version: 66.12
glider: 199
mission: 5
dive: 180
start: 8 20 114 18 25 41
data:
$ID,199
$MISSION,5
$DIVE,180
$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,-21824.779
$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,32
$R_STBD_OVSHOOT,12
$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
$GPS1,200814,181754,7311.871,-14552.686,32,0.8,52,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-74.2
$GPS2,200814,182521,7311.864,-14552.720,6,0.8,26,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.9,61384,-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,-175.1,200,2357,499,497,0.0,0.0,0,59,0.00,0.00,-42.45,0.000,16386,0.000,0.000,200,2356,1547,1584,1510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.72,-175.1,201,2357,1586,1512,3.0,-2.1,4,149,10.82,2.45,-70.88,0.000,18948,0.466,0.109,2187,956,3947,4001,3893,0,0,0,0,0,0,14.01,14.38,14.58
$GC,239,-0.72,-175.1,2187,956,4004,3898,45.9,-30.3,40,245,0.00,2.50,0.00,0.000,1030,0.000,0.100,2180,2366,3949,4002,3897,0,0,0,0,0,0,28.83,14.30,28.83
$GC,549,-0.72,-175.1,2178,2367,4004,3899,124.1,-21.9,72,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2366,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,850,-0.72,-175.1,2178,2367,4004,3899,184.8,-18.8,102,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2366,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1150,-0.72,-175.1,2180,2367,4002,3897,237.6,-17.1,132,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2366,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-0.72,-175.1,2178,2366,4003,3899,287.0,-14.9,148,1475,0.00,2.50,0.00,0.000,260,0.000,0.124,2168,3773,3950,4002,3898,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1524,-0.72,-175.1,2169,3773,4002,3898,296.0,-16.9,159,1531,0.08,2.42,0.00,0.000,3078,0.277,0.081,2198,2365,3950,4002,3898,0,0,0,0,0,0,14.39,14.55,28.83
$GC,1831,-0.72,-175.1,2198,2367,4003,3899,336.5,-12.9,170,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2366,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2130,-0.72,-175.1,2199,2366,4001,3898,373.5,-12.3,180,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2365,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2430,-0.72,-175.1,2199,2366,4002,3895,410.4,-12.2,190,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2365,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-0.72,-175.1,2199,2366,4002,3899,447.0,-12.2,200,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2365,3954,4009,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,-0.72,-175.1,2198,2366,4003,3899,483.4,-12.1,210,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2365,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,-0.72,-175.1,2198,2366,4003,3899,519.0,-11.8,220,3335,0.00,2.55,0.00,0.000,260,0.000,0.123,2189,3760,3949,4001,3897,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3390,-0.72,-175.1,2189,3761,4003,3895,526.6,-12.5,232,3395,0.00,2.38,0.00,0.000,1030,0.000,0.079,2189,2350,3950,4002,3898,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3721,-0.72,-175.1,2189,2350,4003,3899,567.2,-12.2,248,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2349,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-0.72,-175.1,2190,2349,4002,3898,604.1,-12.3,258,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2349,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4320,-0.72,-175.1,2189,2350,4002,3898,640.7,-12.2,268,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2349,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-0.72,-175.1,2188,2350,4003,3898,677.0,-12.1,278,4625,0.00,2.55,0.00,0.000,260,0.000,0.123,2178,3767,3950,4002,3898,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4680,-0.72,-175.1,2177,3768,4004,3899,684.9,-13.2,290,4685,0.00,2.38,0.00,0.000,1030,0.000,0.078,2178,2359,3950,4002,3898,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5011,-0.72,-175.1,2178,2359,4004,3898,726.4,-12.5,306,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3954,4010,3898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5218,begin apogee
$GC,5222,-0.14,0.0,2172,2600,4004,3899,752.4,-12.3,313,5447,0.80,0.00,221.65,1.740,10246,0.273,0.000,2377,2599,3230,3283,3178,0,0,0,0,0,0,14.45,28.83,12.96
$STATE,5448,end apogee,CONTROL_FINISHED_OK
$STATE,5448,begin climb
$GC,5449,0.72,175.1,2380,2600,3279,3177,760.3,0.0,320,5624,1.00,0.00,156.77,1.991,10502,0.145,0.000,2665,2600,2507,2571,2444,0,0,0,0,0,0,13.58,28.83,12.36
$GC,5910,0.72,175.1,2667,2599,2569,2435,712.1,13.6,346,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2502,2569,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,0.72,175.1,2666,2600,2571,2436,671.8,13.3,356,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2502,2569,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6510,0.72,175.1,2667,2600,2569,2436,631.7,13.3,366,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2502,2569,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6810,0.72,175.1,2668,2600,2569,2435,592.0,13.3,376,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2504,2569,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7110,0.72,175.1,2666,2600,2571,2435,552.3,13.2,386,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;58795a6e49;,*30
$MODEM_MSG,CACST,6,0,20140820200457.077860,3,1961,20,0123,0150,100,00,00,02,05,1,013,000,0,5,1,0,150,16.3,3.5,-100,-0.5,-01,0.1,17,900,0025*19
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;58577a7c9a;,*6D
$MODEM_MSG,CACST,6,0,20140820201712.772105,3,721,22,0260,0150,100,00,00,01,04,1,014,000,0,5,1,0,150,20.7,8.5,-100,-5.5,-01,0.2,11,900,0025*26
$GC,7410,0.72,175.1,2667,2600,2569,2435,512.8,13.2,396,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2604,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7710,0.72,175.1,2666,2600,2571,2435,472.8,13.4,406,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2604,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8010,0.72,175.1,2666,2600,2571,2435,433.6,13.0,416,8015,0.00,2.42,0.00,0.000,516,0.000,0.085,2677,1194,2501,2569,2434,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8029,0.72,175.1,2678,1194,2569,2435,431.0,12.8,420,8035,0.00,2.50,0.00,0.000,1030,0.000,0.099,2676,2593,2501,2569,2434,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8340,0.72,175.1,2678,2593,2570,2435,389.9,13.3,432,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2593,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8640,0.72,175.1,2678,2594,2569,2434,350.1,13.2,442,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2593,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8940,0.72,175.1,2676,2594,2571,2435,311.0,12.9,452,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2593,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9240,0.72,175.1,2678,2593,2569,2435,273.8,12.0,462,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2593,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9541,0.72,175.1,2677,2594,2569,2435,238.8,11.8,478,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2593,2501,2569,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9840,0.79,243.1,2678,2593,2569,2434,210.0,8.6,508,9901,0.00,0.00,58.47,1.455,8198,0.000,0.000,2677,2593,2232,2303,2161,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10200,0.84,290.6,2678,2593,2296,2146,174.0,9.5,544,10242,0.00,0.00,40.83,1.440,8198,0.000,0.000,2677,2591,2046,2128,1964,0,0,0,0,0,0,28.83,28.83,13.57
$GC,10541,0.89,345.1,2676,2594,2117,1940,140.6,9.2,578,10596,0.15,2.55,47.58,1.397,10756,0.138,0.089,2740,1198,1811,1897,1726,0,0,0,0,0,0,14.38,14.09,13.54
$GC,10630,0.89,345.1,2740,1198,1890,1722,129.1,13.4,595,10636,0.00,2.55,0.00,0.000,1030,0.000,0.099,2740,2599,1804,1889,1719,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10941,0.89,345.1,2741,2600,1887,1713,87.0,12.6,627,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2599,1800,1887,1713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11241,1.00,446.5,2741,2600,1886,1711,57.1,7.1,657,11297,0.00,2.50,48.22,0.342,8708,0.000,0.087,2750,1203,1410,1501,1320,0,0,0,0,0,0,28.83,14.35,14.19
$GC,11371,1.04,493.0,2751,1203,1509,1327,46.3,9.6,683,11403,0.00,2.50,25.17,0.308,9222,0.000,0.100,2750,2602,1221,1310,1133,0,0,0,0,0,0,28.83,14.39,14.19
$GC,11701,1.12,574.0,2750,2603,1319,1147,15.8,8.0,719,11748,0.15,2.47,41.92,0.226,10756,0.138,0.086,2816,1194,887,967,808,0,0,0,0,0,0,14.42,14.39,14.29
$FREEZE,8.91,-0.647,-1.463,2,1,0
$FREEZE,8.37,-0.650,-1.462,2,1,0
$FREEZE,7.80,-0.650,-1.462,2,1,0
$FREEZE,7.43,-0.647,-1.461,2,1,0
$FREEZE,6.71,-0.647,-1.461,2,1,0
$FREEZE,6.19,-0.615,-1.460,2,1,0
$FREEZE,5.68,-0.615,-1.459,2,1,0
$GC,11782,1.21,657.5,2817,1195,974,809,9.2,7.9,734,11834,0.00,2.53,41.72,0.210,9222,0.000,0.100,2816,2604,547,589,506,0,0,0,0,0,0,28.83,14.40,14.26
$FREEZE,4.60,-0.021,-1.448,2,1,0
$FREEZE,3.59,0.049,-1.444,2,1,0
$FREEZE,2.66,0.167,-1.440,2,1,0
$FREEZE,1.62,0.411,-1.435,2,1,0
$STATE,11867,end climb,SURFACE_DEPTH_REACHED
$STATE,11867,begin surface coast
$FREEZE,1.45,0.482,-0.163,2,1,0
$FREEZE,1.53,0.502,-0.063,2,1,0
$FINISH,1.5,1.000776
$STATE,11887,end surface coast,CONTROL_FINISHED_OK
$STATE,11887,begin surface
$SM_CCo,11902,6.43,0.211,0,0,498,669.67
$SM_GC,3.51,8.02,0.45,6.43,0.103,0.097,0.211,192,2356,498,-6.96,0.85,669.67,0,0,0,0,0,0,14.42,14.43,14.30
$RAFOS_CLK,282
$MODEM,14,1408565832,72.36940,-144.52721,71.772,104063.7
$MODEM,13,1408565097,72.47780,-145.99319,56.078,81308.3
$RAFOS_FIX,7312.285645,-14553.928711,200814,202004,2,255,0.16
$IRIDIUM_FIX,7235.57,-14535.24,200814,145512
$TT8_MAMPS,0.048685,0.048685
$HUMID,49.56
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,3996540
$24V_AH,12.36,121.639
$10V_AH,12.60,0.000
$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,21.025,40.650,682.350,6.425,0.000,0.000,0.000,274.925,0.000,0.000,27.210,0.000,9611.337,760.256,1821.746,164.883,0.000,1660.641,0.000,1121.575,1490.000,0.537,0.000
$DEVICE_MAMPS,465.885,127.755,1991.295,211.140,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.802,0.000,0.000,0.000
$MEM,255256
$DATA_FILE_SIZE,26731,748
$CAP_FILE_SIZE,124602,0
$CFSIZE,2097872896,2048786432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12363.42,0x2378b6,7,5
$SOUNDSPEED,1449.5
$GPS,200814,214548,7313.625,-14553.101,43,0.9,63,22.4