version: 66.12
glider: 199
mission: 5
dive: 113
start: 8 10 114 22 23 46
data:
$ID,199
$MISSION,5
$DIVE,113
$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,3
$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,688.85968
$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,-21743.475
$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,21
$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,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
$GPS1,100814,050504,7149.873,-14555.667,6,0.8,26,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-72.1
$GPS2,100814,050504,7149.873,-14555.667,6,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.7,25905,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.72,-175.1,193,2359,540,480,0.0,0.0,0,53,0.00,0.00,-31.50,0.000,16386,0.000,0.000,193,2358,1342,1377,1308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.72,-175.1,195,2358,1379,1309,3.0,-3.7,3,133,10.90,2.50,-57.80,0.000,18948,0.470,0.117,2195,959,3945,4000,3891,0,0,0,0,0,0,14.09,14.30,14.52
$GC,358,-0.72,-175.1,2197,960,4000,3895,74.8,-20.6,64,366,0.00,2.47,0.00,0.000,1030,0.000,0.099,2187,2356,3947,4000,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,663,-0.72,-175.1,2184,2356,4000,3896,135.0,-18.1,95,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-0.72,-175.1,2186,2357,4002,3896,185.3,-16.1,125,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2353,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-0.72,-175.1,2188,2357,4000,3896,229.7,-13.9,155,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1563,-0.72,-175.1,2187,2357,4003,3896,271.3,-13.4,175,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1863,-0.72,-175.1,2188,2357,4000,3892,309.9,-12.8,185,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2356,3945,4000,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2163,-0.72,-175.1,2186,2354,4001,3896,347.5,-12.5,195,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2463,-0.72,-175.1,2188,2357,4000,3895,383.8,-12.0,205,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2355,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2763,-0.72,-175.1,2188,2357,4000,3895,419.4,-11.8,215,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2361,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,-0.72,-175.1,2187,2357,4001,3896,454.6,-11.8,225,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-0.72,-175.1,2188,2357,4000,3895,489.2,-11.5,235,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3950,4000,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3663,-0.72,-175.1,2186,2357,4002,3896,523.9,-11.6,245,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2356,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3963,-0.72,-175.1,2186,2357,4000,3896,558.8,-11.7,255,3970,0.00,2.53,0.00,0.000,260,0.000,0.124,2176,3767,3947,4000,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3999,-0.72,-175.1,2176,3768,4001,3896,563.3,-13.5,262,4006,0.00,2.40,0.00,0.000,1030,0.000,0.080,2177,2356,3951,4007,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4326,-0.72,-175.1,2176,2356,4001,3896,603.0,-12.1,277,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2355,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4625,-0.72,-175.1,2177,2356,3995,3895,639.4,-12.2,287,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2355,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4925,-0.72,-175.1,2177,2356,4007,3895,675.4,-12.0,297,4931,0.00,2.55,0.00,0.000,260,0.000,0.124,2165,3767,3947,4000,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4960,-0.72,-175.1,2166,3768,3999,3895,680.1,-13.7,304,4967,0.15,2.40,0.00,0.000,3078,0.287,0.081,2195,2360,3947,4000,3894,0,0,0,0,0,0,14.33,14.47,28.83
$GC,5286,-0.72,-175.1,2197,2360,3999,3895,715.7,-10.8,319,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2359,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.72,-175.1,2195,2360,4001,3896,748.2,-11.0,329,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2359,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5615,begin apogee
$GC,5619,-0.14,0.0,2196,2610,4000,3895,751.5,-10.9,330,5842,0.73,0.00,218.95,1.659,10246,0.261,0.000,2382,2610,3237,3298,3177,0,0,0,0,0,0,14.35,28.83,12.97
$STATE,5845,end apogee,CONTROL_FINISHED_OK
$STATE,5845,begin climb
$GC,5847,0.72,175.1,2383,2609,3283,3170,758.5,0.0,337,6018,0.98,2.38,155.05,1.877,10500,0.161,0.120,2659,3761,2509,2578,2440,0,0,0,0,0,0,13.57,12.95,12.35
$GC,6193,0.72,175.1,2658,3762,2571,2431,720.5,15.2,409,6200,0.00,2.10,0.00,0.000,1030,0.000,0.077,2668,2598,2499,2569,2430,0,0,0,0,0,0,28.83,13.62,28.83
$GC,6525,0.72,175.1,2668,2599,2572,2430,676.1,13.2,425,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2599,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6824,0.72,175.1,2669,2599,2569,2434,635.6,13.6,435,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2499,2570,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7124,0.72,175.1,2668,2600,2571,2429,594.8,13.6,445,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2499,2570,2428,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140811000416.385675,3,1373,31,0283,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,12.4,2.1,-100,0.9,-01,0.3,32,900,0025*15
$MODEM_MSG,CACST,6,1,20140811001648.624420,3,234,23,0216,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,11.5,2.9,-100,0.2,-01,0.3,22,900,0025*26
$GC,7424,0.72,175.1,2666,2599,2570,2428,554.2,13.6,455,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7724,0.72,175.1,2669,2599,2570,2428,513.9,13.4,465,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8024,0.72,175.1,2669,2599,2570,2428,473.8,13.4,475,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2498,2569,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,0.72,175.1,2669,2599,2570,2428,433.9,13.2,485,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8624,0.72,175.1,2668,2600,2572,2428,394.8,13.1,495,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8924,0.72,175.1,2668,2599,2572,2428,356.2,13.0,505,8930,0.00,2.42,0.00,0.000,516,0.000,0.089,2679,1191,2498,2570,2427,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8974,0.72,175.1,2680,1191,2570,2427,349.8,13.4,515,8981,0.00,2.50,0.00,0.000,1030,0.000,0.101,2679,2600,2498,2570,2427,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9286,0.72,175.1,2679,2602,2572,2428,308.5,13.3,527,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,2498,2570,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9585,0.72,175.1,2680,2601,2570,2427,269.1,13.1,537,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2600,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9885,0.72,175.1,2680,2601,2570,2427,231.3,12.5,555,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2601,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10185,0.76,175.1,2678,2601,2571,2427,196.2,10.8,585,10192,0.00,2.45,0.00,0.000,516,0.000,0.089,2689,1193,2498,2570,2427,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10236,0.78,175.1,2689,1194,2572,2427,190.7,11.0,595,10243,0.00,2.50,0.00,0.000,1030,0.000,0.101,2689,2601,2498,2570,2427,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10548,0.84,232.3,2689,2602,2572,2427,159.2,9.1,627,10600,0.00,0.00,48.75,1.349,8710,0.000,0.000,2689,2601,2282,2355,2209,0,0,0,0,0,0,28.83,28.83,13.56
$GC,10897,0.91,232.3,2689,2601,2345,2187,124.1,9.9,667,10904,0.12,2.47,0.00,0.000,2564,0.148,0.090,2743,1191,2265,2344,2186,0,0,0,0,0,0,14.33,14.30,28.83
$GC,10974,0.95,232.3,2744,1192,2343,2186,115.7,10.7,682,10982,0.00,2.55,0.00,0.000,1030,0.000,0.102,2743,2605,2264,2343,2186,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11279,1.01,232.3,2743,2606,2339,2186,82.4,10.2,713,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2605,2264,2343,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11579,1.11,333.9,2743,2606,2345,2185,54.5,7.1,743,11636,0.12,2.53,47.40,0.327,10756,0.155,0.090,2804,1201,1867,1954,1781,0,0,0,0,0,0,14.40,14.29,14.14
$GC,11825,1.17,333.9,2803,1203,1972,1787,30.7,10.1,792,11833,0.00,2.53,1.30,0.249,9222,0.000,0.103,2804,2605,1864,1955,1774,0,0,0,0,0,0,28.83,14.33,14.26
$GC,12131,1.40,570.3,2803,2605,1968,1790,13.2,1.1,823,12254,0.22,2.55,114.78,0.216,11012,0.119,0.090,2896,1194,902,976,829,0,0,0,0,0,0,14.38,14.25,14.15
$FREEZE,8.65,4.923,-1.296,2,6,0
$FREEZE,8.39,4.985,-1.298,2,6,0
$FREEZE,7.80,4.985,-1.297,2,6,0
$GC,12324,1.56,730.9,2896,1194,982,830,10.2,4.5,859,12381,0.12,2.55,49.62,0.204,11270,0.151,0.102,2938,2610,497,521,473,0,0,0,0,0,0,14.28,14.24,14.14
$FREEZE,6.57,5.058,-1.299,2,6,0
$FREEZE,5.52,5.072,-1.298,2,6,0
$FREEZE,4.41,5.072,-1.298,2,6,0
$FREEZE,3.31,5.072,-1.297,2,6,0
$FREEZE,2.29,5.073,-1.296,2,6,0
$FREEZE,1.31,5.071,-1.296,2,6,0
$STATE,12435,end climb,SURFACE_DEPTH_REACHED
$STATE,12435,begin surface coast
$FREEZE,1.22,4.961,-0.185,2,6,0
$FINISH,1.2,1.002640
$STATE,12445,end surface coast,CONTROL_FINISHED_OK
$STATE,12445,begin surface
$SM_CCo,12466,-0.05,0.000,0,0,501,669.67
$SM_CCo,12469,0.00,0.000,0,0,501,669.67
$SM_CCo,12471,-0.03,0.000,0,0,501,669.42
$SM_GC,3.11,8.32,0.45,-0.03,0.088,0.104,0.000,199,2366,501,-6.94,1.05,669.42,0,0,0,0,0,0,14.31,14.31,13.99
$RAFOS_CLK,286
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7118.99,-14553.69,100814,012010
$TT8_MAMPS,0.044191,0.044191
$HUMID,51.57
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4004244
$TM_FREEKB,6095680
$24V_AH,12.35,93.433
$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,21.675,45.300,635.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9972.591,609.379,1980.252,106.847,0.000,1458.572,0.000,1300.014,1418.000,0.536,0.000
$DEVICE_MAMPS,470.475,128.520,1877.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12475.000,12525.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.294,44.335,0.000,0.000
$MEM,292536
$DATA_FILE_SIZE,30068,876
$CAP_FILE_SIZE,138257,0
$CFSIZE,2097872896,2064318464
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12381.45,0x2378b6,7,5
$INTR,1,10190.37,0x21368c,1,24
$INTR,2,12470.07,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,100814,050504,7149.873,-14555.667,6,0.8,26,22.0