version: 66.12
glider: 199
mission: 5
dive: 173
start: 8 19 114 18 53 54
data:
$ID,199
$MISSION,5
$DIVE,173
$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,-21815.961
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,190814,184654,7307.607,-14551.207,34,0.8,54,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-73.6
$GPS2,190814,185335,7307.604,-14551.255,6,0.8,26,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.4,13715,-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,-175.1,198,2360,493,503,0.0,0.0,0,70,0.00,0.00,-52.42,0.000,16386,0.000,0.000,197,2359,1780,1798,1763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.72,-175.1,197,2360,1799,1764,3.1,-2.0,5,141,10.90,2.42,-51.17,0.000,19204,0.469,0.109,2191,961,3945,4002,3888,0,0,0,0,0,0,14.01,14.35,14.58
$GC,365,-0.72,-175.1,2194,961,4002,3894,81.6,-22.6,64,371,0.00,2.50,0.00,0.000,1030,0.000,0.097,2182,2348,3947,4002,3893,0,0,0,0,0,0,28.83,14.40,28.83
$GC,670,-0.72,-175.1,2184,2350,4003,3894,147.2,-20.9,95,675,0.00,2.38,0.00,0.000,516,0.000,0.085,2183,959,3947,4002,3893,0,0,0,0,0,0,28.83,14.48,28.83
$GC,900,-0.72,-175.1,2182,960,4004,3895,190.2,-17.8,141,905,0.00,2.47,0.00,0.000,1030,0.000,0.098,2173,2366,3948,4002,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1210,-0.72,-175.1,2173,2367,4004,3894,244.8,-16.2,173,1215,0.00,2.47,0.00,0.000,260,0.000,0.123,2162,3766,3948,4002,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1275,-0.72,-175.1,2162,3768,4003,3895,256.2,-17.2,186,1281,0.08,2.42,0.00,0.000,3078,0.280,0.078,2191,2362,3947,4002,3893,0,0,0,0,0,0,14.35,14.52,28.83
$GC,1600,-0.72,-175.1,2193,2362,4000,3894,302.5,-14.1,201,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2361,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.72,-175.1,2193,2362,4002,3894,342.9,-13.2,211,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2366,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.72,-175.1,2192,2362,4003,3894,382.1,-12.9,221,2206,0.00,2.53,0.00,0.000,260,0.000,0.122,2187,3774,3948,4002,3894,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2260,-0.72,-175.1,2184,3774,4002,3894,390.6,-14.1,233,2266,0.00,2.40,0.00,0.000,1030,0.000,0.076,2183,2348,3947,4000,3894,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2591,-0.72,-175.1,2184,2347,4002,3894,435.4,-13.6,249,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2347,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-0.72,-175.1,2184,2347,4002,3894,476.0,-13.6,259,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2347,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3190,-0.72,-175.1,2184,2347,4002,3894,516.1,-13.3,269,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2346,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3490,-0.72,-175.1,2183,2347,4003,3894,555.3,-12.9,279,3496,0.00,2.53,0.00,0.000,260,0.000,0.120,2172,3768,3951,4002,3900,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3535,-0.72,-175.1,2173,3769,4002,3894,561.4,-14.4,288,3541,0.00,2.40,0.00,0.000,1030,0.000,0.074,2172,2358,3947,4002,3893,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3851,-0.72,-175.1,2173,2358,4001,3894,603.6,-13.3,301,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2358,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-0.72,-175.1,2173,2358,4002,3894,643.3,-13.2,311,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2358,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.72,-175.1,2172,2359,4002,3894,683.1,-13.3,321,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2363,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.72,-175.1,2173,2358,4002,3895,722.9,-13.3,331,4756,0.00,2.53,0.00,0.000,260,0.000,0.119,2162,3767,3948,4002,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4795,-0.72,-175.1,2163,3767,4001,3894,729.4,-15.1,340,4801,0.12,2.42,0.00,0.000,3078,0.270,0.074,2193,2363,3946,3999,3894,0,0,0,0,0,0,14.33,14.50,28.83
$STATE,4989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4989,begin apogee
$GC,4993,-0.14,0.0,2201,2604,4002,3894,752.9,-11.7,349,5217,0.73,0.00,221.35,1.669,10246,0.265,0.000,2380,2598,3231,3285,3178,0,0,0,0,0,0,14.29,28.83,12.97
$STATE,5218,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5220,0.72,175.1,2392,2603,3281,3174,761.0,0.0,356,5382,1.00,0.00,157.73,1.935,10246,0.149,0.000,2663,2602,2510,2572,2449,0,0,0,0,0,0,13.52,28.83,12.38
$MODEM_MSG,CACST,6,1,20140819200451.097208,3,363,25,0259,0150,100,00,00,00,04,-1,-01,-01,1,3,0,0,150,19.1,0.7,-100,2.3,-01,0.4,17,900,0025*2C
$GC,5680,0.72,175.1,2664,2603,2566,2433,714.6,13.1,372,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2602,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5980,0.72,175.1,2663,2603,2567,2433,675.7,12.9,382,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2602,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6281,0.72,175.1,2664,2603,2565,2433,637.1,12.8,392,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2602,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6580,0.72,175.1,2663,2603,2568,2431,598.0,13.0,402,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2602,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6880,0.72,175.1,2663,2603,2567,2432,558.9,13.0,412,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2602,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,0.72,175.1,2664,2602,2566,2432,520.4,12.8,422,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2602,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,0.72,175.1,2663,2603,2567,2432,482.0,12.8,432,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2602,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,0.72,175.1,2664,2602,2566,2432,443.8,12.6,442,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2602,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8080,0.72,175.1,2662,2603,2568,2431,406.2,12.5,452,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2602,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8380,0.72,175.1,2663,2602,2567,2432,369.3,12.2,462,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2599,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8680,0.72,175.1,2663,2602,2566,2431,332.9,12.0,472,8686,0.00,2.45,0.00,0.000,516,0.000,0.083,2674,1192,2498,2566,2431,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8725,0.72,175.1,2673,1193,2568,2432,327.7,11.3,481,8731,0.00,2.47,0.00,0.000,1030,0.000,0.096,2673,2593,2498,2566,2431,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9041,0.72,175.1,2673,2594,2566,2432,289.7,11.6,494,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2593,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9340,0.72,175.1,2673,2593,2568,2432,255.7,11.4,504,9346,0.00,2.10,0.00,0.000,260,0.000,0.122,2673,3765,2498,2566,2431,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9375,0.72,175.1,2673,3766,2567,2432,251.3,13.2,511,9381,0.00,2.00,0.00,0.000,1030,0.000,0.078,2682,2589,2498,2566,2431,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9681,0.78,230.0,2684,2590,2566,2432,218.8,9.2,544,9733,0.00,2.40,45.97,1.417,8708,0.000,0.082,2692,1199,2283,2352,2215,0,0,0,0,0,0,28.83,14.32,13.72
$GC,9767,0.81,230.0,2694,1199,2347,2208,210.0,10.9,561,9774,0.00,2.50,0.00,0.000,1030,0.000,0.096,2693,2598,2276,2347,2206,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10072,0.87,230.0,2692,2601,2347,2205,177.5,10.0,592,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2600,2275,2346,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10372,0.93,286.9,2694,2601,2346,2204,149.7,9.1,622,10429,0.12,2.53,48.67,1.368,10756,0.153,0.083,2747,1195,2049,2130,1968,0,0,0,0,0,0,14.47,14.21,13.61
$GC,10483,0.93,286.9,2749,1195,2123,1959,136.9,12.9,644,10488,0.00,2.53,0.00,0.000,1030,0.000,0.096,2748,2605,2040,2123,1957,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10793,0.93,286.9,2747,2606,2125,1955,97.3,12.0,676,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2605,2042,2130,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11093,0.98,338.3,2747,2606,2125,1954,65.7,9.3,706,11125,0.00,2.53,22.70,0.361,8708,0.000,0.083,2757,1189,1854,1940,1769,0,0,0,0,0,0,28.83,14.43,14.22
$GC,11155,1.08,433.0,2757,1189,1953,1774,60.9,7.4,718,11210,0.00,2.50,49.15,0.351,9222,0.000,0.096,2757,2608,1467,1562,1373,0,0,0,0,0,0,28.83,14.43,14.16
$GC,11515,1.16,516.7,2759,2609,1566,1384,30.4,7.9,760,11566,0.15,2.50,43.70,0.262,10756,0.144,0.086,2823,1203,1122,1209,1036,0,0,0,0,0,0,14.47,14.31,14.23
$GC,11587,1.16,516.7,2824,1204,1210,1040,23.0,11.5,774,11591,0.00,2.47,0.00,0.000,1030,0.000,0.095,2823,2604,1125,1211,1040,0,0,0,0,0,0,28.83,14.38,28.83
$FREEZE,8.76,0.239,-1.439,2,1,0
$FREEZE,8.09,-0.018,-1.430,2,1,0
$FREEZE,7.48,-0.038,-1.426,2,1,0
$FREEZE,6.84,-0.011,-1.423,2,1,0
$FREEZE,6.29,0.038,-1.421,2,1,0
$FREEZE,5.87,0.036,-1.420,2,1,0
$FREEZE,5.20,0.035,-1.420,2,1,0
$FREEZE,4.81,0.058,-1.418,2,1,0
$FREEZE,4.44,0.060,-1.418,2,1,0
$FREEZE,3.95,0.033,-1.419,2,1,0
$FREEZE,3.41,0.073,-1.417,2,1,0
$FREEZE,2.90,0.088,-1.416,2,1,0
$FREEZE,2.37,0.172,-1.413,2,1,0
$FREEZE,1.97,0.172,-1.413,2,1,0
$STATE,11846,end climb,SURFACE_DEPTH_REACHED
$STATE,11846,begin surface coast
$FREEZE,1.47,0.174,-1.414,2,1,0
$FREEZE,1.48,0.177,-0.665,2,1,0
$FREEZE,1.48,0.141,-0.752,2,1,0
$FREEZE,1.45,0.118,-0.890,2,1,0
$FINISH,1.5,1.013139
$STATE,11885,end surface coast,CONTROL_FINISHED_OK
$STATE,11885,begin surface
$SM_CCo,11899,75.82,0.191,0,0,499,669.67
$SM_GC,2.68,8.10,0.43,75.82,0.109,0.098,0.191,192,2361,499,-6.96,1.19,669.67,0,0,0,0,0,0,14.50,14.50,14.33
$RAFOS_CLK,354
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7228.39,-14558.07,190814,152332
$TT8_MAMPS,0.049434,0.049434
$HUMID,49.64
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3997336
$24V_AH,12.38,119.298
$10V_AH,12.59,0.000
$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,21.200,59.325,589.275,75.825,0.000,0.000,0.000,231.775,0.000,0.000,27.583,0.000,9555.391,778.335,1900.614,150.697,0.000,1650.184,0.000,1197.234,1498.000,0.537,0.000
$DEVICE_MAMPS,468.945,123.165,1934.685,191.250,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11915.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.874,0.000,0.000,0.000
$MEM,259064
$DATA_FILE_SIZE,26690,805
$CAP_FILE_SIZE,130062,0
$CFSIZE,2097872896,2050162688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12341.41,0x2378b6,7,5
$SOUNDSPEED,1449.0
$GPS,190814,221454,7309.139,-14551.612,23,0.8,43,22.4