version: 66.12
glider: 199
mission: 5
dive: 195
start: 8 22 114 22 31 6
data:
$ID,199
$MISSION,5
$DIVE,195
$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,-22205.654
$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,24
$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
$GPS1,220814,222142,7331.427,-14621.155,38,0.8,58,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.8
$GPS2,220814,223047,7331.443,-14620.998,6,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,306.8,29262,-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,-175.1,197,2366,481,508,0.0,0.0,0,69,0.00,0.00,-52.03,0.000,16386,0.000,0.000,197,2365,1763,1783,1743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,197,2366,1784,1749,3.1,-2.1,5,143,10.98,2.47,-55.62,0.000,18948,0.469,0.114,2193,951,3946,4000,3892,0,0,0,0,0,0,14.00,14.34,14.60
$GC,369,-0.72,-175.1,2192,951,4001,3897,79.9,-21.9,65,374,0.00,2.50,0.00,0.000,1030,0.000,0.101,2184,2359,3951,4007,3896,0,0,0,0,0,0,28.83,14.40,28.83
$GC,679,-0.72,-175.1,2185,2360,3999,3897,146.0,-20.4,97,684,0.00,2.53,0.00,0.000,260,0.000,0.127,2174,3773,3948,4000,3896,0,0,0,0,0,0,28.83,14.42,28.83
$GC,775,-0.72,-175.1,2173,3771,4001,3897,166.4,-21.4,116,781,0.00,2.42,0.00,0.000,1030,0.000,0.081,2173,2356,3947,3999,3896,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1079,-0.72,-175.1,2173,2356,4001,3897,225.3,-18.5,147,1084,0.00,2.55,0.00,0.000,260,0.000,0.125,2166,3767,3947,3999,3895,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1109,-0.72,-175.1,2163,3768,3999,3897,231.0,-19.4,153,1115,0.15,2.40,0.00,0.000,3078,0.299,0.077,2193,2352,3947,3999,3896,0,0,0,0,0,0,14.32,14.53,28.83
$GC,1439,-0.72,-175.1,2193,2355,4001,3897,282.8,-14.6,173,1444,0.00,2.38,0.00,0.000,516,0.000,0.088,2193,959,3947,3999,3896,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1634,-0.72,-175.1,2193,960,4001,3897,309.5,-14.3,212,1639,0.00,2.50,0.00,0.000,1030,0.000,0.103,2184,2374,3947,3999,3896,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1949,-0.72,-175.1,2184,2375,4001,3897,353.9,-14.0,225,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2374,3950,3999,3902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2249,-0.72,-175.1,2184,2375,4001,3897,394.7,-13.5,235,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2374,3947,3999,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2549,-0.72,-175.1,2184,2375,4000,3897,434.4,-13.2,245,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2374,3947,3999,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2849,-0.72,-175.1,2184,2375,4001,3897,474.1,-13.2,255,2854,0.00,2.42,0.00,0.000,516,0.000,0.086,2184,953,3947,3998,3897,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2909,-0.72,-175.1,2185,954,3999,3897,482.1,-12.8,267,2914,0.00,2.47,0.00,0.000,1030,0.000,0.102,2175,2367,3945,3995,3896,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3240,-0.72,-175.1,2176,2368,3999,3897,526.8,-13.6,283,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2364,3947,3999,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3539,-0.72,-175.1,2176,2368,3999,3897,567.3,-13.6,293,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2367,3947,3999,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,-0.72,-175.1,2176,2368,3999,3902,607.5,-13.3,303,3840,0.12,0.00,0.00,0.000,2054,0.314,0.000,2198,2367,3947,3999,3896,0,0,0,0,0,0,14.44,28.83,28.83
$GC,4139,-0.72,-175.1,2198,2368,4001,3897,642.3,-11.5,313,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2367,3946,3995,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4439,-0.72,-175.1,2199,2367,3999,3898,676.4,-11.3,323,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2367,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.72,-175.1,2199,2367,3999,3898,710.1,-11.4,333,4744,0.00,2.47,0.00,0.000,260,0.000,0.124,2189,3763,3948,3999,3898,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4779,-0.72,-175.1,2191,3764,3999,3898,715.1,-12.5,341,4784,0.00,2.40,0.00,0.000,1030,0.000,0.079,2189,2361,3948,3999,3898,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,5099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5099,begin apogee
$GC,5103,-0.14,0.0,2187,2610,3997,3899,753.5,-12.1,355,5260,0.75,0.00,154.25,2.011,10246,0.262,0.000,2381,2609,3228,3280,3177,0,0,0,0,0,0,14.45,28.83,13.01
$STATE,5261,end apogee,CONTROL_FINISHED_OK
$STATE,5261,begin climb
$GC,5263,0.72,175.1,2381,2610,3276,3171,759.0,0.0,360,5424,0.95,2.35,155.02,1.961,10500,0.151,0.117,2657,3766,2510,2573,2447,0,0,0,0,0,0,13.68,13.08,12.43
$GC,5604,0.72,175.1,2657,3766,2568,2440,724.3,15.6,431,5609,0.00,2.12,0.00,0.000,1030,0.000,0.076,2666,2605,2502,2566,2438,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5935,0.72,175.1,2666,2605,2567,2438,679.9,13.2,447,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2604,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,0.72,175.1,2666,2605,2567,2437,640.5,13.1,457,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2604,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6534,0.72,175.1,2667,2605,2566,2437,601.3,13.1,467,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2604,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;5883fa6e77;,*6D
$MODEM_MSG,CACST,6,0,20140823000520.173515,3,631,15,0095,0150,100,00,00,02,04,1,013,000,0,5,1,0,150,11.4,2.3,-100,0.7,-01,0.1,18,900,0025*02
$GC,6838,0.72,175.1,2666,2605,2567,2437,561.9,13.1,477,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2604,2498,2560,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7134,0.72,175.1,2667,2605,2566,2437,522.6,13.1,487,7140,0.00,2.45,0.00,0.000,516,0.000,0.083,2677,1192,2501,2566,2436,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7164,0.72,175.1,2678,1193,2565,2436,518.8,12.1,493,7169,0.00,2.47,0.00,0.000,1030,0.000,0.097,2677,2599,2501,2566,2436,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7495,0.72,175.1,2677,2600,2566,2436,473.6,13.7,509,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7794,0.72,175.1,2678,2600,2566,2436,432.5,13.6,519,7800,0.00,2.45,0.00,0.000,516,0.000,0.083,2687,1186,2501,2566,2436,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7814,0.72,175.1,2687,1185,2567,2437,430.0,12.8,523,7819,0.00,2.47,0.00,0.000,1030,0.000,0.096,2687,2605,2500,2566,2435,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8124,0.72,175.1,2687,2611,2568,2436,386.6,14.0,535,8129,0.00,2.40,0.00,0.000,516,0.000,0.082,2702,1191,2501,2566,2436,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8149,0.72,175.1,2697,1192,2567,2437,383.2,12.9,540,8156,0.00,2.53,0.00,0.000,1030,0.000,0.097,2697,2609,2501,2566,2436,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8454,0.72,175.1,2697,2608,2567,2437,340.4,13.9,551,8459,0.00,2.42,0.00,0.000,516,0.000,0.083,2708,1183,2501,2566,2436,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8524,0.72,175.1,2709,1183,2565,2436,331.0,13.5,565,8530,0.17,2.47,0.00,0.000,5126,0.292,0.096,2667,2603,2501,2566,2436,0,0,0,0,0,0,14.42,14.58,28.83
$GC,8845,0.72,175.1,2672,2603,2566,2436,293.2,11.6,579,8850,0.00,2.40,0.00,0.000,516,0.000,0.082,2679,1188,2500,2566,2435,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8919,0.77,175.1,2680,1188,2566,2436,285.3,10.4,594,8925,0.00,2.47,0.00,0.000,1030,0.000,0.096,2679,2604,2502,2569,2436,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9235,0.85,175.1,2679,2605,2567,2437,252.5,9.8,607,9240,0.00,2.40,0.00,0.000,516,0.000,0.082,2689,1189,2500,2566,2435,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9466,0.93,259.9,2690,1189,2566,2436,233.3,7.9,653,9548,0.15,2.47,71.25,1.462,11270,0.140,0.097,2744,2604,2160,2232,2088,0,0,0,0,0,0,14.59,14.57,13.56
$GC,9845,0.93,259.9,2744,2605,2230,2077,180.5,14.3,699,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2604,2152,2229,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10145,0.93,259.9,2745,2605,2230,2076,140.9,12.5,729,10150,0.00,2.10,0.00,0.000,260,0.000,0.122,2744,3760,2152,2229,2075,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10265,0.93,259.9,2746,3760,2229,2075,123.8,13.8,753,10270,0.00,2.03,0.00,0.000,1030,0.000,0.078,2753,2587,2152,2229,2075,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10576,0.96,259.9,2755,2590,2228,2074,88.1,10.9,785,10581,0.00,2.12,0.00,0.000,260,0.000,0.122,2754,3771,2151,2229,2074,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10720,1.03,259.9,2755,3772,2228,2074,72.0,9.9,814,10726,0.00,2.00,0.00,0.000,1030,0.000,0.079,2763,2608,2151,2228,2074,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11025,1.21,444.4,2764,2608,2228,2073,53.4,3.4,845,11122,0.20,2.15,87.72,0.329,10500,0.124,0.122,2833,3767,1418,1507,1329,0,0,0,0,0,0,14.56,14.34,14.19
$GC,11347,1.31,541.0,2835,3767,1507,1336,18.0,7.3,909,11403,0.00,2.03,48.72,0.234,9222,0.000,0.079,2842,2603,1021,1102,940,0,0,0,0,0,0,28.83,14.42,14.21
$FREEZE,8.71,-1.126,-1.444,2,1,0
$FREEZE,7.94,-1.118,-1.441,2,1,0
$FREEZE,7.18,-1.088,-1.438,2,1,0
$FREEZE,6.53,-1.076,-1.437,2,1,0
$FREEZE,5.84,-1.073,-1.435,2,1,0
$FREEZE,5.04,-1.018,-1.432,2,1,0
$FREEZE,4.29,-0.977,-1.430,2,1,0
$FREEZE,3.43,-0.943,-1.429,2,1,0
$FREEZE,2.74,-0.903,-1.428,2,1,0
$FREEZE,1.91,-0.877,-1.428,2,1,0
$STATE,11577,end climb,SURFACE_DEPTH_REACHED
$STATE,11577,begin surface coast
$FREEZE,1.53,-0.847,-0.319,2,1,0
$FINISH,1.5,1.004538
$STATE,11586,end surface coast,FINISH_DEPTH_REACHED
$STATE,11586,begin surface
$SM_CCo,11602,63.42,0.194,0,0,497,669.67
$SM_GC,2.50,8.23,0.43,63.42,0.114,0.100,0.194,195,2352,497,-6.96,0.82,669.67,0,0,0,0,0,0,14.47,14.47,14.30
$RAFOS_CLK,278
$MODEM,13,1408752320,72.51180,-145.97479,79.174,114707.8
$RAFOS_FIX,7324.927734,-14600.481445,220814,080819,2,255,0.13
$IRIDIUM_FIX,7250.09,-14612.31,220814,185543
$TT8_MAMPS,0.048685,0.048685
$HUMID,48.66
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3994816
$24V_AH,12.43,126.822
$10V_AH,12.62,0.000
$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,21.700,76.750,516.975,63.425,0.000,0.000,0.000,306.925,0.000,0.000,27.167,0.000,9192.908,613.305,2226.965,175.291,0.000,1732.550,0.000,1384.687,1438.000,0.536,0.000
$DEVICE_MAMPS,468.945,126.990,2011.185,193.545,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11626.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.153,0.000,0.000,0.000
$MEM,247180
$DATA_FILE_SIZE,33368,939
$CAP_FILE_SIZE,137838,0
$CFSIZE,2097872896,2045837312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12630.43,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,230814,014654,7333.011,-14622.986,29,0.8,49,22.3