version: 66.12
glider: 199
mission: 5
dive: 142
start: 8 15 114 7 42 50
data:
$ID,199
$MISSION,5
$DIVE,142
$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,-21773.818
$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,23
$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
$GPS1,150814,073254,7216.112,-14552.715,31,0.8,51,22.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-70.0
$GPS2,150814,074231,7216.178,-14552.824,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.8,90431,-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,-175.1,171,2367,518,482,0.0,0.0,0,73,0.00,0.00,-50.88,0.000,16386,0.000,0.000,170,2366,1784,1794,1775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.72,-175.1,172,2367,1795,1775,3.2,-2.8,5,136,10.82,2.62,-43.28,0.000,19204,0.464,0.144,2178,3773,3946,4004,3889,0,0,0,0,0,0,14.12,14.30,14.59
$GC,360,-0.72,-175.1,2178,3773,4005,3895,85.4,-24.5,62,368,0.00,2.42,0.00,0.000,1030,0.000,0.080,2178,2355,3948,4003,3894,0,0,0,0,0,0,28.83,14.34,28.83
$GC,665,-0.72,-175.1,2174,2354,4005,3896,149.8,-20.1,93,672,0.00,2.55,0.00,0.000,260,0.000,0.122,2168,3767,3949,4004,3895,0,0,0,0,0,0,28.83,14.37,28.83
$GC,867,-0.72,-175.1,2167,3771,4005,3895,190.0,-19.9,133,874,0.15,2.42,0.00,0.000,3078,0.307,0.080,2197,2350,3949,4003,3895,0,0,0,0,0,0,14.24,14.42,28.83
$GC,1190,-0.72,-175.1,2201,2349,4003,3895,238.2,-13.8,165,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2349,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1490,-0.72,-175.1,2197,2349,4005,3895,278.8,-13.2,181,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2348,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1790,-0.72,-175.1,2195,2350,4001,3895,317.5,-12.7,191,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2349,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2090,-0.72,-175.1,2196,2350,4005,3894,354.5,-12.1,201,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2349,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2390,-0.72,-175.1,2196,2350,4005,3894,390.1,-11.7,211,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2349,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140815081641.188261,3,130,21,0127,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,10.7,1.0,-100,2.0,-01,0.6,28,900,0025*24
$GC,2691,-0.72,-175.1,2198,2349,4003,3893,425.0,-11.6,221,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2347,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2990,-0.72,-175.1,2198,2349,4002,3889,459.6,-11.5,231,2996,0.00,2.60,0.00,0.000,260,0.000,0.125,2187,3768,3947,4003,3892,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3036,-0.72,-175.1,2188,3769,4005,3893,465.5,-13.2,240,3042,0.00,2.42,0.00,0.000,1030,0.000,0.080,2187,2355,3948,4004,3892,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3352,-0.72,-175.1,2188,2356,4005,3893,504.2,-12.3,253,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2355,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3651,-0.72,-175.1,2188,2355,4005,3893,540.4,-12.0,263,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2355,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3951,-0.72,-175.1,2189,2355,4003,3892,576.5,-12.0,273,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2355,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.72,-175.1,2189,2355,4003,3892,612.6,-12.1,283,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4551,-0.72,-175.1,2187,2356,4005,3891,649.0,-12.2,293,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2355,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4851,-0.72,-175.1,2187,2359,4004,3892,685.5,-12.1,303,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2354,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5151,-0.72,-175.1,2187,2355,4005,3892,721.7,-12.0,313,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2355,3947,4003,3891,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5390,begin apogee
$GC,5394,-0.14,0.0,2187,2604,4004,3891,750.2,-11.8,321,5621,0.77,0.00,222.88,1.815,10246,0.272,0.000,2377,2602,3231,3284,3179,0,0,0,0,0,0,14.32,28.83,12.81
$STATE,5623,end apogee,CONTROL_FINISHED_OK
$STATE,5623,begin climb
$GC,5626,0.72,175.1,2382,2603,3280,3174,757.9,0.0,328,5799,0.98,2.38,159.70,2.111,10500,0.161,0.119,2656,3768,2507,2571,2443,0,0,0,0,0,0,13.43,12.86,12.19
$GC,5978,0.72,175.1,2656,3769,2567,2427,720.2,15.3,401,5985,0.00,2.10,0.00,0.000,1030,0.000,0.077,2665,2599,2498,2566,2430,0,0,0,0,0,0,28.83,13.67,28.83
$GC,6305,0.72,175.1,2667,2600,2565,2428,676.3,13.5,416,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2597,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6604,0.72,175.1,2666,2599,2565,2429,636.1,13.4,426,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2599,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6904,0.72,175.1,2665,2600,2567,2429,595.5,13.5,436,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7204,0.72,175.1,2667,2600,2565,2429,555.0,13.4,446,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,0.72,175.1,2667,2600,2565,2432,514.8,13.3,456,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7804,0.72,175.1,2667,2606,2565,2427,475.1,13.3,466,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,0.72,175.1,2667,2600,2565,2427,436.0,13.1,476,8110,0.00,2.42,0.00,0.000,516,0.000,0.088,2676,1187,2496,2566,2427,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8124,0.72,175.1,2677,1185,2565,2427,433.4,12.1,480,8131,0.00,2.50,0.00,0.000,1030,0.000,0.100,2673,2599,2495,2565,2426,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8436,0.72,175.1,2677,2600,2567,2427,391.7,13.3,492,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,0.72,175.1,2678,2600,2565,2427,351.5,13.3,502,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2600,2496,2566,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9035,0.72,175.1,2677,2599,2565,2427,311.9,13.0,512,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2496,2566,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9335,0.72,175.1,2677,2600,2565,2427,273.7,12.8,522,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9635,0.72,175.1,2674,2602,2567,2427,237.3,11.9,538,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9935,0.78,175.1,2676,2600,2567,2427,203.8,10.3,568,9942,0.00,2.45,0.00,0.000,516,0.000,0.088,2686,1187,2496,2566,2426,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9971,0.82,222.1,2687,1188,2565,2427,200.4,9.5,575,10019,0.00,2.53,39.60,1.431,9222,0.000,0.100,2686,2603,2315,2386,2244,0,0,0,0,0,0,28.83,14.36,13.57
$GC,10316,0.87,222.1,2686,2604,2379,2232,163.0,10.4,614,10322,0.00,2.47,0.00,0.000,516,0.000,0.087,2696,1188,2304,2378,2231,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10372,0.92,272.3,2696,1188,2379,2231,157.6,9.4,625,10424,0.12,2.53,42.33,1.392,11270,0.154,0.101,2741,2599,2113,2192,2034,0,0,0,0,0,0,14.33,14.30,13.52
$GC,10729,0.92,272.3,2741,2600,2187,2015,112.6,12.9,666,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2599,2100,2185,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11029,0.94,272.3,2741,2600,2187,2014,76.7,11.1,696,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2599,2098,2185,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11329,1.09,421.3,2741,2600,2187,2013,52.9,5.0,726,11407,0.15,2.55,70.93,0.324,10756,0.142,0.090,2809,1194,1511,1603,1419,0,0,0,0,0,0,14.39,14.21,14.11
$GC,11452,1.09,421.3,2809,1196,1613,1426,41.0,12.5,750,11458,0.00,2.55,0.00,0.000,1030,0.000,0.102,2809,2609,1518,1611,1425,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11764,1.34,670.6,2811,2604,1610,1429,13.8,0.6,782,11897,0.15,2.50,122.90,0.218,10756,0.142,0.087,2876,1192,498,518,479,0,0,0,0,0,0,14.33,14.23,14.12
$FREEZE,8.97,4.253,-1.350,2,2,0
$FREEZE,8.61,4.253,-1.350,2,2,0
$FREEZE,8.19,4.263,-1.349,2,2,0
$FREEZE,7.84,4.263,-1.349,2,2,0
$FREEZE,7.43,4.242,-1.350,2,2,0
$FREEZE,6.91,4.242,-1.350,2,2,0
$GC,11943,1.42,744.7,2875,1193,529,480,6.9,8.3,817,11951,0.00,2.55,0.47,0.353,9222,0.000,0.103,2876,2600,498,518,479,0,0,0,0,0,0,28.83,14.24,14.19
$FREEZE,5.69,4.251,-1.349,2,2,0
$FREEZE,4.90,4.252,-1.348,2,2,0
$FREEZE,4.29,4.234,-1.348,2,2,0
$FREEZE,3.27,4.218,-1.346,2,2,0
$FREEZE,2.02,4.221,-1.345,2,2,0
$FREEZE,1.24,4.209,-1.345,2,2,0
$STATE,12006,end climb,SURFACE_DEPTH_REACHED
$STATE,12006,begin surface coast
$FREEZE,1.24,4.103,-1.349,2,2,0
$FREEZE,1.17,4.134,-0.727,2,2,0
$FINISH,1.2,1.010651
$STATE,12025,end surface coast,CONTROL_FINISHED_OK
$STATE,12026,begin surface
$SM_CCo,12047,0.30,0.440,0,0,498,669.67
$SM_GC,2.44,8.15,0.43,0.30,0.089,0.100,0.440,190,2365,498,-6.96,1.07,669.67,0,0,0,0,0,0,14.36,14.35,14.26
$RAFOS_CLK,478
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7146.24,-14549.16,150814,073721
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.08
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4000880
$TM_FREEKB,5537824
$24V_AH,12.19,108.085
$10V_AH,12.28,0.000
$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,21.300,45.475,658.800,0.300,0.000,0.000,0.000,170.525,0.000,0.000,25.247,0.000,9731.899,665.205,2068.935,164.008,0.000,1612.689,0.000,1227.559,1493.000,0.536,0.000
$DEVICE_MAMPS,464.355,143.820,2111.400,439.875,0.000,0.000,0.000,90.270,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12058.000,12106.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.963,43.595,0.000,0.000
$MEM,276680
$DATA_FILE_SIZE,26757,826
$CAP_FILE_SIZE,135201,0
$CFSIZE,2097872896,2056093696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12880.29,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,150814,110512,7217.881,-14552.596,35,0.8,55,22.2