version: 66.12
glider: 199
mission: 5
dive: 122
start: 8 12 114 7 43 17
data:
$ID,199
$MISSION,5
$DIVE,122
$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,-21748.607
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,120814,071926,7143.064,-14601.528,27,0.8,47,22.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.1
$GPS2,120814,074258,7143.141,-14602.086,5,0.8,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,345.3,53884,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-175.1,181,2358,532,479,0.0,0.0,0,74,0.00,0.00,-51.28,0.000,16386,0.000,0.000,180,2358,1824,1830,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,181,2358,1830,1821,3.3,-3.0,5,136,10.95,2.58,-41.62,0.000,18692,0.466,0.137,2179,3771,3944,4002,3887,0,0,0,0,0,0,14.05,14.27,14.50
$GC,360,-0.72,-175.1,2180,3771,4004,3894,77.1,-23.3,62,368,0.00,2.42,0.00,0.000,1030,0.000,0.077,2181,2357,3947,4002,3893,0,0,0,0,0,0,28.83,14.31,28.83
$GC,666,-0.72,-175.1,2182,2365,4003,3894,137.2,-18.3,93,673,0.00,2.55,0.00,0.000,260,0.000,0.120,2172,3768,3948,4002,3894,0,0,0,0,0,0,28.83,14.35,28.83
$GC,862,-0.72,-175.1,2172,3770,4004,3894,175.4,-18.7,132,870,0.12,2.42,0.00,0.000,3078,0.308,0.078,2195,2355,3948,4002,3894,0,0,0,0,0,0,14.26,14.41,28.83
$GC,1172,-0.72,-175.1,2195,2355,4004,3894,221.0,-13.7,163,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2354,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1482,-0.72,-175.1,2195,2354,4001,3893,261.6,-12.9,188,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2354,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1782,-0.72,-175.1,2196,2354,4002,3890,298.7,-12.1,198,1788,0.00,2.60,0.00,0.000,260,0.000,0.124,2186,3772,3945,4001,3889,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1812,-0.72,-175.1,2186,3772,4004,3889,302.8,-14.1,204,1819,0.00,2.45,0.00,0.000,1030,0.000,0.079,2186,2353,3945,4002,3889,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2144,-0.72,-175.1,2186,2352,4003,3890,344.9,-12.6,220,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2350,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,-0.72,-175.1,2186,2351,4004,3887,382.2,-12.4,230,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2351,3943,4001,3886,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140812081644.222651,3,561,21,0093,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,11.9,1.2,-100,1.8,-01,-0.3,26,900,0025*0C
$GC,2744,-0.72,-175.1,2187,2351,4002,3886,419.2,-12.2,240,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2350,3944,4003,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3043,-0.72,-175.1,2187,2351,4002,3885,456.3,-12.5,250,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2348,3943,4002,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3343,-0.72,-175.1,2186,2348,4003,3885,493.1,-12.2,260,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2350,3943,4002,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3643,-0.72,-175.1,2186,2351,4003,3884,529.3,-12.1,270,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2349,3942,4002,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3943,-0.72,-175.1,2191,2351,4003,3883,564.9,-12.0,280,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2350,3942,4002,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4243,-0.72,-175.1,2186,2349,4003,3883,600.7,-11.9,290,4251,0.00,2.58,0.00,0.000,260,0.000,0.125,2176,3773,3942,4002,3882,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4300,-0.72,-175.1,2175,3774,4003,3882,608.0,-13.2,301,4308,0.00,2.40,0.00,0.000,1030,0.000,0.080,2176,2362,3941,4001,3881,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4606,-0.72,-175.1,2177,2361,4001,3882,645.9,-12.3,312,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2361,3941,4001,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4905,-0.72,-175.1,2177,2361,4001,3882,682.4,-12.0,322,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2361,3941,4001,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5205,-0.72,-175.1,2177,2362,4001,3882,718.3,-11.9,332,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2361,3944,4007,3881,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5503,begin apogee
$GC,5507,-0.14,0.0,2174,2601,4003,3881,753.5,-11.7,342,5729,0.82,0.00,216.68,1.707,10246,0.277,0.000,2382,2600,3227,3280,3175,0,0,0,0,0,0,14.33,28.83,12.97
$STATE,5731,end apogee,CONTROL_FINISHED_OK
$STATE,5731,begin climb
$GC,5733,0.72,175.1,2382,2601,3277,3174,759.9,0.0,349,5902,0.98,2.38,154.00,1.961,10500,0.162,0.122,2658,3768,2505,2568,2442,0,0,0,0,0,0,13.57,12.97,12.34
$GC,6082,0.72,175.1,2658,3769,2565,2431,719.7,15.5,421,6088,0.00,2.10,0.00,0.000,1030,0.000,0.076,2668,2600,2497,2564,2431,0,0,0,0,0,0,28.83,13.70,28.83
$GC,6413,0.72,175.1,2668,2602,2566,2430,674.5,13.5,437,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2496,2564,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,0.72,175.1,2669,2602,2564,2430,633.9,13.6,447,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2496,2563,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,0.72,175.1,2668,2602,2566,2430,593.9,13.2,457,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2496,2564,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,0.72,175.1,2669,2602,2564,2428,554.1,13.3,467,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2496,2564,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7612,0.72,175.1,2669,2602,2563,2428,513.8,13.3,477,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2496,2564,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7912,0.72,175.1,2669,2602,2564,2428,473.8,13.2,487,7920,0.00,2.42,0.00,0.000,516,0.000,0.088,2679,1191,2495,2564,2427,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7939,0.72,175.1,2679,1192,2564,2428,470.3,12.8,492,7947,0.00,2.53,0.00,0.000,1030,0.000,0.101,2678,2606,2495,2564,2427,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8244,0.72,175.1,2678,2607,2564,2428,428.1,13.8,503,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2607,2495,2564,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8544,0.72,175.1,2680,2609,2564,2427,386.7,13.9,513,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2606,2495,2564,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,0.72,175.1,2680,2603,2563,2427,345.1,13.9,523,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2606,2495,2564,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9144,0.72,175.1,2678,2607,2565,2427,303.7,13.7,533,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2606,2495,2564,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,0.72,175.1,2678,2607,2565,2427,263.4,13.1,543,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2606,2493,2559,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9744,0.72,175.1,2678,2607,2565,2427,225.2,12.1,565,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2606,2495,2564,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10044,0.76,175.1,2680,2607,2564,2427,191.0,10.7,595,10051,0.00,2.47,0.00,0.000,516,0.000,0.087,2689,1191,2495,2564,2427,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10110,0.82,175.1,2689,1192,2565,2427,184.1,10.1,608,10119,0.00,2.53,0.00,0.000,1030,0.000,0.100,2689,2609,2495,2564,2427,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10416,0.89,239.2,2690,2609,2564,2427,154.7,8.8,639,10478,0.00,2.12,54.08,1.338,8452,0.000,0.123,2689,3767,2245,2316,2174,0,0,0,0,0,0,28.83,14.08,13.52
$GC,10532,0.89,239.2,2690,3768,2308,2167,142.0,12.8,662,10540,0.00,2.03,0.00,0.000,1030,0.000,0.080,2697,2598,2236,2308,2165,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10838,0.94,239.2,2695,2598,2309,2162,109.8,10.2,693,10841,0.12,0.00,0.00,0.000,2054,0.148,0.000,2744,2598,2234,2308,2161,0,0,0,0,0,0,14.34,28.83,28.83
$GC,11138,0.97,239.2,2744,2598,2310,2160,75.8,11.0,723,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2594,2234,2309,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11438,1.11,376.8,2744,2598,2309,2160,51.0,5.5,753,11511,0.12,2.15,64.38,0.317,10500,0.153,0.124,2793,3769,1693,1781,1605,0,0,0,0,0,0,14.40,14.25,14.12
$GC,11691,1.11,376.8,2793,3769,1784,1625,20.3,13.7,803,11698,0.00,2.03,0.00,0.000,1030,0.000,0.083,2802,2597,1701,1785,1618,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12003,1.38,644.1,2803,2597,1788,1618,13.4,-0.2,835,12146,0.20,2.50,130.48,0.215,10756,0.116,0.087,2889,1197,603,646,560,0,0,0,0,0,0,14.40,14.26,14.14
$FREEZE,8.84,4.875,-1.299,2,2,0
$FREEZE,8.57,4.878,-1.302,2,2,0
$FREEZE,8.33,4.878,-1.301,2,2,0
$FREEZE,7.89,4.899,-1.302,2,2,0
$FREEZE,7.58,4.899,-1.302,2,2,0
$FREEZE,7.14,4.898,-1.302,2,2,0
$FREEZE,6.58,4.898,-1.302,2,2,0
$GC,12191,1.49,761.8,2889,1198,652,561,7.6,6.4,872,12212,0.00,2.53,13.43,0.208,9222,0.000,0.101,2889,2600,498,526,471,0,0,0,0,0,0,28.83,14.25,14.17
$FREEZE,5.59,4.901,-1.302,2,2,0
$FREEZE,4.99,4.901,-1.303,2,2,0
$FREEZE,4.27,4.898,-1.302,2,2,0
$FREEZE,3.34,4.892,-1.301,2,2,0
$FREEZE,2.33,4.896,-1.301,2,2,0
$FREEZE,1.49,4.894,-1.300,2,2,0
$STATE,12265,end climb,SURFACE_DEPTH_REACHED
$STATE,12265,begin surface coast
$FREEZE,1.21,4.695,-0.244,2,2,0
$FREEZE,1.18,4.829,-1.302,2,2,0
$FINISH,1.2,1.018952
$STATE,12285,end surface coast,CONTROL_FINISHED_OK
$STATE,12285,begin surface
$SM_CCo,12307,0.45,0.349,0,0,498,669.91
$SM_GC,2.69,8.18,0.43,0.45,0.085,0.098,0.349,195,2365,498,-6.97,1.02,669.91,0,0,0,0,0,0,14.31,14.34,14.25
$RAFOS_CLK,485
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7112.27,-14553.86,120814,072459
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.40
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,4003200
$TM_FREEKB,5918944
$24V_AH,12.34,98.016
$10V_AH,12.56,0.000
$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,21.500,48.650,633.025,0.450,0.000,0.000,0.000,934.725,0.000,0.000,26.651,0.000,9901.712,658.843,2900.845,257.622,0.000,2408.245,0.000,1311.604,1497.000,0.537,0.000
$DEVICE_MAMPS,465.885,136.935,1961.460,348.840,0.000,0.000,0.000,209.610,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12316.000,12364.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.237,45.686,0.000,0.000
$MEM,287740
$DATA_FILE_SIZE,29972,883
$CAP_FILE_SIZE,151734,0
$CFSIZE,2097872896,2061402112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13683.33,0x2378b6,7,5
$SOUNDSPEED,1451.0
$GPS,120814,110955,7144.811,-14602.416,32,0.8,52,22.0