version: 66.12
glider: 199
mission: 5
dive: 143
start: 8 15 114 11 26 16
data:
$ID,199
$MISSION,5
$DIVE,143
$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,-21775.078
$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,25
$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
$GPS1,150814,110512,7217.881,-14552.596,35,0.8,55,22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.1
$GPS2,150814,112558,7218.018,-14552.655,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.7,87023,-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,-175.1,165,2362,520,476,0.0,0.0,0,74,0.00,0.00,-50.83,0.000,16386,0.000,0.000,162,2362,1783,1792,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,164,2362,1796,1776,3.1,-2.6,5,140,11.18,2.58,-45.60,0.000,19204,0.466,0.137,2176,3770,3947,4004,3891,0,0,0,0,0,0,13.97,14.21,14.45
$GC,364,-0.72,-175.1,2176,3771,4004,3898,86.7,-25.4,63,371,0.00,2.42,0.00,0.000,1030,0.000,0.077,2178,2360,3950,4003,3898,0,0,0,0,0,0,28.83,14.33,28.83
$GC,675,-0.72,-175.1,2179,2354,4001,3899,153.3,-19.8,95,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2355,3953,4003,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,975,-0.72,-175.1,2177,2355,4004,3899,207.9,-17.2,125,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2355,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1285,-0.72,-175.1,2178,2356,4003,3899,255.7,-15.0,154,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2359,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.72,-175.1,2178,2355,4002,3897,299.8,-14.6,164,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2355,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-0.72,-175.1,2179,2355,4009,3895,342.1,-14.2,174,1892,0.00,2.42,0.00,0.000,516,0.000,0.092,2177,947,3948,4002,3895,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1946,-0.72,-175.1,2177,948,4004,3893,350.5,-13.2,186,1953,0.15,2.50,0.00,0.000,3078,0.314,0.103,2197,2360,3945,3999,3891,0,0,0,0,0,0,14.28,14.42,28.83
$GC,2285,-0.72,-175.1,2196,2361,4004,3894,392.7,-12.3,202,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2360,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-0.72,-175.1,2196,2361,3995,3893,429.2,-12.1,212,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2360,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2885,-0.72,-175.1,2196,2361,4004,3888,465.5,-12.1,222,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2360,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,-0.72,-175.1,2196,2361,4004,3892,501.4,-12.0,232,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2360,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3485,-0.72,-175.1,2195,2361,4004,3891,537.2,-12.0,242,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2361,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140815120424.617623,3,222,23,0106,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,10.5,0.9,-100,2.1,-01,-0.1,31,900,0025*09
$MODEM_MSG,CACST,6,1,20140815121641.669894,3,70,18,0094,0150,100,00,00,00,04,-1,-01,-01,1,3,0,0,150,9.6,1.0,-100,2.0,-01,0.6,28,900,0025*24
$GC,3785,-0.72,-175.1,2196,2361,4004,3891,572.6,-11.9,252,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2361,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-0.72,-175.1,2196,2361,4004,3889,608.0,-11.7,262,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2361,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-0.72,-175.1,2196,2361,4004,3890,642.7,-11.5,272,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2361,3943,3998,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4685,-0.72,-175.1,2197,2361,4002,3889,676.8,-11.3,282,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2360,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4985,-0.72,-175.1,2197,2358,4003,3889,710.6,-11.3,292,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2360,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5285,-0.72,-175.1,2197,2361,4002,3889,744.3,-11.2,302,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2361,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5344,begin apogee
$GC,5348,-0.14,0.0,2196,2616,4003,3889,751.0,-11.2,304,5571,0.73,0.00,218.77,1.668,10246,0.265,0.000,2381,2615,3229,3280,3179,0,0,0,0,0,0,14.33,28.83,12.98
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5575,0.72,175.1,2383,2616,3275,3173,758.4,0.0,311,5744,0.98,2.33,154.62,1.900,10500,0.165,0.118,2657,3776,2504,2567,2442,0,0,0,0,0,0,13.55,13.02,12.38
$GC,5949,0.72,175.1,2653,3777,2563,2430,716.7,15.1,388,5958,0.00,2.12,0.00,0.000,1030,0.000,0.078,2666,2588,2496,2562,2430,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6255,0.72,175.1,2666,2589,2563,2431,675.5,13.3,399,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2588,2495,2562,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6554,0.72,175.1,2665,2588,2564,2428,635.7,13.2,409,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2588,2495,2562,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6854,0.72,175.1,2666,2589,2563,2428,596.3,13.2,419,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2585,2494,2562,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,0.72,175.1,2666,2589,2563,2428,557.2,13.1,429,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2494,2561,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7454,0.72,175.1,2666,2589,2563,2427,518.0,13.0,439,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2494,2562,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7754,0.72,175.1,2667,2588,2561,2427,478.5,13.1,449,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2494,2562,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8054,0.72,175.1,2666,2589,2563,2426,439.3,13.0,459,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2589,2494,2562,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8354,0.72,175.1,2667,2589,2562,2426,400.4,12.9,469,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2589,2493,2562,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8654,0.72,175.1,2667,2589,2562,2426,362.1,12.8,479,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2493,2562,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8954,0.72,175.1,2667,2589,2561,2425,323.9,12.7,489,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2493,2562,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9254,0.72,175.1,2667,2588,2562,2426,286.9,12.1,499,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2493,2562,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,0.72,175.1,2667,2589,2562,2425,251.7,11.5,509,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2493,2562,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9854,0.77,175.1,2665,2589,2564,2425,219.2,10.4,537,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2588,2494,2562,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10154,0.83,234.6,2666,2585,2563,2426,189.5,9.0,567,10207,0.12,0.00,50.08,1.395,10246,0.155,0.000,2709,2588,2271,2340,2203,0,0,0,0,0,0,14.42,28.83,13.55
$GC,10504,0.85,234.6,2709,2589,2327,2177,149.8,11.1,602,10510,0.00,2.17,0.00,0.000,260,0.000,0.125,2709,3770,2251,2326,2176,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10524,0.85,234.6,2708,3771,2327,2177,147.3,11.6,606,10531,0.00,2.03,0.00,0.000,1030,0.000,0.082,2718,2593,2248,2326,2171,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10836,0.90,283.7,2719,2594,2325,2176,114.8,9.4,638,10886,0.00,0.00,42.75,1.349,8710,0.000,0.000,2724,2593,2061,2145,1977,0,0,0,0,0,0,28.83,28.83,13.56
$GC,11185,0.97,283.7,2718,2594,2142,1962,77.2,9.9,674,11192,0.00,2.42,0.00,0.000,516,0.000,0.089,2729,1198,2050,2140,1961,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11216,1.03,338.8,2729,1199,2141,1962,74.1,9.2,680,11250,0.12,2.55,24.98,0.369,11270,0.155,0.101,2768,2610,1847,1933,1762,0,0,0,0,0,0,14.33,14.30,14.06
$GC,11546,1.10,413.0,2772,2610,1950,1782,40.8,8.3,716,11590,0.00,0.00,38.83,0.282,8710,0.000,0.000,2772,2610,1543,1637,1450,0,0,0,0,0,0,28.83,28.83,14.16
$GC,11886,1.36,668.7,2773,2609,1656,1462,14.0,0.3,754,12021,0.28,2.47,126.45,0.214,10756,0.109,0.091,2882,1189,502,520,484,0,0,0,0,0,0,14.38,14.23,14.15
$FREEZE,8.80,3.928,-1.345,2,1,0
$FREEZE,8.46,3.928,-1.345,2,1,0
$FREEZE,8.03,3.920,-1.345,2,1,0
$FREEZE,7.77,3.920,-1.344,2,1,0
$FREEZE,7.46,3.921,-1.345,2,1,0
$FREEZE,7.29,3.921,-1.345,2,1,0
$FREEZE,6.79,3.919,-1.345,2,1,0
$FREEZE,6.46,3.919,-1.344,2,1,0
$FREEZE,5.98,3.919,-1.344,2,1,0
$GC,12091,1.45,760.0,2882,1190,530,486,6.0,7.6,794,12098,0.00,2.55,0.85,0.277,9222,0.000,0.103,2882,2598,500,516,484,0,0,0,0,0,0,28.83,14.21,14.18
$FREEZE,4.86,3.928,-1.343,2,1,0
$FREEZE,3.51,3.923,-1.343,2,1,0
$FREEZE,2.52,3.914,-1.342,2,1,0
$FREEZE,1.52,3.922,-1.341,2,1,0
$STATE,12131,end climb,SURFACE_DEPTH_REACHED
$STATE,12131,begin surface coast
$FREEZE,1.26,3.871,-1.342,2,1,0
$FINISH,1.3,1.019608
$STATE,12142,end surface coast,CONTROL_FINISHED_OK
$STATE,12142,begin surface
$SM_CCo,12163,0.47,0.342,0,0,499,669.91
$SM_GC,2.89,8.12,0.43,0.47,0.084,0.099,0.342,200,2371,499,-6.94,1.02,669.91,0,0,0,0,0,0,14.33,14.35,14.26
$RAFOS_CLK,438
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7146.24,-14545.18,150814,110953
$TT8_MAMPS,0.044191,0.044191
$HUMID,52.36
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4000768
$TM_FREEKB,5518528
$24V_AH,12.38,108.618
$10V_AH,12.56,0.000
$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,21.675,29.475,657.325,0.475,0.000,0.000,0.000,894.500,0.000,0.000,25.244,0.000,9840.707,664.865,2701.144,201.283,0.000,2305.558,0.000,1193.924,1499.000,0.537,0.000
$DEVICE_MAMPS,465.885,136.935,1900.260,341.955,0.000,0.000,0.000,201.960,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12172.000,12221.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.983,43.562,0.000,0.000
$MEM,276100
$DATA_FILE_SIZE,26701,800
$CAP_FILE_SIZE,142360,0
$CFSIZE,2097872896,2056192000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13405.40,0x2378b6,7,5
$SOUNDSPEED,1451.3
$GPS,150814,145054,7219.840,-14553.413,57,0.8,77,22.2