version: 66.12
glider: 199
mission: 5
dive: 128
start: 8 13 114 5 54 21
data:
$ID,199
$MISSION,5
$DIVE,128
$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,-21756.17
$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
$GPS1,130814,053955,7154.196,-14604.917,64,0.7,84,22.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.8
$GPS2,130814,055402,7154.259,-14605.255,5,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,352.7,33972,-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,-175.1,170,2365,527,470,0.0,0.0,0,74,0.00,0.00,-51.42,0.000,16386,0.000,0.000,170,2364,1818,1826,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,171,2367,1821,1811,3.5,-3.1,5,133,11.20,0.00,-40.20,0.000,18950,0.470,0.000,2191,2364,3950,4011,3890,0,0,0,0,0,0,14.00,28.83,14.48
$GC,430,-0.72,-175.1,2190,2365,4005,3896,86.7,-19.8,44,437,0.00,2.45,0.00,0.000,516,0.000,0.088,2191,948,3949,4004,3895,0,0,0,0,0,0,28.83,14.29,28.83
$GC,571,-0.72,-175.1,2190,949,4005,3897,113.8,-19.2,72,578,0.00,2.53,0.00,0.000,1030,0.000,0.101,2182,2362,3951,4004,3898,0,0,0,0,0,0,28.83,14.31,28.83
$GC,882,-0.72,-175.1,2183,2360,4003,3897,174.6,-18.2,104,889,0.00,2.53,0.00,0.000,260,0.000,0.122,2171,3765,3948,3999,3898,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1018,-0.72,-175.1,2173,3764,4003,3897,200.2,-18.0,131,1027,0.12,2.40,0.00,0.000,3078,0.314,0.079,2194,2355,3949,4006,3892,0,0,0,0,0,0,14.24,14.41,28.83
$GC,1324,-0.72,-175.1,2194,2356,4005,3896,243.2,-13.0,162,1330,0.00,2.55,0.00,0.000,260,0.000,0.124,2185,3764,3949,4003,3895,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1554,-0.72,-175.1,2186,3768,4003,3894,277.7,-14.3,208,1562,0.00,2.42,0.00,0.000,1030,0.000,0.080,2185,2360,3950,4003,3898,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1867,-0.72,-175.1,2181,2361,4005,3891,319.2,-13.0,220,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2360,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-0.72,-175.1,2185,2360,4004,3898,358.2,-12.9,230,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2360,3947,4003,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2466,-0.72,-175.1,2185,2360,4000,3890,396.3,-12.6,240,2472,0.00,2.42,0.00,0.000,516,0.000,0.091,2185,946,3946,4003,3889,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2526,-0.72,-175.1,2186,946,4001,3890,403.9,-12.9,252,2534,0.00,2.50,0.00,0.000,1030,0.000,0.103,2176,2356,3945,4002,3889,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2858,-0.72,-175.1,2176,2357,4003,3889,446.8,-13.0,268,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2356,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.72,-175.1,2175,2357,4004,3888,485.7,-13.0,278,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2356,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3458,-0.72,-175.1,2175,2357,4005,3889,524.5,-12.8,288,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2356,3945,4003,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-0.72,-175.1,2174,2357,4005,3887,562.7,-12.7,298,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2356,3945,4003,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4058,-0.72,-175.1,2176,2357,4003,3888,600.8,-12.8,308,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2356,3945,4003,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4358,-0.72,-175.1,2176,2357,4003,3887,638.5,-12.5,318,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2356,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-0.72,-175.1,2176,2357,4002,3887,676.4,-12.7,328,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2356,3944,4003,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4958,-0.72,-175.1,2176,2357,4003,3887,713.9,-12.4,338,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2355,3944,4003,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5256,begin apogee
$GC,5260,-0.14,0.0,2173,2617,4004,3886,750.2,-12.1,348,5480,0.82,0.00,214.38,1.793,10246,0.279,0.000,2380,2612,3228,3278,3178,0,0,0,0,0,0,14.32,28.83,12.91
$STATE,5482,end apogee,CONTROL_FINISHED_OK
$STATE,5482,begin climb
$GC,5484,0.72,175.1,2381,2612,3277,3172,756.6,0.0,355,5653,1.00,2.40,155.48,1.965,10500,0.168,0.120,2660,3764,2508,2572,2444,0,0,0,0,0,0,13.52,12.95,12.30
$GC,5767,0.72,175.1,2660,3769,2567,2435,727.0,14.7,414,5775,0.00,2.12,0.00,0.000,1030,0.000,0.076,2669,2596,2502,2566,2439,0,0,0,0,0,0,28.83,13.55,28.83
$GC,6073,0.72,175.1,2670,2597,2565,2430,685.5,13.4,425,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6373,0.72,175.1,2669,2597,2567,2431,645.0,13.6,435,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6673,0.72,175.1,2669,2597,2567,2432,604.5,13.5,445,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6973,0.72,175.1,2670,2597,2565,2430,565.3,13.1,455,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7273,0.72,175.1,2669,2597,2567,2430,526.2,13.1,465,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7573,0.72,175.1,2669,2597,2569,2430,486.4,13.2,475,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7873,0.72,175.1,2669,2597,2567,2430,445.8,13.5,485,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8173,0.72,175.1,2670,2597,2567,2428,405.9,13.3,495,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8473,0.72,175.1,2670,2597,2564,2429,366.8,12.9,505,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2594,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,0.72,175.1,2670,2597,2566,2429,328.4,12.8,515,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140813080406.457709,3,2112,33,0290,0150,100,00,00,00,00,-1,-01,-01,1,3,0,0,150,15.2,1.4,-100,1.6,-01,0.0,37,900,0025*1C
$MODEM_MSG,CACST,6,1,20140813081639.648165,3,166,22,0159,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,9.4,1.4,-100,1.6,-01,0.1,26,900,0025*1F
$GC,9073,0.72,175.1,2670,2597,2565,2429,290.0,12.8,525,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,0.72,175.1,2670,2597,2568,2429,253.2,11.7,535,9379,0.00,2.42,0.00,0.000,516,0.000,0.087,2680,1192,2497,2566,2429,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9448,0.72,175.1,2681,1193,2562,2429,244.5,11.7,550,9456,0.00,2.50,0.00,0.000,1030,0.000,0.101,2680,2598,2497,2566,2429,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9754,0.78,175.1,2679,2600,2567,2429,210.8,10.3,581,9762,0.00,2.10,0.00,0.000,260,0.000,0.126,2676,3770,2497,2566,2429,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9982,0.84,175.1,2681,3770,2566,2429,185.3,10.0,626,9990,0.00,2.00,0.00,0.000,1030,0.000,0.083,2689,2598,2497,2566,2429,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10287,0.94,271.7,2688,2599,2567,2429,161.5,7.3,657,10378,0.15,0.00,82.50,1.366,10246,0.139,0.000,2741,2598,2111,2189,2033,0,0,0,0,0,0,14.42,28.83,13.43
$GC,10676,0.94,271.7,2743,2599,2184,2014,114.3,12.6,696,10683,0.00,2.15,0.00,0.000,260,0.000,0.126,2741,3772,2099,2185,2014,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10727,0.94,271.7,2742,3771,2184,2015,107.1,14.5,706,10733,0.00,2.03,0.00,0.000,1030,0.000,0.083,2752,2595,2099,2184,2014,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11038,0.94,271.7,2750,2596,2186,2014,66.6,12.9,738,11045,0.00,2.42,0.00,0.000,516,0.000,0.088,2761,1195,2098,2184,2013,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11074,0.94,271.7,2761,1198,2185,2013,61.9,13.1,745,11082,0.00,2.53,0.00,0.000,1030,0.000,0.103,2761,2604,2098,2184,2013,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11380,1.06,396.0,2762,2604,2183,2013,36.1,6.1,776,11447,0.00,2.53,56.92,0.276,8708,0.000,0.089,2771,1201,1614,1708,1520,0,0,0,0,0,0,28.83,14.29,14.16
$GC,11646,1.11,446.5,2772,1203,1719,1527,12.0,9.4,829,11678,0.00,2.50,25.45,0.220,9222,0.000,0.101,2771,2599,1408,1507,1310,0,0,0,0,0,0,28.83,14.33,14.22
$GC,11983,1.38,715.9,2772,2600,1509,1320,12.3,-0.3,866,12106,0.30,2.55,110.55,0.211,10756,0.099,0.090,2896,1196,498,529,467,0,0,0,0,0,0,14.35,14.23,14.17
$FREEZE,8.48,5.254,-1.296,2,1,0
$FREEZE,8.11,5.252,-1.305,2,1,0
$FREEZE,7.65,5.252,-1.305,2,1,0
$FREEZE,7.41,5.255,-1.307,2,1,0
$FREEZE,7.00,5.255,-1.307,2,1,0
$FREEZE,6.72,5.256,-1.307,2,1,0
$FREEZE,6.38,5.256,-1.307,2,1,0
$FREEZE,6.18,5.254,-1.308,2,1,0
$FREEZE,5.95,5.254,-1.308,2,1,0
$FREEZE,5.70,5.254,-1.308,2,1,0
$FREEZE,5.57,5.254,-1.308,2,1,0
$FREEZE,5.38,5.252,-1.308,2,1,0
$FREEZE,5.03,5.252,-1.308,2,1,0
$FREEZE,4.74,5.253,-1.307,2,1,0
$FREEZE,4.32,5.253,-1.307,2,1,0
$FREEZE,3.85,5.254,-1.307,2,1,0
$FREEZE,3.35,5.254,-1.306,2,1,0
$FREEZE,2.95,5.252,-1.306,2,1,0
$FREEZE,2.42,5.252,-1.306,2,1,0
$FREEZE,2.03,5.255,-1.305,2,1,0
$FREEZE,1.73,5.255,-1.305,2,1,0
$STATE,12209,end climb,SURFACE_DEPTH_REACHED
$STATE,12209,begin surface coast
$FREEZE,1.33,5.248,-1.305,2,1,0
$FREEZE,1.18,5.248,-1.305,2,1,0
$FINISH,1.2,1.018959
$STATE,12220,end surface coast,CONTROL_FINISHED_OK
$STATE,12220,begin surface
$SM_CCo,12243,0.30,0.435,0,0,497,669.67
$SM_GC,3.14,8.30,2.17,0.30,0.098,0.114,0.435,200,2361,497,-6.94,-0.45,669.67,0,0,0,0,0,0,14.33,14.29,14.26
$RAFOS_CLK,204
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7118.99,-14559.41,130814,054427
$TT8_MAMPS,0.047936,0.047936
$HUMID,53.15
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,4002500
$TM_FREEKB,5803168
$24V_AH,12.30,101.163
$10V_AH,12.52,0.000
$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,21.900,52.700,645.275,0.300,0.000,0.000,0.000,507.150,0.000,0.000,27.255,0.000,9688.192,689.395,2551.972,167.295,0.000,2020.758,0.000,1350.151,1498.000,0.537,0.000
$DEVICE_MAMPS,469.710,129.285,1964.520,434.520,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12252.000,12299.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.484,44.249,0.000,0.000
$MEM,284380
$DATA_FILE_SIZE,30071,911
$CAP_FILE_SIZE,146072,0
$CFSIZE,2097872896,2060124160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13216.36,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,130814,091954,7156.177,-14605.213,24,0.8,44,22.0