version: 66.12
glider: 199
mission: 5
dive: 134
start: 8 14 114 3 26 30
data:
$ID,199
$MISSION,5
$DIVE,134
$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,-21763.729
$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,27
$R_STBD_OVSHOOT,18
$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
$GPS1,140814,031412,7205.543,-14557.780,64,0.8,84,22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.8
$GPS2,140814,032612,7205.540,-14557.890,5,0.8,26,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,358.4,12771,-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,-175.1,179,2359,518,480,0.0,0.0,0,74,0.00,0.00,-51.17,0.000,16386,0.000,0.000,177,2359,1809,1818,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,178,2359,1818,1802,3.5,-3.2,5,136,11.15,2.65,-41.80,0.000,18692,0.470,0.142,2177,3767,3949,4006,3892,0,0,0,0,0,0,13.98,14.23,14.46
$GC,360,-0.72,-175.1,2177,3767,4009,3899,81.2,-24.1,62,368,0.00,2.45,0.00,0.000,1030,0.000,0.080,2178,2349,3951,4006,3897,0,0,0,0,0,0,28.83,14.31,28.83
$GC,666,-0.72,-175.1,2178,2348,4005,3899,145.9,-20.6,93,673,0.00,2.40,0.00,0.000,516,0.000,0.088,2178,953,3952,4006,3899,0,0,0,0,0,0,28.83,14.35,28.83
$GC,727,-0.72,-175.1,2179,954,4005,3899,157.6,-18.7,105,734,0.15,2.50,0.00,0.000,3078,0.328,0.100,2196,2365,3952,4006,3898,0,0,0,0,0,0,14.21,14.35,28.83
$GC,1039,-0.72,-175.1,2197,2365,4005,3899,209.9,-15.7,137,1046,0.00,2.45,0.00,0.000,516,0.000,0.088,2196,943,3952,4006,3898,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1165,-0.72,-175.1,2197,947,4005,3899,228.6,-14.1,162,1174,0.00,2.53,0.00,0.000,1030,0.000,0.102,2188,2365,3952,4006,3898,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1471,-0.72,-175.1,2188,2366,4004,3899,271.6,-13.9,183,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2365,3951,4005,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1771,-0.72,-175.1,2187,2366,4006,3897,311.4,-12.9,193,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2366,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-0.72,-175.1,2187,2366,4007,3900,349.4,-12.8,203,2078,0.00,2.53,0.00,0.000,260,0.000,0.125,2177,3767,3949,4005,3894,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2127,-0.72,-175.1,2175,3767,4004,3895,357.4,-14.2,214,2135,0.00,2.42,0.00,0.000,1030,0.000,0.080,2177,2353,3950,4005,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2432,-0.72,-175.1,2178,2352,4005,3894,398.4,-13.4,225,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2352,3949,4005,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.72,-175.1,2177,2353,4006,3894,437.9,-13.0,235,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2352,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.72,-175.1,2177,2353,4006,3894,477.0,-13.0,245,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2352,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,-0.72,-175.1,2177,2353,4007,3894,516.0,-12.8,255,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2352,3948,4005,3892,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814040411.037427,3,2050,33,0295,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,19.8,0.5,-100,2.5,-01,0.9,32,900,0025*1A
$MODEM_MSG,CACST,6,1,20140814041637.218653,3,868,23,0243,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,9.5,1.3,-100,1.7,-01,0.3,25,900,0025*10
$GC,3632,-0.72,-175.1,2179,2346,4005,3893,554.7,-12.8,265,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2356,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-0.72,-175.1,2177,2353,4005,3889,592.6,-12.7,275,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2352,3951,4005,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4233,-0.72,-175.1,2184,2352,4005,3893,630.1,-12.5,285,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2351,3948,4005,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4533,-0.72,-175.1,2177,2353,4007,3892,667.2,-12.3,295,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2352,3948,4005,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4833,-0.72,-175.1,2178,2352,4005,3892,703.7,-12.1,305,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2352,3948,4005,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5133,-0.72,-175.1,2178,2352,4005,3892,739.6,-11.8,315,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2352,3948,4005,3891,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5221,begin apogee
$GC,5225,-0.14,0.0,2175,2601,4002,3892,750.2,-11.9,318,5388,0.82,0.00,158.27,2.030,10246,0.277,0.000,2383,2598,3232,3285,3179,0,0,0,0,0,0,14.32,28.83,13.01
$STATE,5389,end apogee,CONTROL_FINISHED_OK
$STATE,5389,begin climb
$GC,5391,0.72,175.1,2384,2601,3274,3174,754.5,0.0,323,5561,0.98,2.40,152.93,1.879,10500,0.160,0.121,2661,3763,2507,2570,2445,0,0,0,0,0,0,13.62,13.02,12.43
$GC,5591,0.72,175.1,2661,3764,2567,2441,737.5,15.5,365,5597,0.00,2.17,0.00,0.000,1030,0.000,0.076,2667,2592,2502,2566,2438,0,0,0,0,0,0,28.83,13.31,28.83
$GC,5922,0.72,175.1,2670,2593,2567,2435,691.4,13.9,381,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2592,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6221,0.72,175.1,2670,2593,2567,2434,649.9,13.8,391,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2592,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6521,0.72,175.1,2669,2593,2567,2434,609.1,13.5,401,6528,0.00,2.42,0.00,0.000,516,0.000,0.088,2680,1194,2499,2566,2433,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6537,0.72,175.1,2682,1195,2561,2433,607.0,13.5,404,6543,0.00,2.53,0.00,0.000,1030,0.000,0.100,2681,2604,2499,2566,2432,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6853,0.72,175.1,2681,2605,2567,2433,562.8,14.0,417,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7152,0.72,175.1,2681,2606,2567,2433,520.7,14.0,427,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7452,0.72,175.1,2681,2605,2567,2432,478.9,14.0,437,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7752,0.72,175.1,2681,2606,2567,2433,436.9,14.0,447,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8052,0.72,175.1,2681,2605,2566,2432,395.0,14.0,457,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8352,0.72,175.1,2682,2605,2566,2432,354.1,13.5,467,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8652,0.72,175.1,2681,2606,2567,2432,313.8,13.3,477,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2602,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8952,0.72,175.1,2681,2605,2567,2432,275.4,12.5,487,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2498,2565,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,0.72,175.1,2681,2605,2572,2432,238.5,12.3,503,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9553,0.79,175.1,2682,2605,2573,2432,204.9,10.0,533,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9853,0.86,246.8,2682,2606,2566,2432,177.8,8.4,563,9920,0.00,2.60,61.10,1.382,8708,0.000,0.087,2691,1192,2215,2289,2142,0,0,0,0,0,0,28.83,14.07,13.50
$GC,10044,0.93,246.8,2692,1193,2281,2128,159.8,9.9,601,10051,0.15,2.55,0.00,0.000,3078,0.133,0.102,2745,2601,2204,2281,2128,0,0,0,0,0,0,14.24,14.20,28.83
$GC,10356,0.93,246.8,2746,2602,2280,2127,121.5,11.8,633,10362,0.00,2.47,0.00,0.000,516,0.000,0.087,2756,1187,2203,2280,2126,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10491,0.93,246.8,2758,1188,2280,2127,105.6,11.7,660,10499,0.00,2.55,0.00,0.000,1030,0.000,0.102,2757,2604,2203,2280,2126,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10798,1.01,246.8,2757,2605,2281,2127,70.7,9.8,691,10804,0.00,2.10,0.00,0.000,260,0.000,0.126,2757,3769,2203,2280,2126,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10933,1.09,333.6,2753,3769,2281,2127,57.0,7.8,718,10981,0.00,2.03,39.72,0.337,9222,0.000,0.083,2764,2589,1870,1955,1786,0,0,0,0,0,0,28.83,14.40,14.14
$GC,11278,1.16,405.8,2764,2590,1968,1798,26.3,8.4,757,11322,0.15,2.50,36.42,0.247,10756,0.141,0.088,2833,1191,1574,1665,1483,0,0,0,0,0,0,14.38,14.31,14.21
$GC,11361,1.16,405.8,2833,1192,1671,1489,16.6,12.6,772,11368,0.00,2.55,0.00,0.000,1030,0.000,0.103,2833,2607,1580,1671,1489,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11673,1.44,680.6,2833,2608,1673,1487,14.8,-0.6,804,11810,0.17,2.10,129.90,0.220,10500,0.130,0.122,2899,3767,497,521,474,0,0,0,0,0,0,14.37,14.20,14.12
$FREEZE,8.88,4.564,-1.327,2,1,0
$FREEZE,8.55,4.564,-1.327,2,1,0
$FREEZE,8.08,4.563,-1.327,2,1,0
$FREEZE,7.73,4.563,-1.327,2,1,0
$FREEZE,7.28,4.564,-1.327,2,1,0
$FREEZE,6.66,4.564,-1.326,2,1,0
$FREEZE,6.13,4.568,-1.326,2,1,0
$FREEZE,5.47,4.568,-1.325,2,1,0
$FREEZE,4.91,4.558,-1.325,2,1,0
$GC,11875,1.44,680.6,2900,3767,526,471,4.9,11.9,844,11882,0.00,2.03,0.00,0.000,1030,0.000,0.083,2907,2601,500,527,474,0,0,0,0,0,0,28.83,14.28,28.83
$FREEZE,3.84,4.551,-1.324,2,1,0
$FREEZE,2.90,4.553,-1.323,2,1,0
$FREEZE,1.86,4.557,-1.322,2,1,0
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FREEZE,1.12,4.551,-1.322,2,1,0
$FREEZE,1.23,4.498,-0.777,2,1,0
$FINISH,1.2,1.011361
$STATE,11926,end surface coast,CONTROL_FINISHED_OK
$STATE,11926,begin surface
$SM_CCo,12008,0.00,0.000,0,0,497,669.91
$SM_GC,2.30,8.32,0.43,0.00,0.096,0.101,0.000,197,2356,497,-6.95,0.68,669.91,0,0,0,0,0,0,14.31,14.35,28.83
$RAFOS_CLK,436
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7132.53,-14601.16,130814,234510
$TT8_MAMPS,0.045689,0.045689
$HUMID,52.91
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,4001804
$TM_FREEKB,5688544
$24V_AH,12.43,104.142
$10V_AH,12.62,0.000
$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,21.900,53.825,578.350,0.000,0.000,0.000,0.000,441.775,0.000,0.000,27.189,0.000,9586.322,603.661,2365.162,169.467,0.000,1840.103,0.000,1264.576,1471.000,0.537,0.000
$DEVICE_MAMPS,470.475,141.525,2029.545,0.000,0.000,0.000,0.000,186.660,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11956.000,12005.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.458,44.520,0.000,0.000
$MEM,280968
$DATA_FILE_SIZE,30002,850
$CAP_FILE_SIZE,142104,0
$CFSIZE,2097872896,2058551296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12811.35,0x2378b6,7,5
$SOUNDSPEED,1450.1
$GPS,140814,064812,7207.212,-14555.626,38,0.8,58,22.1