version: 66.12
glider: 199
mission: 5
dive: 197
start: 8 23 114 5 16 48
data:
$ID,199
$MISSION,5
$DIVE,197
$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,-22208.002
$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,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
$GPS1,230814,015341,7333.018,-14622.944,6,0.8,26,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-5.3
$GPS2,230814,015341,7333.018,-14622.944,6,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,305.4,26249,-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,-175.1,2561,2352,716,590,0.0,0.0,0,30,0.00,0.00,-12.52,0.000,16386,0.000,0.000,2560,2359,1011,1080,942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.72,-175.1,2560,2352,1093,943,3.1,0.0,1,123,1.02,2.42,-83.90,0.000,20996,0.067,0.117,2189,956,3947,4002,3892,0,0,0,0,0,0,14.42,14.45,14.71
$GC,349,-0.72,-175.1,2190,957,4002,3896,82.5,-21.7,65,354,0.00,2.47,0.00,0.000,1030,0.000,0.099,2179,2359,3952,4002,3902,0,0,0,0,0,0,28.83,14.46,28.83
$GC,659,-0.72,-175.1,2178,2360,4004,3897,150.3,-20.7,97,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2356,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.72,-175.1,2179,2360,4004,3897,208.7,-18.9,127,964,0.00,2.53,0.00,0.000,260,0.000,0.124,2167,3770,3948,4001,3896,0,0,0,0,0,0,28.83,14.47,28.83
$GC,979,-0.72,-175.1,2169,3771,4001,3897,212.5,-18.9,131,985,0.12,2.40,0.00,0.000,3078,0.293,0.080,2193,2358,3949,4002,3896,0,0,0,0,0,0,14.34,14.54,28.83
$GC,1309,-0.72,-175.1,2193,2357,4003,3897,264.3,-14.7,159,1314,0.00,2.40,0.00,0.000,516,0.000,0.086,2193,945,3949,4002,3896,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1364,-0.72,-175.1,2193,945,4003,3897,272.1,-14.4,170,1371,0.00,2.50,0.00,0.000,1030,0.000,0.098,2185,2368,3949,4002,3896,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1669,-0.72,-175.1,2185,2368,4003,3897,316.3,-14.4,181,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2368,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1969,-0.72,-175.1,2186,2368,4002,3897,357.2,-13.5,191,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.72,-175.1,2185,2368,4003,3897,397.1,-13.3,201,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2367,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-0.72,-175.1,2185,2369,4003,3897,436.7,-13.1,211,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2368,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.72,-175.1,2184,2368,4003,3897,475.8,-13.0,221,2874,0.00,2.47,0.00,0.000,260,0.000,0.120,2174,3773,3949,4002,3896,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2914,-0.72,-175.1,2175,3769,4001,3897,482.2,-15.0,230,2919,0.00,2.42,0.00,0.000,1030,0.000,0.076,2174,2356,3949,4002,3896,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3230,-0.72,-175.1,2175,2356,4002,3897,525.0,-13.6,243,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2352,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.72,-175.1,2175,2355,4002,3904,565.3,-13.4,253,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2355,3946,3997,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3829,-0.72,-175.1,2174,2356,4003,3897,605.0,-13.1,263,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2355,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,-0.72,-175.1,2175,2356,4002,3897,644.0,-13.0,273,4130,0.12,0.00,0.00,0.000,2054,0.298,0.000,2199,2355,3949,4002,3896,0,0,0,0,0,0,14.47,28.83,28.83
$GC,4429,-0.72,-175.1,2198,2356,4003,3898,677.9,-11.2,283,4434,0.00,2.55,0.00,0.000,260,0.000,0.120,2189,3774,3949,4002,3897,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4459,-0.72,-175.1,2189,3775,4003,3898,681.4,-12.5,289,4464,0.00,2.40,0.00,0.000,1030,0.000,0.076,2189,2350,3949,4002,3897,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4790,-0.72,-175.1,2188,2350,4004,3898,719.6,-11.5,305,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2349,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5057,begin apogee
$GC,5062,-0.14,0.0,2186,2601,4001,3898,750.8,-11.6,314,5222,0.73,0.00,157.40,2.140,10246,0.264,0.000,2379,2600,3229,3280,3179,0,0,0,0,0,0,14.45,28.83,12.90
$STATE,5223,end apogee,CONTROL_FINISHED_OK
$STATE,5223,begin climb
$GC,5224,0.72,175.1,2381,2600,3271,3172,756.3,0.0,319,5391,0.95,2.35,156.38,2.090,10500,0.148,0.116,2657,3771,2506,2570,2443,0,0,0,0,0,0,13.62,13.05,12.35
$GC,5530,0.72,175.1,2656,3772,2568,2434,727.6,15.2,383,5536,0.00,2.15,0.00,0.000,1030,0.000,0.073,2666,2599,2497,2566,2429,0,0,0,0,0,0,28.83,13.72,28.83
$GC,5841,0.72,175.1,2666,2600,2568,2432,686.6,13.3,395,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,0.72,175.1,2666,2599,2568,2432,646.7,13.3,405,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6441,0.72,175.1,2666,2600,2568,2432,607.0,13.2,415,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2496,2566,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6741,0.72,175.1,2666,2599,2567,2438,567.5,13.2,425,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,0.72,175.1,2666,2600,2568,2432,528.3,13.0,435,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,0.72,175.1,2666,2600,2568,2432,489.3,13.0,445,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7641,0.72,175.1,2668,2600,2566,2431,450.5,12.9,455,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,0.72,175.1,2666,2599,2567,2432,412.2,12.7,465,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,0.72,175.1,2667,2600,2566,2432,374.5,12.6,475,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,0.72,175.1,2666,2600,2567,2431,337.0,12.2,485,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8841,0.72,175.1,2664,2600,2566,2430,301.2,11.7,495,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9141,0.76,175.1,2666,2600,2567,2432,267.2,10.8,505,9146,0.00,2.38,0.00,0.000,516,0.000,0.083,2676,1195,2498,2566,2431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9165,0.82,175.1,2676,1195,2567,2432,264.5,10.0,510,9172,0.00,2.45,0.00,0.000,1030,0.000,0.096,2676,2602,2498,2566,2430,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9471,0.88,231.1,2677,2602,2566,2431,232.4,9.1,531,9523,0.12,2.53,47.08,1.400,10756,0.149,0.084,2733,1196,2278,2347,2210,0,0,0,0,0,0,14.62,14.34,13.74
$GC,9583,0.88,231.1,2732,1197,2343,2201,219.2,12.6,552,9588,0.00,2.50,0.00,0.000,1030,0.000,0.097,2733,2602,2270,2341,2199,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9898,0.88,231.1,2733,2603,2342,2199,180.1,12.1,584,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2602,2269,2341,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10197,0.92,231.1,2732,2603,2342,2198,147.3,10.4,614,10202,0.00,2.45,0.00,0.000,516,0.000,0.084,2743,1192,2269,2341,2198,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10222,0.98,231.1,2743,1192,2342,2198,144.8,10.2,619,10229,0.00,2.50,0.00,0.000,1030,0.000,0.097,2743,2600,2273,2341,2205,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10529,1.06,231.1,2743,2601,2342,2198,113.9,9.6,650,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2601,2268,2340,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10827,1.15,320.8,2742,2601,2342,2197,88.6,7.6,680,10872,0.20,0.00,43.12,0.429,10502,0.119,0.000,2814,2601,1920,2003,1838,0,0,0,0,0,0,14.45,28.83,14.06
$GC,11167,1.21,376.4,2814,2601,2019,1854,47.6,9.2,715,11199,0.00,0.00,29.38,0.310,8454,0.000,0.000,2815,2600,1696,1784,1609,0,0,0,0,0,0,28.83,28.83,14.15
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b3e6a5cfe;,*07
$MODEM_MSG,CACST,6,0,20140823080134.266147,3,10124,28,0408,0150,100,00,00,02,03,1,004,000,0,5,1,0,150,16.0,16.3,-100,-13.3,-01,-0.1,20,900,0025*04
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5aaa7a26be;,*36
$MODEM_MSG,CACST,6,0,20140823081436.849672,3,4104,18,0337,0150,100,00,00,03,05,1,010,000,0,5,1,0,150,9.6,10.2,-100,-7.2,-01,-0.3,17,900,0025*32
$GC,11497,1.36,536.2,2815,2600,1790,1622,26.7,4.5,749,11585,0.17,2.47,79.80,0.247,10756,0.125,0.086,2888,1194,1044,1120,969,0,0,0,0,0,0,14.48,14.32,14.21
$GC,11695,1.44,536.2,2888,1195,1129,969,10.6,9.7,788,11701,0.00,2.53,0.00,0.000,1030,0.000,0.099,2888,2610,1048,1127,969,0,0,0,0,0,0,28.83,14.38,28.83
$FREEZE,8.09,-1.134,-1.457,2,2,0
$FREEZE,7.20,-1.130,-1.454,2,2,0
$FREEZE,6.14,-1.123,-1.453,2,2,0
$FREEZE,5.20,-1.119,-1.451,2,2,0
$FREEZE,4.11,-1.114,-1.448,2,2,0
$FREEZE,3.06,-1.118,-1.445,2,2,0
$FREEZE,2.14,-1.126,-1.443,2,2,0
$FREEZE,1.49,-1.135,-1.442,2,2,0
$STATE,11789,end climb,SURFACE_DEPTH_REACHED
$STATE,11789,begin surface coast
$FREEZE,1.49,-1.135,-1.442,2,2,0
$FREEZE,1.53,-1.138,-1.442,2,2,0
$FINISH,1.5,1.021257
$STATE,11808,end surface coast,CONTROL_FINISHED_OK
$STATE,11808,begin surface
$SM_CCo,11823,66.40,0.191,0,0,499,669.67
$SM_GC,2.58,8.38,0.45,66.40,0.116,0.095,0.191,197,2360,499,-6.94,0.90,669.67,0,0,0,0,0,0,14.44,14.45,14.28
$RAFOS_CLK,95
$MODEM,10,1408781676,74.27340,-153.31920,155.850,225771.5
$MODEM,4,1408780894,74.74680,-147.76401,93.266,135109.9
$RAFOS_FIX,7335.017578,-14621.856445,230814,080805,2,255,0.17
$IRIDIUM_FIX,7250.09,-14618.60,220814,222611
$TT8_MAMPS,0.046438,0.046438
$HUMID,48.22
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3994588
$24V_AH,12.35,127.464
$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,11.825,50.225,513.150,66.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9624.858,632.723,1619.312,117.083,0.000,1278.854,0.000,1193.999,1491.000,0.536,0.000
$DEVICE_MAMPS,297.585,126.225,2140.470,191.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11848.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.571,0.000,0.000,0.000
$MEM,246264
$DATA_FILE_SIZE,26732,800
$CAP_FILE_SIZE,122456,0
$CFSIZE,2097872896,2045509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,230814,083624,7335.896,-14628.074,35,0.7,55,22.3