version: 66.12
glider: 199
mission: 5
dive: 138
start: 8 14 114 17 20 30
data:
$ID,199
$MISSION,5
$DIVE,138
$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,-21768.773
$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,24
$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
$GPS1,140814,170854,7212.104,-14550.957,39,0.7,59,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-74.9
$GPS2,140814,172009,7212.138,-14551.105,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.2,66930,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.72,-175.1,178,2357,516,488,0.0,0.0,0,75,0.00,0.00,-51.80,0.000,16386,0.000,0.000,177,2360,1808,1821,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.72,-175.1,178,2357,1820,1793,3.2,-2.8,5,137,11.10,2.55,-42.50,0.000,18948,0.467,0.110,2197,943,3946,3999,3893,0,0,0,0,0,0,14.00,14.21,14.48
$GC,361,-0.72,-175.1,2198,943,4002,3900,75.8,-20.0,62,369,0.00,2.55,0.00,0.000,1030,0.000,0.101,2189,2365,3950,4002,3899,0,0,0,0,0,0,28.83,14.28,28.83
$GC,667,-0.72,-175.1,2189,2365,4004,3900,137.6,-19.7,93,674,0.00,2.45,0.00,0.000,516,0.000,0.089,2189,950,3950,4002,3899,0,0,0,0,0,0,28.83,14.37,28.83
$GC,788,-0.72,-175.1,2189,950,4004,3900,159.9,-17.7,117,794,0.00,2.53,0.00,0.000,1030,0.000,0.103,2179,2362,3951,4003,3899,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1099,-0.72,-175.1,2180,2363,4002,3900,213.9,-15.6,149,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2359,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1399,-0.72,-175.1,2178,2363,4002,3905,259.4,-14.6,175,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2362,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1699,-0.72,-175.1,2180,2363,4002,3899,302.2,-14.1,185,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2362,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,-0.72,-175.1,2181,2363,4002,3902,343.4,-13.7,195,2005,0.00,2.47,0.00,0.000,516,0.000,0.090,2179,939,3949,4002,3897,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2044,-0.72,-175.1,2178,939,4004,3894,349.6,-13.7,204,2051,0.10,2.53,0.00,0.000,3078,0.320,0.103,2189,2359,3949,4002,3897,0,0,0,0,0,0,14.28,14.42,28.83
$GC,2361,-0.72,-175.1,2191,2359,4002,3897,389.4,-12.5,217,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2359,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-0.72,-175.1,2191,2360,4002,3896,426.7,-12.4,227,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2359,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-0.72,-175.1,2191,2360,4003,3895,464.1,-12.4,237,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2359,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3260,-0.72,-175.1,2191,2360,4002,3895,500.7,-12.2,247,3267,0.00,2.53,0.00,0.000,260,0.000,0.125,2181,3770,3948,4002,3894,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3301,-0.72,-175.1,2181,3771,4004,3895,506.1,-13.7,255,3307,0.00,2.42,0.00,0.000,1030,0.000,0.080,2181,2347,3948,4002,3894,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3622,-0.72,-175.1,2180,2347,4002,3894,546.8,-12.6,269,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2347,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3921,-0.72,-175.1,2182,2347,4002,3895,584.0,-12.4,279,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2348,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,-0.72,-175.1,2177,2348,4004,3894,621.0,-12.3,289,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2346,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4521,-0.72,-175.1,2182,2345,4002,3895,657.8,-12.3,299,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2347,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4821,-0.72,-175.1,2182,2347,4001,3895,694.2,-12.2,309,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2347,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,-0.72,-175.1,2181,2347,4003,3895,730.2,-11.9,319,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2346,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5300,begin apogee
$GC,5304,-0.14,0.0,2180,2607,4002,3894,751.8,-12.0,325,5527,0.80,0.00,217.95,1.667,10246,0.272,0.000,2382,2606,3230,3282,3179,0,0,0,0,0,0,14.33,28.83,13.00
$STATE,5528,end apogee,CONTROL_FINISHED_OK
$STATE,5528,begin climb
$GC,5531,0.72,175.1,2381,2607,3280,3174,759.0,0.0,332,5699,0.98,2.35,153.15,1.870,10500,0.160,0.121,2658,3764,2507,2571,2444,0,0,0,0,0,0,13.57,13.00,12.38
$GC,5893,0.72,175.1,2659,3765,2568,2436,718.4,15.4,407,5900,0.00,2.10,0.00,0.000,1030,0.000,0.078,2668,2595,2501,2567,2435,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6210,0.72,175.1,2673,2596,2568,2434,675.1,13.7,420,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6509,0.72,175.1,2667,2595,2569,2433,634.0,13.8,430,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6809,0.72,175.1,2668,2596,2568,2433,593.4,13.5,440,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,0.72,175.1,2668,2596,2569,2433,553.2,13.4,450,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2595,2499,2567,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,0.72,175.1,2669,2595,2567,2432,513.3,13.4,460,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,0.72,175.1,2668,2596,2568,2432,473.3,13.2,470,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,0.72,175.1,2669,2596,2566,2432,433.5,13.2,480,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,0.72,175.1,2665,2596,2566,2432,394.3,13.0,490,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8609,0.72,175.1,2668,2596,2568,2432,355.5,12.8,500,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8909,0.72,175.1,2668,2596,2568,2432,317.3,12.7,510,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9209,0.72,175.1,2668,2596,2567,2432,279.3,12.5,520,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,0.72,175.1,2668,2596,2569,2432,242.9,12.2,532,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9822,0.79,175.1,2668,2596,2569,2432,208.8,10.0,562,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2595,2499,2567,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10121,0.86,243.9,2668,2596,2568,2432,180.0,8.6,592,10188,0.12,2.50,58.53,1.394,10756,0.155,0.089,2726,1195,2226,2299,2153,0,0,0,0,0,0,14.36,14.02,13.46
$GC,10234,0.86,243.9,2726,1195,2297,2145,167.7,11.4,614,10240,0.00,2.58,0.00,0.000,1030,0.000,0.102,2725,2599,2219,2294,2144,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10544,0.86,243.9,2726,2598,2296,2142,131.4,11.2,646,10551,0.00,2.12,0.00,0.000,260,0.000,0.125,2726,3766,2218,2294,2142,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10580,0.86,243.9,2727,3767,2294,2142,127.0,12.3,653,10587,0.00,2.03,0.00,0.000,1030,0.000,0.081,2735,2599,2217,2294,2141,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10886,0.92,243.9,2736,2599,2294,2137,93.1,10.1,684,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2599,2219,2297,2141,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814200415.958341,3,723,28,0235,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,16.9,1.1,-100,1.9,-01,-0.6,27,900,0025*0C
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5a0a5a4053;,*69
$MODEM_MSG,CACST,6,0,20140814201445.684137,3,586,15,0257,0150,100,00,00,02,05,1,010,000,0,5,1,0,150,0.0,3.1,-100,-0.1,-01,0.4,23,900,0025*18
$MODEM_MSG,CACST,6,1,20140814201636.706999,3,845,17,0095,0150,100,00,00,02,03,-1,-01,-01,1,3,1,0,150,8.3,1.0,-100,2.0,-01,-0.7,26,900,0025*36
$GC,11185,1.02,349.9,2736,2599,2294,2140,65.2,6.9,714,11242,0.00,2.45,50.25,0.361,8708,0.000,0.086,2746,1197,1804,1890,1718,0,0,0,0,0,0,28.83,14.25,14.06
$GC,11266,1.09,414.6,2747,1198,1895,1723,58.8,8.8,730,11309,0.12,2.55,33.97,0.343,11270,0.154,0.103,2787,2604,1540,1634,1446,0,0,0,0,0,0,14.23,14.20,14.04
$GC,11607,1.16,414.6,2785,2605,1639,1453,17.7,9.8,768,11613,0.00,2.47,0.00,0.000,516,0.000,0.089,2798,1192,1546,1640,1453,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11837,1.42,677.7,2798,1193,1637,1450,16.6,-0.0,814,11972,0.30,2.53,126.57,0.226,11270,0.099,0.101,2903,2605,498,517,480,0,0,0,0,0,0,14.37,14.32,14.08
$FREEZE,8.22,4.717,-1.356,2,1,0
$FREEZE,7.13,4.716,-1.355,2,1,0
$FREEZE,5.94,4.718,-1.354,2,1,0
$FREEZE,4.95,4.717,-1.353,2,1,0
$FREEZE,3.59,4.717,-1.352,2,1,0
$FREEZE,2.58,4.719,-1.351,2,1,0
$FREEZE,1.39,4.714,-1.351,2,1,0
$STATE,12076,end climb,SURFACE_DEPTH_REACHED
$STATE,12076,begin surface coast
$FREEZE,1.22,4.663,-0.352,2,1,0
$FINISH,1.2,1.005104
$STATE,12087,end surface coast,CONTROL_FINISHED_OK
$STATE,12087,begin surface
$SM_CCo,12168,0.00,0.000,0,0,498,669.91
$SM_GC,2.12,8.32,0.45,0.00,0.100,0.112,0.000,201,2364,498,-6.94,0.88,669.91,0,0,0,0,0,0,14.31,14.33,28.83
$RAFOS_CLK,114
$MODEM,10,1408047285,73.76100,-150.69960,164.684,238980.2
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7132.53,-14559.13,140814,140016
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.28
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,4001344
$TM_FREEKB,5614112
$24V_AH,12.38,106.089
$10V_AH,12.45,0.000
$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,21.850,44.650,640.425,0.000,0.000,0.000,0.000,407.775,0.000,0.000,25.676,0.000,9701.894,651.898,2321.370,167.488,0.000,1846.158,0.000,1264.790,1493.000,0.537,0.000
$DEVICE_MAMPS,466.650,129.285,1870.425,0.000,0.000,0.000,0.000,188.190,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12116.000,12154.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.225,43.963,0.000,0.000
$MEM,278768
$DATA_FILE_SIZE,30014,852
$CAP_FILE_SIZE,139984,0
$CFSIZE,2097872896,2057502720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11581.45,0x2378b6,7,5
$SOUNDSPEED,1450.9
$GPS,140814,204449,7210.675,-14551.006,36,0.8,56,22.2