version: 66.12
glider: 199
mission: 5
dive: 151
start: 8 16 114 15 46 38
data:
$ID,199
$MISSION,5
$DIVE,151
$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,-21785.156
$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,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,1
$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
$GPS1,160814,153922,7232.964,-14556.086,26,0.7,46,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.6
$GPS2,160814,154619,7232.988,-14556.237,6,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,341.0,59381,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-175.1,174,2365,527,468,0.0,0.0,0,69,0.00,0.00,-51.85,0.000,16386,0.000,0.000,171,2364,1800,1806,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,168,2365,1810,1794,3.3,-2.8,5,130,11.10,2.62,-43.28,0.000,18692,0.472,0.144,2180,3773,3947,4004,3890,0,0,0,0,0,0,14.04,14.31,14.57
$GC,354,-0.72,-175.1,2180,3769,4005,3896,86.3,-24.5,62,361,0.00,2.45,0.00,0.000,1030,0.000,0.078,2180,2359,3949,4003,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,660,-0.72,-175.1,2180,2359,4005,3898,151.9,-20.0,93,665,0.00,2.55,0.00,0.000,260,0.000,0.122,2169,3772,3953,4004,3902,0,0,0,0,0,0,28.83,14.44,28.83
$GC,775,-0.72,-175.1,2169,3772,4005,3898,177.1,-22.3,113,781,0.08,2.47,0.00,0.000,3078,0.304,0.080,2192,2351,3950,4004,3896,0,0,0,0,0,0,14.28,14.43,28.83
$GC,1085,-0.72,-175.1,2193,2350,4000,3898,228.0,-15.0,145,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2350,3953,4010,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1395,-0.72,-175.1,2194,2350,4004,3898,272.4,-13.9,166,1400,0.00,2.40,0.00,0.000,516,0.000,0.093,2193,953,3950,4004,3897,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1445,-0.72,-175.1,2193,953,4005,3898,279.2,-13.2,176,1450,0.00,2.53,0.00,0.000,1030,0.000,0.103,2189,2354,3950,4002,3898,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1755,-0.72,-175.1,2182,2353,4003,3897,322.4,-13.9,188,1761,0.00,2.55,0.00,0.000,260,0.000,0.124,2173,3782,3949,4003,3896,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1810,-0.72,-175.1,2175,3778,4003,3897,330.7,-15.3,199,1817,0.00,2.42,0.00,0.000,1030,0.000,0.079,2172,2354,3949,4002,3896,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2115,-0.72,-175.1,2175,2354,4003,3897,374.0,-14.0,210,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2350,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140816160407.541643,3,548,27,0096,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,14.4,0.5,-100,2.5,-01,0.2,36,900,0025*26
$GC,2416,-0.72,-175.1,2173,2354,4005,3896,415.6,-13.8,220,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2355,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.72,-175.1,2175,2354,4004,3895,456.7,-13.7,230,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2354,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,-0.72,-175.1,2173,2354,4004,3898,497.8,-13.6,240,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3945,4000,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3315,-0.72,-175.1,2173,2357,4005,3896,538.2,-13.4,250,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2351,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.72,-175.1,2173,2354,4004,3896,578.2,-13.3,260,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2353,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3915,-0.72,-175.1,2173,2354,4005,3896,618.0,-13.3,270,3916,0.12,0.00,0.00,0.000,2054,0.307,0.000,2198,2353,3949,3999,3899,0,0,0,0,0,0,14.49,28.83,28.83
$GC,4215,-0.72,-175.1,2199,2353,4003,3895,652.9,-11.6,280,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2352,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4515,-0.72,-175.1,2199,2353,4003,3895,687.3,-11.5,290,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2352,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4815,-0.72,-175.1,2199,2353,4003,3895,721.2,-11.4,300,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2353,3946,4004,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5084,begin apogee
$GC,5088,-0.14,0.0,2197,2604,4005,3895,751.5,-11.3,309,5306,0.70,0.00,215.12,1.626,10246,0.262,0.000,2381,2603,3229,3281,3177,0,0,0,0,0,0,14.51,28.83,13.10
$STATE,5307,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5309,0.72,175.1,2380,2604,3279,3174,759.3,0.0,316,5471,0.98,2.38,152.20,1.871,10500,0.160,0.119,2661,3764,2506,2570,2443,0,0,0,0,0,0,13.66,13.10,12.49
$GC,5585,0.72,175.1,2662,3765,2566,2434,732.4,15.5,374,5591,0.00,2.15,0.00,0.000,1030,0.000,0.076,2675,2593,2499,2566,2433,0,0,0,0,0,0,28.83,13.66,28.83
$GC,5896,0.72,175.1,2671,2594,2566,2431,690.1,13.6,386,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,0.72,175.1,2670,2593,2567,2432,649.6,13.5,396,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,0.72,175.1,2671,2594,2565,2430,609.6,13.4,406,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6796,0.72,175.1,2670,2594,2567,2431,569.7,13.3,416,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2495,2561,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7096,0.72,175.1,2670,2594,2567,2431,529.8,13.2,426,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7396,0.72,175.1,2671,2594,2565,2430,489.9,13.2,436,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,0.72,175.1,2671,2594,2566,2431,449.7,13.4,446,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,0.72,175.1,2671,2594,2573,2430,409.2,13.5,456,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8296,0.72,175.1,2671,2594,2568,2430,369.5,13.1,466,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8596,0.72,175.1,2670,2594,2568,2430,331.2,12.7,476,8601,0.00,2.38,0.00,0.000,516,0.000,0.088,2681,1189,2497,2563,2431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8615,0.72,175.1,2681,1190,2566,2430,328.8,12.2,480,8621,0.00,2.53,0.00,0.000,1030,0.000,0.101,2680,2606,2496,2566,2426,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8926,0.72,175.1,2680,2607,2567,2431,288.7,12.9,492,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2607,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9226,0.72,175.1,2680,2604,2567,2429,251.3,12.3,502,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2607,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9526,0.78,175.1,2680,2607,2567,2430,217.3,10.4,530,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2607,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9826,0.84,244.2,2680,2606,2567,2430,189.0,8.6,560,9887,0.00,0.00,58.33,1.395,8454,0.000,0.000,2680,2606,2227,2300,2154,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10186,0.90,302.4,2682,2607,2292,2136,153.6,9.1,599,10242,0.15,2.55,49.55,1.378,10756,0.141,0.089,2744,1184,1986,2073,1900,0,0,0,0,0,0,14.46,14.15,13.57
$GC,10261,0.90,302.4,2745,1186,2065,1896,144.7,11.9,613,10268,0.00,2.62,0.00,0.000,1030,0.000,0.100,2745,2602,1979,2065,1893,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10567,0.90,302.4,2745,2603,2066,1886,102.6,13.1,644,10572,0.00,2.15,0.00,0.000,260,0.000,0.125,2744,3773,1975,2065,1885,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10652,0.90,302.4,2746,3774,2064,1886,90.2,15.1,661,10658,0.00,2.03,0.00,0.000,1030,0.000,0.083,2753,2594,1974,2064,1885,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10957,0.97,370.1,2753,2594,2066,1885,56.0,8.6,692,10993,0.00,2.15,30.50,0.339,8452,0.000,0.127,2754,3773,1722,1812,1632,0,0,0,0,0,0,28.83,14.38,14.23
$GC,11022,1.04,370.1,2753,3774,1816,1646,50.2,9.8,703,11029,0.00,2.05,0.00,0.000,1030,0.000,0.083,2762,2602,1730,1816,1645,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11327,1.13,462.5,2763,2603,1820,1648,24.8,7.5,734,11379,0.00,2.42,46.70,0.249,8708,0.000,0.086,2772,1192,1343,1436,1250,0,0,0,0,0,0,28.83,14.42,14.23
$GC,11410,1.27,594.3,2772,1193,1444,1258,19.8,5.8,747,11481,0.20,2.50,65.85,0.231,11270,0.119,0.101,2845,2606,805,871,739,0,0,0,0,0,0,14.45,14.41,14.26
$FREEZE,8.96,3.385,-1.364,2,1,0
$FREEZE,8.24,3.387,-1.363,2,1,0
$FREEZE,7.47,3.388,-1.363,2,1,0
$FREEZE,6.65,3.388,-1.362,2,1,0
$FREEZE,5.82,3.389,-1.362,2,1,0
$FREEZE,5.27,3.391,-1.362,2,1,0
$FREEZE,4.76,3.391,-1.361,2,1,0
$FREEZE,4.03,3.394,-1.360,2,1,0
$FREEZE,3.12,3.394,-1.360,2,1,0
$FREEZE,2.12,3.399,-1.359,2,1,0
$FREEZE,1.55,3.392,-1.359,2,1,0
$STATE,11697,end climb,SURFACE_DEPTH_REACHED
$STATE,11697,begin surface coast
$FREEZE,1.17,3.345,-0.334,2,1,0
$FREEZE,1.11,3.311,-1.360,2,1,0
$FINISH,1.1,1.019899
$STATE,11718,end surface coast,CONTROL_FINISHED_OK
$STATE,11718,begin surface
$SM_CCo,11732,37.72,0.194,0,0,498,669.67
$SM_GC,2.18,8.00,0.45,37.72,0.090,0.101,0.194,195,2353,498,-6.95,0.65,669.67,0,0,0,0,0,0,14.45,14.47,14.33
$RAFOS_CLK,485
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7153.15,-14602.70,160814,121544
$TT8_MAMPS,0.05243,0.05243
$HUMID,52.40
$INTERNAL_PRESSURE,8.51433
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3999844
$24V_AH,12.49,111.828
$10V_AH,12.67,0.000
$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,21.325,48.825,618.250,37.725,0.000,0.000,0.000,250.125,0.000,0.000,27.474,0.000,9467.411,708.818,1875.911,138.300,0.000,1604.648,0.000,1171.848,1495.000,0.537,0.000
$DEVICE_MAMPS,472.005,143.820,1871.190,193.545,0.000,0.000,0.000,169.830,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11756.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.819,0.000,0.000,0.000
$MEM,271620
$DATA_FILE_SIZE,26795,785
$CAP_FILE_SIZE,126125,0
$CFSIZE,2097872896,2054356992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12409.50,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,160814,190418,7234.876,-14556.643,35,0.8,55,22.2