.525,0.000,0.000,0.000,0.000,239.000,0.000,0.000,27.679,0.000,9512.882,693.818,1922.898,141.070,0.000,1616.519,0.000,1230.618,1484.000,0.537,0.000
$DEVICE_MAMPS,469.710,141.525,2066.265,0.000,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.977,0.000,0.000,0.000
$MEM,271080
$DATA_FILE_SIZE,30037,826
$CAP_FILE_SIZE,128023,0
$CFSIZE,2097872896,2054160384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12281.39,0x2378b6,7,5
$SOUNDSPEED,1450.4
$GPS,160814,223056,7236.697,-14556.447,56,0.9,76,22.2