version: 66.12
glider: 199
mission: 5
dive: 123
start: 8 12 114 11 29 55
data:
$ID,199
$MISSION,5
$DIVE,123
$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,-21749.867
$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,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
$GPS1,120814,110955,7144.811,-14602.416,32,0.8,52,22.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.2
$GPS2,120814,112937,7144.864,-14602.815,5,0.8,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,346.2,50777,-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,-175.1,181,2362,535,474,0.0,0.0,0,74,0.00,0.00,-51.33,0.000,16386,0.000,0.000,178,2362,1815,1826,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,177,2366,1828,1807,3.3,-3.0,5,136,11.18,2.58,-41.08,0.000,18692,0.469,0.136,2181,3770,3944,4002,3887,0,0,0,0,0,0,13.97,14.20,14.43
$GC,355,-0.72,-175.1,2180,3771,4004,3894,77.9,-23.3,61,362,0.00,2.42,0.00,0.000,1030,0.000,0.076,2180,2356,3947,4002,3893,0,0,0,0,0,0,28.83,14.33,28.83
$GC,667,-0.72,-175.1,2182,2355,4002,3894,139.4,-18.2,93,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2355,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,966,-0.72,-175.1,2180,2356,4004,3894,191.3,-16.1,123,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2355,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-0.72,-175.1,2181,2355,4002,3894,236.2,-14.4,153,1273,0.00,2.40,0.00,0.000,516,0.000,0.089,2180,954,3947,4002,3893,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1317,-0.72,-175.1,2180,955,4005,3894,243.5,-13.9,163,1324,0.12,2.50,0.00,0.000,3078,0.324,0.101,2192,2357,3947,4002,3893,0,0,0,0,0,0,14.24,14.38,28.83
$GC,1638,-0.72,-175.1,2192,2358,4004,3891,285.1,-12.9,178,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2361,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1939,-0.72,-175.1,2190,2361,4003,3890,322.1,-12.3,188,1946,0.00,2.53,0.00,0.000,260,0.000,0.124,2183,3773,3945,4002,3889,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1985,-0.72,-175.1,2183,3774,4004,3890,328.3,-13.5,197,1992,0.00,2.42,0.00,0.000,1030,0.000,0.080,2183,2358,3945,4001,3889,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2302,-0.72,-175.1,2184,2358,4002,3889,367.9,-12.5,210,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2358,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.72,-175.1,2184,2358,4002,3888,405.3,-12.5,220,2607,0.00,2.60,0.00,0.000,260,0.000,0.124,2173,3775,3944,4002,3887,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2651,-0.72,-175.1,2173,3777,4004,3887,412.3,-13.7,230,2658,0.00,2.45,0.00,0.000,1030,0.000,0.080,2173,2353,3948,4009,3887,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2963,-0.72,-175.1,2174,2353,4002,3887,452.6,-12.8,242,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2352,3944,4002,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.72,-175.1,2173,2353,4004,3887,490.6,-12.6,252,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2353,3943,4002,3885,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140812120404.906198,3,619,27,0098,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,11.1,2.4,-100,0.6,-01,0.2,39,900,0025*21
$MODEM_MSG,CACST,6,1,20140812121642.705299,3,209,23,0111,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,13.0,1.2,-100,1.8,-01,0.0,26,900,0025*29
$GC,3562,-0.72,-175.1,2173,2353,4004,3881,528.4,-12.6,262,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2352,3943,4001,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3862,-0.72,-175.1,2174,2353,4002,3885,565.9,-12.6,272,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2352,3943,4002,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4162,-0.72,-175.1,2174,2354,4002,3885,603.6,-12.6,282,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4462,-0.72,-175.1,2173,2353,3998,3884,641.1,-12.4,292,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3943,4002,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.72,-175.1,2172,2353,4003,3884,678.2,-12.4,302,4769,0.00,2.55,0.00,0.000,260,0.000,0.125,2162,3771,3942,4002,3882,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4803,-0.72,-175.1,2162,3772,4003,3883,683.7,-14.5,310,4810,0.15,2.42,0.00,0.000,3078,0.292,0.081,2192,2355,3942,4002,3882,0,0,0,0,0,0,14.30,14.46,28.83
$GC,5125,-0.72,-175.1,2188,2350,4002,3883,719.8,-11.3,324,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3945,4008,3882,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5422,begin apogee
$GC,5426,-0.14,0.0,2197,2605,4003,3883,753.0,-11.0,334,5646,0.75,0.00,214.70,1.611,10246,0.269,0.000,2383,2605,3229,3280,3178,0,0,0,0,0,0,14.33,28.83,13.05
$STATE,5648,end apogee,CONTROL_FINISHED_OK
$STATE,5648,begin climb
$GC,5650,0.72,175.1,2384,2605,3275,3173,759.4,0.0,341,5822,0.98,2.33,154.12,1.949,10500,0.163,0.119,2661,3761,2508,2575,2441,0,0,0,0,0,0,13.63,13.00,12.33
$GC,6021,0.72,175.1,2661,3762,2566,2432,716.0,15.2,417,6027,0.00,2.08,0.00,0.000,1030,0.000,0.076,2670,2600,2498,2565,2431,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6332,0.72,175.1,2671,2600,2564,2430,673.5,13.7,429,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2600,2499,2569,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,0.72,175.1,2671,2601,2564,2430,632.4,13.6,439,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2600,2496,2564,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6932,0.72,175.1,2670,2601,2572,2432,591.8,13.4,449,6938,0.00,2.42,0.00,0.000,516,0.000,0.088,2680,1196,2496,2565,2428,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6957,0.72,175.1,2684,1197,2566,2421,588.3,13.5,454,6965,0.00,2.53,0.00,0.000,1030,0.000,0.101,2680,2608,2496,2565,2428,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7263,0.72,175.1,2680,2613,2565,2428,545.8,13.9,465,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2607,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,0.72,175.1,2681,2613,2564,2428,504.3,13.9,475,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2608,2498,2569,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,0.72,175.1,2680,2608,2566,2428,462.2,14.1,485,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2608,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,0.72,175.1,2680,2609,2566,2428,420.4,13.9,495,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2608,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8463,0.72,175.1,2681,2608,2564,2424,379.1,13.7,505,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2608,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8763,0.72,175.1,2678,2608,2565,2427,338.3,13.6,515,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2608,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9063,0.72,175.1,2680,2608,2566,2427,298.2,13.3,525,9069,0.00,2.08,0.00,0.000,260,0.000,0.125,2680,3772,2495,2565,2426,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9108,0.72,175.1,2680,3773,2564,2427,291.3,15.7,534,9115,0.00,2.00,0.00,0.000,1030,0.000,0.081,2689,2593,2495,2565,2426,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9425,0.72,175.1,2689,2594,2566,2427,249.5,13.0,547,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2593,2493,2560,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9724,0.72,175.1,2694,2594,2564,2427,211.6,12.5,577,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2594,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10024,0.78,175.1,2689,2594,2566,2427,177.1,10.2,607,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2594,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10325,0.85,245.3,2690,2594,2565,2427,149.4,8.5,637,10388,0.00,0.00,59.80,1.341,8198,0.000,0.000,2689,2593,2228,2301,2155,0,0,0,0,0,0,28.83,28.83,13.53
$GC,10684,0.91,245.3,2690,2594,2288,2130,113.6,10.0,673,10687,0.12,0.00,0.00,0.000,2054,0.147,0.000,2736,2594,2209,2288,2131,0,0,0,0,0,0,14.32,28.83,28.83
$GC,10985,0.98,245.3,2736,2593,2288,2129,80.2,9.9,703,10991,0.00,2.42,0.00,0.000,516,0.000,0.087,2747,1193,2208,2288,2128,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11061,1.05,245.3,2746,1194,2289,2129,72.6,10.0,718,11069,0.00,2.53,0.00,0.000,1030,0.000,0.103,2746,2599,2206,2288,2124,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11366,1.20,391.5,2748,2600,2290,2128,48.6,5.1,749,11443,0.20,2.12,68.57,0.309,10500,0.122,0.123,2819,3770,1632,1722,1542,0,0,0,0,0,0,14.35,14.23,14.08
$GC,11503,1.20,391.5,2819,3777,1727,1554,32.5,16.1,776,11511,0.00,2.03,0.00,0.000,1030,0.000,0.083,2829,2601,1639,1726,1553,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11809,1.46,658.7,2828,2601,1729,1553,14.0,-0.2,807,11947,0.22,2.22,130.18,0.213,10500,0.114,0.127,2910,3770,543,573,514,0,0,0,0,0,0,14.36,14.20,14.14
$FREEZE,8.84,4.995,-1.308,2,1,0
$FREEZE,8.40,4.995,-1.307,2,1,0
$FREEZE,7.96,4.999,-1.309,2,1,0
$FREEZE,7.49,4.999,-1.309,2,1,0
$FREEZE,7.01,4.999,-1.309,2,1,0
$FREEZE,6.58,4.999,-1.309,2,1,0
$FREEZE,6.04,4.999,-1.309,2,1,0
$FREEZE,5.41,4.999,-1.309,2,1,0
$FREEZE,4.96,5.000,-1.309,2,1,0
$FREEZE,4.39,5.000,-1.308,2,1,0
$FREEZE,3.86,5.001,-1.308,2,1,0
$FREEZE,3.16,5.001,-1.308,2,1,0
$FREEZE,2.77,5.000,-1.308,2,1,0
$FREEZE,2.25,5.000,-1.307,2,1,0
$FREEZE,1.77,5.002,-1.307,2,1,0
$STATE,12020,end climb,SURFACE_DEPTH_REACHED
$STATE,12020,begin surface coast
$FREEZE,1.17,5.002,-1.306,2,1,0
$FREEZE,1.17,4.907,-1.304,2,1,0
$FINISH,1.2,1.018971
$STATE,12030,end surface coast,CONTROL_FINISHED_OK
$STATE,12030,begin surface
$SM_CCo,12055,6.07,0.204,0,0,498,669.67
$SM_GC,3.09,8.23,2.53,6.07,0.084,0.086,0.204,197,2359,498,-6.95,0.88,669.67,0,0,0,0,0,0,14.33,14.31,14.22
$RAFOS_CLK,440
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7112.27,-14603.38,120814,111429
$TT8_MAMPS,0.045689,0.045689
$HUMID,52.28
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4003084
$TM_FREEKB,5899776
$24V_AH,12.33,98.537
$10V_AH,12.58,0.000
$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,21.950,52.625,627.375,6.075,0.000,0.000,0.000,834.300,0.000,0.000,26.652,0.000,9632.965,664.810,2760.193,191.027,0.000,2287.024,0.000,1265.803,1489.000,0.537,0.000
$DEVICE_MAMPS,468.945,136.170,1949.220,204.255,0.000,0.000,0.000,199.665,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12062.000,12109.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.249,45.836,0.000,0.000
$MEM,287092
$DATA_FILE_SIZE,30100,851
$CAP_FILE_SIZE,149087,0
$CFSIZE,2097872896,2061467648
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13597.34,0x2378b6,7,5
$INTR,1,5812.10,0x234484,1,24
$SOUNDSPEED,1451.5
$GPS,120814,145324,7146.667,-14603.386,82,0.8,102,22.0