version: 66.12
glider: 199
mission: 5
dive: 133
start: 8 13 114 23 52 58
data:
$ID,199
$MISSION,5
$DIVE,133
$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,-21762.467
$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,16
$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
$GPS1,130814,234043,7203.886,-14600.072,18,0.7,38,22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.4
$GPS2,130814,235240,7203.933,-14600.158,4,0.7,25,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,359.0,16008,-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,-175.1,174,2360,513,489,0.0,0.0,0,74,0.00,0.00,-51.20,0.000,16386,0.000,0.000,174,2359,1788,1801,1775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,176,2360,1801,1781,3.1,-2.3,5,140,11.20,2.65,-44.20,0.000,18692,0.470,0.142,2180,3767,3949,4006,3892,0,0,0,0,0,0,14.00,14.21,14.47
$GC,364,-0.72,-175.1,2180,3768,4007,3900,77.7,-22.6,63,372,0.00,2.42,0.00,0.000,1030,0.000,0.079,2180,2360,3952,4006,3899,0,0,0,0,0,0,28.83,14.33,28.83
$GC,680,-0.72,-175.1,2180,2355,4005,3900,144.1,-20.6,95,686,0.00,2.58,0.00,0.000,260,0.000,0.122,2169,3771,3952,4006,3899,0,0,0,0,0,0,28.83,14.23,28.83
$GC,725,-0.72,-175.1,2170,3771,4008,3900,154.1,-21.8,104,734,0.12,2.42,0.00,0.000,3078,0.320,0.077,2192,2356,3955,4011,3899,0,0,0,0,0,0,14.15,14.31,28.83
$GC,1031,-0.72,-175.1,2194,2355,4006,3900,208.3,-16.9,135,1038,0.00,2.42,0.00,0.000,516,0.000,0.090,2193,953,3958,4012,3905,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1137,-0.72,-175.1,2194,954,4005,3900,224.3,-14.5,156,1144,0.00,2.53,0.00,0.000,1030,0.000,0.103,2184,2362,3952,4006,3899,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1462,-0.72,-175.1,2183,2363,4007,3899,271.3,-13.9,179,1468,0.00,2.45,0.00,0.000,516,0.000,0.088,2184,960,3952,4006,3899,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1548,-0.72,-175.1,2185,955,4006,3900,283.0,-12.9,196,1555,0.00,2.50,0.00,0.000,1030,0.000,0.102,2174,2360,3952,4006,3898,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1853,-0.72,-175.1,2173,2359,4007,3898,325.9,-13.9,207,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2361,3951,4005,3897,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814001635.926137,3,596,21,0182,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,10.5,1.5,-100,1.5,-01,0.5,24,900,0025*24
$GC,2153,-0.72,-175.1,2173,2361,4007,3896,367.8,-13.8,217,2161,0.12,2.53,0.00,0.000,2308,0.330,0.122,2191,3769,3950,4006,3895,0,0,0,0,0,0,14.25,14.36,28.83
$GC,2215,-0.72,-175.1,2187,3769,4007,3896,376.3,-13.5,229,2222,0.00,2.40,0.00,0.000,1030,0.000,0.080,2191,2359,3950,4006,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2547,-0.72,-175.1,2191,2359,4007,3895,417.9,-12.6,245,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2358,3950,4005,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,-0.72,-175.1,2191,2359,4007,3896,455.1,-12.3,255,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2358,3949,4005,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,-0.72,-175.1,2192,2359,4011,3895,492.2,-12.3,265,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2358,3949,4005,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3446,-0.72,-175.1,2191,2358,4007,3894,529.1,-12.3,275,3453,0.00,2.58,0.00,0.000,260,0.000,0.125,2181,3776,3949,4005,3893,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3497,-0.72,-175.1,2181,3777,4007,3894,536.1,-14.1,285,3505,0.00,2.42,0.00,0.000,1030,0.000,0.080,2181,2355,3949,4005,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3810,-0.72,-175.1,2180,2355,4007,3894,575.7,-12.7,297,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2354,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.72,-175.1,2182,2354,4005,3890,613.2,-12.5,307,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2354,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.72,-175.1,2182,2354,4005,3894,650.3,-12.2,317,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2354,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.72,-175.1,2181,2355,4007,3894,686.7,-12.0,327,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2354,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5009,-0.72,-175.1,2182,2354,4005,3894,722.1,-11.7,337,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2354,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5248,begin apogee
$GC,5252,-0.14,0.0,2180,2602,4005,3898,750.3,-11.7,345,5474,0.80,0.00,217.93,1.691,10246,0.278,0.000,2380,2602,3229,3280,3178,0,0,0,0,0,0,14.32,28.83,13.00
$STATE,5476,end apogee,CONTROL_FINISHED_OK
$STATE,5476,begin climb
$GC,5479,0.72,175.1,2381,2602,3277,3173,757.4,0.0,352,5648,0.98,2.40,153.12,1.892,10500,0.167,0.122,2654,3764,2508,2571,2445,0,0,0,0,0,0,13.54,12.97,12.35
$GC,5868,0.72,175.1,2655,3761,2568,2438,713.0,14.7,432,5874,0.00,2.08,0.00,0.000,1030,0.000,0.079,2664,2601,2500,2567,2434,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6189,0.72,175.1,2664,2602,2567,2437,670.2,13.2,446,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6488,0.72,175.1,2664,2601,2568,2436,631.1,13.0,456,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6788,0.72,175.1,2665,2601,2566,2435,592.4,12.9,466,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2600,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7088,0.72,175.1,2664,2600,2568,2435,553.4,13.0,476,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7388,0.72,175.1,2664,2601,2568,2435,514.8,12.9,486,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7688,0.72,175.1,2665,2601,2566,2433,476.4,12.8,496,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,0.72,175.1,2665,2601,2566,2434,437.9,12.8,506,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8288,0.72,175.1,2664,2601,2568,2435,399.6,12.7,516,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8588,0.72,175.1,2666,2601,2566,2433,362.4,12.5,526,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,0.72,175.1,2664,2601,2567,2434,325.1,12.3,536,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9188,0.72,175.1,2661,2601,2568,2434,288.6,12.1,546,9195,0.00,2.10,0.00,0.000,260,0.000,0.125,2664,3766,2500,2567,2434,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9214,0.72,175.1,2665,3766,2565,2434,285.1,14.4,551,9222,0.00,2.03,0.00,0.000,1030,0.000,0.082,2673,2601,2500,2567,2434,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9519,0.72,175.1,2672,2601,2568,2434,248.0,11.8,562,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2601,2501,2568,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9819,0.79,175.1,2672,2602,2569,2435,215.1,9.9,592,9826,0.00,2.42,0.00,0.000,516,0.000,0.087,2683,1188,2499,2566,2433,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9915,0.86,239.7,2683,1188,2568,2434,206.1,8.8,611,9977,0.00,2.50,54.88,1.401,9222,0.000,0.101,2683,2599,2248,2320,2177,0,0,0,0,0,0,28.83,14.36,13.52
$GC,10281,0.93,239.7,2684,2597,2314,2160,167.7,9.9,654,10288,0.12,2.45,0.00,0.000,2564,0.152,0.085,2744,1198,2235,2312,2159,0,0,0,0,0,0,14.31,14.31,28.83
$GC,10392,0.97,239.7,2745,1198,2312,2156,155.5,10.5,676,10399,0.00,2.50,0.00,0.000,1030,0.000,0.101,2744,2599,2235,2312,2159,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10704,0.97,239.7,2744,2600,2313,2160,119.6,11.2,708,10710,0.00,2.45,0.00,0.000,516,0.000,0.087,2755,1194,2235,2311,2159,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10786,0.99,239.7,2754,1194,2314,2160,110.7,11.1,724,10793,0.00,2.53,0.00,0.000,1030,0.000,0.102,2755,2603,2235,2312,2159,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11097,0.99,239.7,2755,2604,2312,2159,74.3,11.2,756,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2603,2235,2312,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11397,1.20,443.0,2756,2604,2312,2158,50.9,2.6,786,11506,0.17,2.17,97.25,0.316,10500,0.136,0.125,2816,3767,1424,1515,1333,0,0,0,0,0,0,14.38,14.21,14.04
$GC,11710,1.59,833.4,2820,3767,1515,1338,15.5,-5.7,848,11834,0.35,2.03,112.00,0.222,11270,0.106,0.083,2944,2591,502,523,481,0,0,0,0,0,0,14.33,14.33,14.07
$FREEZE,8.86,4.710,-1.330,2,1,0
$FREEZE,7.60,4.724,-1.329,2,1,0
$FREEZE,6.42,4.726,-1.328,2,1,0
$FREEZE,5.07,4.730,-1.327,2,1,0
$FREEZE,3.90,4.730,-1.326,2,1,0
$FREEZE,2.43,4.733,-1.325,2,1,0
$FREEZE,1.27,4.732,-1.324,2,1,0
$STATE,11920,end climb,SURFACE_DEPTH_REACHED
$STATE,11920,begin surface coast
$FREEZE,1.26,4.683,-1.326,2,1,0
$FINISH,1.3,1.019304
$STATE,11929,end surface coast,CONTROL_FINISHED_OK
$STATE,11929,begin surface
$SM_CCo,11951,0.35,0.397,0,0,499,669.67
$SM_GC,2.84,8.43,0.40,0.35,0.094,0.104,0.397,192,2361,499,-6.96,0.88,669.67,0,0,0,0,0,0,14.31,14.33,14.23
$RAFOS_CLK,488
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7132.53,-14606.96,130814,200721
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.59
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4001920
$TM_FREEKB,5707520
$24V_AH,12.35,103.662
$10V_AH,12.44,0.000
$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,22.300,58.425,635.175,0.350,0.000,0.000,0.000,436.975,0.000,0.000,27.037,0.000,9424.120,666.984,2407.705,169.422,0.000,1923.443,0.000,1307.093,1438.000,0.537,0.000
$DEVICE_MAMPS,470.475,142.290,1891.845,397.035,0.000,0.000,0.000,192.780,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11960.000,12007.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.013,44.666,0.000,0.000
$MEM,281552
$DATA_FILE_SIZE,30027,882
$CAP_FILE_SIZE,141377,0
$CFSIZE,2097872896,2058813440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13093.36,0x2378b6,7,5
$SOUNDSPEED,1451.0
$GPS,140814,031412,7205.543,-14557.780,64,0.8,84,22.1