version: 66.12
glider: 199
mission: 5
dive: 167
start: 8 18 114 22 19 47
data:
$ID,199
$MISSION,5
$DIVE,167
$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,-21805.324
$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,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
$GPS1,180814,221312,7257.810,-14551.571,39,0.9,59,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.7
$GPS2,180814,221928,7257.857,-14551.603,6,0.9,26,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,341.3,13257,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.1,180,2355,499,497,0.0,0.0,0,70,0.00,0.00,-52.60,0.000,16386,0.000,0.000,177,2355,1781,1798,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.72,-175.1,177,2355,1801,1765,3.3,-2.3,5,141,10.95,2.65,-52.35,0.000,18692,0.467,0.141,2181,3773,3946,4002,3891,0,0,0,0,0,0,14.02,14.33,14.59
$GC,365,-0.72,-175.1,2182,3774,4002,3895,89.7,-25.9,64,372,0.00,2.47,0.00,0.000,1030,0.000,0.078,2181,2349,3949,4003,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,670,-0.72,-175.1,2182,2348,4003,3894,155.5,-19.8,95,676,0.00,2.55,0.00,0.000,260,0.000,0.121,2170,3769,3949,4003,3895,0,0,0,0,0,0,28.83,14.36,28.83
$GC,790,-0.72,-175.1,2172,3769,4002,3896,180.8,-21.2,119,796,0.12,2.42,0.00,0.000,3078,0.314,0.077,2193,2362,3947,4000,3895,0,0,0,0,0,0,14.27,14.44,28.83
$GC,1101,-0.72,-175.1,2194,2362,4002,3896,232.7,-14.9,151,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,-0.72,-175.1,2194,2362,4002,3896,275.7,-13.7,169,1406,0.00,2.40,0.00,0.000,516,0.000,0.090,2192,952,3949,4003,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1455,-0.72,-175.1,2193,952,4004,3896,283.2,-13.5,180,1462,0.00,2.53,0.00,0.000,1030,0.000,0.100,2184,2389,3948,4002,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1760,-0.72,-175.1,2185,2390,4002,3895,326.2,-13.9,191,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2389,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-0.72,-175.1,2184,2390,4004,3896,368.1,-14.0,201,2065,0.00,2.42,0.00,0.000,260,0.000,0.124,2174,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2105,-0.72,-175.1,2175,3767,4000,3896,374.8,-15.5,210,2111,0.00,2.42,0.00,0.000,1030,0.000,0.078,2174,2354,3948,4002,3895,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2421,-0.72,-175.1,2175,2354,4002,3896,419.9,-14.1,223,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.72,-175.1,2173,2353,4004,3896,461.4,-13.7,233,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.72,-175.1,2173,2354,4004,3896,502.7,-13.8,243,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.72,-175.1,2173,2354,4004,3895,543.5,-13.6,253,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.72,-175.1,2173,2354,4004,3896,583.9,-13.5,263,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2354,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-0.72,-175.1,2175,2354,4002,3896,623.7,-13.1,273,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2353,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.72,-175.1,2173,2354,4004,3896,663.3,-13.1,283,4226,0.00,2.53,0.00,0.000,260,0.000,0.122,2162,3770,3948,4002,3895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4265,-0.72,-175.1,2164,3771,4002,3896,669.7,-15.2,292,4271,0.12,2.40,0.00,0.000,3078,0.265,0.078,2195,2363,3951,4002,3901,0,0,0,0,0,0,14.46,14.66,28.83
$GC,4581,-0.72,-175.1,2196,2362,4002,3896,706.8,-11.5,305,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2362,3952,4010,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4880,-0.72,-175.1,2196,2362,4002,3896,741.1,-11.4,315,4886,0.00,2.50,0.00,0.000,260,0.000,0.122,2186,3768,3949,4003,3896,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4910,-0.72,-175.1,2187,3768,4002,3896,744.7,-12.9,321,4916,0.00,2.40,0.00,0.000,1030,0.000,0.077,2185,2335,3949,4003,3895,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,4969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4969,begin apogee
$GC,4973,-0.14,0.0,2183,2604,4004,3897,752.0,-11.8,328,5197,0.77,0.00,221.27,1.699,10246,0.275,0.000,2383,2605,3229,3280,3179,0,0,0,0,0,0,14.47,28.83,13.02
$STATE,5198,end apogee,CONTROL_FINISHED_OK
$STATE,5198,begin climb
$GC,5200,0.72,175.1,2382,2603,3278,3174,759.2,0.0,335,5362,0.98,0.00,156.02,1.881,10246,0.148,0.000,2661,2602,2505,2568,2442,0,0,0,0,0,0,13.60,28.83,12.43
$GC,5660,0.72,175.1,2662,2603,2565,2428,711.2,13.4,351,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2602,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,0.72,175.1,2663,2602,2565,2432,671.7,13.1,361,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2597,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,0.72,175.1,2661,2602,2567,2432,632.3,13.1,371,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2602,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6560,0.72,175.1,2663,2603,2565,2432,592.9,13.0,381,6565,0.00,2.45,0.00,0.000,516,0.000,0.085,2672,1191,2498,2566,2431,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6580,0.72,175.1,2673,1191,2565,2432,590.4,12.3,385,6586,0.00,2.53,0.00,0.000,1030,0.000,0.098,2677,2615,2497,2562,2432,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6890,0.72,175.1,2673,2617,2565,2428,548.6,13.5,397,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2617,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7190,0.72,175.1,2672,2617,2567,2432,507.9,13.5,407,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2617,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140819000439.850185,3,1434,25,0142,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,14.9,2.8,-100,0.2,-01,-0.3,24,900,0025*3E
$GC,7494,0.72,175.1,2673,2618,2565,2432,467.3,13.6,417,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2617,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7790,0.72,175.1,2671,2618,2566,2432,427.2,13.4,427,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2617,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,0.72,175.1,2672,2617,2567,2432,387.5,13.2,437,8095,0.00,2.45,0.00,0.000,516,0.000,0.084,2682,1186,2499,2567,2431,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8120,0.72,175.1,2683,1187,2565,2432,383.6,13.0,443,8126,0.00,2.50,0.00,0.000,1030,0.000,0.099,2683,2609,2500,2567,2433,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8451,0.72,175.1,2682,2607,2567,2432,338.8,13.5,459,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2613,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8750,0.72,175.1,2682,2610,2567,2432,299.6,12.8,469,8755,0.00,2.42,0.00,0.000,516,0.000,0.084,2693,1187,2498,2567,2430,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8765,0.72,175.1,2694,1188,2565,2430,297.6,12.6,472,8771,0.00,2.50,0.00,0.000,1030,0.000,0.096,2692,2601,2498,2566,2431,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9081,0.72,175.1,2692,2602,2567,2431,257.0,12.9,485,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2601,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9380,0.72,175.1,2694,2601,2565,2431,220.8,11.4,511,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2600,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9680,0.78,233.3,2693,2601,2565,2431,191.2,9.0,541,9733,0.00,2.47,48.53,1.401,8708,0.000,0.085,2702,1194,2272,2338,2206,0,0,0,0,0,0,28.83,14.25,13.69
$GC,9808,0.85,233.3,2702,1195,2333,2194,179.1,10.0,566,9814,0.00,2.53,0.00,0.000,1030,0.000,0.098,2707,2608,2262,2331,2194,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10113,0.89,278.7,2702,2608,2332,2193,147.9,9.6,597,10159,0.00,2.53,39.33,1.380,8708,0.000,0.086,2713,1191,2082,2160,2005,0,0,1,0,0,0,28.83,14.21,13.61
$GC,10185,0.92,278.7,2714,1192,2156,1999,140.9,11.0,611,10189,0.00,2.53,0.00,0.000,1030,0.000,0.098,2713,2599,2077,2156,1998,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10495,0.99,278.7,2713,2600,2158,1993,107.9,9.9,643,10496,0.12,0.00,0.00,0.000,2054,0.151,0.000,2759,2599,2074,2156,1992,0,0,0,0,0,0,14.45,28.83,28.83
$GC,10794,0.99,278.7,2759,2600,2157,1992,71.9,11.6,673,10799,0.00,2.10,0.00,0.000,260,0.000,0.123,2759,3763,2073,2156,1991,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10829,0.99,278.7,2761,3763,2150,1992,67.7,11.6,680,10835,0.00,2.03,0.00,0.000,1030,0.000,0.078,2768,2592,2072,2156,1989,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11134,1.17,461.2,2770,2592,2155,1991,49.7,3.5,711,11227,0.15,2.20,86.65,0.315,10500,0.143,0.122,2820,3768,1349,1437,1262,0,0,0,0,0,0,14.54,14.34,14.15
$GC,11317,1.17,461.2,2821,3769,1439,1271,29.5,13.1,747,11322,0.00,2.03,0.00,0.000,1030,0.000,0.079,2829,2608,1356,1441,1272,0,0,0,0,0,0,28.83,14.40,28.83
$FREEZE,8.61,0.425,-1.445,2,1,0
$FREEZE,7.73,0.425,-1.444,2,1,0
$GC,11627,1.38,664.4,2830,2606,1442,1268,14.8,2.6,779,11734,0.15,2.53,99.80,0.221,10756,0.136,0.089,2893,1192,521,551,492,0,0,0,0,0,0,14.50,14.35,14.26
$FREEZE,5.88,0.434,-1.443,2,1,0
$FREEZE,5.07,0.431,-1.442,2,1,0
$FREEZE,4.39,0.431,-1.442,2,1,0
$FREEZE,3.81,0.434,-1.441,2,1,0
$FREEZE,3.08,0.434,-1.441,2,1,0
$FREEZE,2.46,0.439,-1.440,2,1,0
$FREEZE,1.73,0.439,-1.440,2,1,0
$STATE,11766,end climb,SURFACE_DEPTH_REACHED
$STATE,11766,begin surface coast
$FREEZE,1.31,0.446,-1.439,2,1,0
$FINISH,1.3,1.021189
$STATE,11773,end surface coast,CONTROL_FINISHED_OK
$STATE,11773,begin surface
$SM_CCo,11789,2.95,0.220,0,0,499,669.67
$SM_GC,2.97,8.10,2.15,2.95,0.083,0.107,0.220,201,2360,499,-6.94,-0.57,669.67,0,0,0,0,0,0,14.36,14.37,14.28
$RAFOS_CLK,258
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7221.25,-14550.20,180814,185229
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.07
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3998020
$24V_AH,12.43,117.247
$10V_AH,12.65,0.000
$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,21.475,68.125,651.600,2.950,0.000,0.000,0.000,214.350,0.000,0.000,27.332,0.000,9382.975,757.946,1879.488,154.488,0.000,1627.249,0.000,1202.449,1435.000,0.536,0.000
$DEVICE_MAMPS,466.650,140.760,1881.135,220.320,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11800.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.106,0.000,0.000,0.000
$MEM,262596
$DATA_FILE_SIZE,26733,807
$CAP_FILE_SIZE,130718,0
$CFSIZE,2097872896,2051342336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,12165.31,0x2378b6,7,5
$SOUNDSPEED,1449.1
$GPS,190814,013749,7259.543,-14550.828,35,0.9,55,22.4