version: 66.12
glider: 199
mission: 5
dive: 141
start: 8 15 114 4 8 9
data:
$ID,199
$MISSION,5
$DIVE,141
$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,-21772.559
$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,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
$GPS1,150814,035554,7214.170,-14551.895,34,0.8,54,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-68.9
$GPS2,150814,040751,7214.213,-14552.138,3,0.9,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.5,94064,-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,-175.1,173,2355,522,477,0.0,0.0,0,81,0.00,0.00,-57.72,0.000,16386,0.000,0.000,172,2358,1947,1957,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,172,2357,1959,1939,3.9,-3.9,6,138,11.20,2.60,-37.30,0.000,18692,0.468,0.138,2183,3773,3945,4002,3888,0,0,0,0,0,0,13.95,14.17,14.43
$GC,298,-0.72,-175.1,2185,3772,4002,3894,70.0,-27.8,49,306,0.00,2.45,0.00,0.000,1030,0.000,0.079,2182,2358,3947,4002,3893,0,0,0,0,0,0,28.83,14.27,28.83
$GC,602,-0.72,-175.1,2186,2356,4002,3895,135.6,-19.5,80,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2355,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,902,-0.72,-175.1,2183,2356,4002,3895,190.6,-17.2,110,909,0.00,2.42,0.00,0.000,516,0.000,0.091,2183,955,3948,4002,3894,0,0,0,0,0,0,28.83,14.29,28.83
$GC,963,-0.72,-175.1,2183,955,4002,3895,200.6,-15.6,122,970,0.00,2.53,0.00,0.000,1030,0.000,0.103,2173,2366,3948,4003,3893,0,0,0,0,0,0,28.83,14.28,28.83
$MODEM_MSG,CACST,6,1,20140815041448.000283,3,269,12,0137,0150,100,00,00,02,04,-1,-01,-01,1,3,0,0,150,-5.8,0.8,-100,2.2,-01,-0.1,26,900,0025*18
$MODEM_MSG,CACST,6,1,20140815041637.722732,3,229,17,0127,0150,100,00,00,01,04,-1,-01,-01,1,3,2,0,150,4.1,1.1,-100,1.9,-01,0.3,27,900,0025*11
$GC,1274,-0.72,-175.1,2174,2367,4002,3895,250.4,-15.4,154,1281,0.00,2.53,0.00,0.000,260,0.000,0.124,2162,3771,3948,4002,3894,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1330,-0.72,-175.1,2163,3771,4002,3895,259.8,-17.0,165,1338,0.15,2.42,0.00,0.000,3078,0.298,0.080,2192,2353,3948,4002,3894,0,0,0,0,0,0,14.17,14.35,28.83
$GC,1636,-0.72,-175.1,2192,2354,4004,3895,301.3,-13.4,176,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3952,4010,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,-0.72,-175.1,2191,2354,4002,3893,340.2,-12.9,186,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2235,-0.72,-175.1,2194,2354,4002,3892,378.4,-12.7,196,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3944,4002,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2535,-0.72,-175.1,2192,2354,3998,3892,415.6,-12.4,206,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-0.72,-175.1,2198,2354,4004,3891,452.7,-12.4,216,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3135,-0.72,-175.1,2192,2353,4004,3887,488.9,-11.9,226,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3435,-0.72,-175.1,2191,2354,4004,3889,524.4,-11.8,236,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3735,-0.72,-175.1,2194,2354,4002,3890,559.7,-11.9,246,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4035,-0.72,-175.1,2192,2351,4004,3890,594.8,-11.7,256,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4335,-0.72,-175.1,2193,2354,4002,3889,629.5,-11.5,266,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4635,-0.72,-175.1,2194,2354,4002,3890,663.6,-11.3,276,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2354,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4935,-0.72,-175.1,2192,2354,4004,3896,697.6,-11.4,286,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2354,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.72,-175.1,2192,2354,4004,3890,731.5,-11.2,296,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5414,begin apogee
$GC,5418,-0.14,0.0,2192,2603,4006,3889,751.9,-11.4,302,5635,0.75,0.00,211.98,1.716,10246,0.268,0.000,2381,2601,3230,3282,3179,0,0,0,0,0,0,14.31,28.83,13.00
$STATE,5637,end apogee,CONTROL_FINISHED_OK
$STATE,5637,begin climb
$GC,5640,0.72,175.1,2385,2602,3278,3173,759.3,0.0,309,5809,0.98,2.42,156.32,2.017,10500,0.160,0.119,2662,3766,2507,2572,2443,0,0,0,0,0,0,13.57,12.93,12.25
$GC,6014,0.72,175.1,2663,3769,2565,2432,717.4,15.2,386,6022,0.00,2.10,0.00,0.000,1030,0.000,0.078,2671,2594,2498,2565,2431,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6318,0.72,175.1,2671,2594,2567,2431,675.3,13.9,397,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6618,0.72,175.1,2669,2594,2567,2429,633.9,13.7,407,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2594,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6918,0.72,175.1,2670,2594,2567,2430,592.8,13.7,417,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2594,2495,2560,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7218,0.72,175.1,2672,2593,2565,2430,552.1,13.6,427,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2594,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,0.72,175.1,2672,2594,2565,2429,511.1,13.6,437,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2593,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7818,0.72,175.1,2672,2594,2566,2429,470.9,13.3,447,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2593,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8118,0.72,175.1,2671,2594,2574,2429,430.5,13.4,457,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2494,2560,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8418,0.72,175.1,2672,2594,2571,2429,390.3,13.3,467,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2594,2500,2572,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8718,0.72,175.1,2672,2594,2565,2429,350.2,13.2,477,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2593,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9018,0.72,175.1,2670,2594,2567,2435,311.4,12.6,487,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2593,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9318,0.72,175.1,2670,2594,2567,2429,273.4,12.7,497,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2593,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9618,0.72,175.1,2672,2594,2566,2429,237.7,11.4,513,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2594,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9919,0.80,175.1,2672,2594,2565,2428,205.2,9.8,543,9925,0.00,2.42,0.00,0.000,516,0.000,0.088,2681,1188,2497,2566,2428,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9940,0.85,228.9,2681,1188,2567,2429,203.2,9.2,547,9993,0.00,2.50,45.22,1.418,9222,0.000,0.100,2681,2599,2290,2360,2220,0,0,0,0,0,0,28.83,14.40,13.56
$GC,10290,0.90,228.9,2685,2599,2351,2204,165.3,10.3,587,10293,0.15,0.00,0.00,0.000,2054,0.142,0.000,2732,2600,2277,2352,2203,0,0,0,0,0,0,14.34,28.83,28.83
$GC,10589,0.90,228.9,2734,2600,2352,2203,130.0,11.4,617,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2599,2276,2351,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10890,0.95,278.1,2733,2599,2352,2203,99.3,9.4,647,10915,0.00,0.00,22.67,0.451,8198,0.000,0.000,2732,2599,2095,2175,2015,0,0,0,0,0,0,28.83,28.83,14.08
$GC,11211,1.01,337.2,2733,2600,2193,2035,67.0,9.0,679,11252,0.00,2.50,31.88,0.360,8708,0.000,0.090,2743,1201,1857,1943,1772,0,0,0,0,0,0,28.83,14.31,14.14
$GC,11292,1.07,395.7,2743,1202,1957,1778,59.3,9.0,694,11334,0.12,2.50,31.20,0.339,11270,0.155,0.103,2785,2603,1618,1710,1526,0,0,0,0,0,0,14.33,14.31,14.08
$GC,11632,1.13,395.7,2785,2599,1719,1534,21.7,10.2,732,11636,0.00,0.00,1.38,0.244,8198,0.000,0.000,2784,2598,1615,1708,1523,0,0,0,0,0,0,28.83,28.83,14.28
$GC,11932,1.38,647.2,2782,2599,1719,1530,15.0,0.5,762,12066,0.28,2.42,124.43,0.221,10756,0.112,0.086,2894,1196,589,626,552,0,0,0,0,0,0,14.37,14.24,14.11
$GC,12070,1.54,809.4,2895,1196,626,553,11.7,4.4,789,12089,0.12,2.53,11.43,0.224,11270,0.157,0.100,2935,2602,498,514,483,0,0,0,0,0,0,14.26,14.26,14.14
$FREEZE,8.04,4.411,-1.348,2,1,0
$FREEZE,6.92,4.408,-1.348,2,1,0
$FREEZE,5.60,4.402,-1.347,2,1,0
$FREEZE,4.39,4.405,-1.346,2,1,0
$FREEZE,3.10,4.399,-1.345,2,1,0
$FREEZE,1.88,4.394,-1.344,2,1,0
$STATE,12164,end climb,SURFACE_DEPTH_REACHED
$STATE,12164,begin surface coast
$FREEZE,1.42,4.359,-1.245,2,1,0
$FINISH,1.4,1.018170
$STATE,12174,end surface coast,CONTROL_FINISHED_OK
$STATE,12174,begin surface
$SM_CCo,12196,0.35,0.398,0,0,497,669.67
$SM_GC,2.69,8.30,0.43,0.35,0.085,0.102,0.398,195,2368,497,-6.95,1.10,669.67,0,0,0,0,0,0,14.33,14.33,14.25
$RAFOS_CLK,524
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7132.53,-14549.38,150814,002742
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.16
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4000996
$TM_FREEKB,5556960
$24V_AH,12.25,107.586
$10V_AH,12.49,0.000
$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,22.050,35.250,636.500,0.350,0.000,0.000,0.000,435.625,0.000,0.000,25.997,0.000,9836.802,610.504,2285.962,177.746,0.000,1837.456,0.000,1196.730,919.000,0.537,0.000
$DEVICE_MAMPS,468.180,137.700,2017.305,397.800,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12205.000,12252.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.092,43.711,0.000,0.000
$MEM,277284
$DATA_FILE_SIZE,26741,801
$CAP_FILE_SIZE,138787,0
$CFSIZE,2097872896,2056716288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12685.30,0x2378b6,7,5
$SOUNDSPEED,1450.9
$GPS,150814,073254,7216.112,-14552.715,31,0.8,51,22.2