version: 66.12
glider: 199
mission: 5
dive: 235
start: 8 28 114 10 20 44
data:
$ID,199
$MISSION,5
$DIVE,235
$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,-23342.34
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,280814,031908,7412.809,-14653.495,181,99.0,181,22.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-53.2
$GPS2,280814,031908,7412.809,-14653.495,181,99.0,181,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.5,115189,-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,15,begin dive
$GC,17,-0.72,-175.1,195,2358,509,487,0.0,0.0,0,90,0.00,0.00,-71.70,0.000,16386,0.000,0.000,195,2358,2225,2231,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.72,-175.1,197,2358,2231,2221,3.9,-2.6,7,142,10.82,2.65,-33.25,0.000,19204,0.465,0.138,2181,3769,3946,4002,3890,0,0,0,0,0,0,14.02,14.34,14.63
$GC,366,-0.72,-175.1,2180,3770,4004,3895,91.1,-25.8,62,373,0.00,2.42,0.00,0.000,1030,0.000,0.076,2181,2358,3948,4002,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,671,-0.72,-175.1,2180,2357,4004,3896,156.7,-20.0,93,677,0.00,2.55,0.00,0.000,260,0.000,0.119,2170,3764,3948,4002,3895,0,0,0,0,0,0,28.83,14.35,28.83
$GC,901,-0.72,-175.1,2171,3765,4002,3895,204.0,-19.5,139,907,0.12,2.40,0.00,0.000,3078,0.301,0.074,2194,2358,3948,4002,3895,0,0,0,0,0,0,14.21,14.45,28.83
$GC,1222,-0.72,-175.1,2195,2357,4002,3895,255.4,-15.0,170,1227,0.00,2.55,0.00,0.000,260,0.000,0.120,2185,3763,3948,4002,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1402,-0.72,-175.1,2185,3764,4004,3895,282.9,-15.2,206,1407,0.00,2.40,0.00,0.000,1030,0.000,0.075,2185,2354,3948,4002,3894,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1733,-0.72,-175.1,2185,2353,4004,3896,329.8,-13.9,222,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2352,3946,3997,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2032,-0.72,-175.1,2186,2353,4002,3895,370.3,-13.4,232,2037,0.00,2.58,0.00,0.000,260,0.000,0.122,2174,3770,3949,4003,3895,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2076,-0.72,-175.1,2174,3771,4004,3896,376.8,-14.4,241,2082,0.10,2.40,0.00,0.000,3078,0.294,0.075,2192,2354,3948,4002,3895,0,0,0,0,0,0,14.34,14.56,28.83
$GC,2393,-0.72,-175.1,2193,2355,4004,3896,416.4,-12.5,254,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2354,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,-0.72,-175.1,2193,2355,4004,3896,453.4,-12.3,264,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2354,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2992,-0.72,-175.1,2193,2355,4004,3896,490.1,-12.2,274,2997,0.00,2.55,0.00,0.000,260,0.000,0.122,2184,3769,3948,4002,3895,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3036,-0.72,-175.1,2184,3769,4004,3896,496.1,-13.6,283,3042,0.00,2.38,0.00,0.000,1030,0.000,0.074,2184,2360,3948,4002,3895,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3353,-0.72,-175.1,2185,2360,4002,3894,536.2,-12.8,296,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2359,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3652,-0.72,-175.1,2185,2360,4002,3895,574.0,-12.5,306,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2359,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,-0.72,-175.1,2185,2360,4002,3896,611.6,-12.5,316,3957,0.00,2.53,0.00,0.000,260,0.000,0.120,2173,3765,3949,4002,3896,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4012,-0.72,-175.1,2174,3765,4002,3896,619.7,-13.3,328,4017,0.00,2.38,0.00,0.000,1030,0.000,0.073,2174,2354,3949,4002,3896,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4343,-0.72,-175.1,2175,2354,4002,3897,662.8,-13.1,344,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2354,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4642,-0.72,-175.1,2173,2355,4004,3898,701.5,-12.9,354,4647,0.00,2.58,0.00,0.000,260,0.000,0.120,2163,3770,3949,4002,3896,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4686,-0.72,-175.1,2163,3771,4004,3898,707.6,-13.9,363,4692,0.12,2.42,0.00,0.000,3078,0.252,0.073,2197,2357,3949,4002,3897,0,0,0,0,0,0,14.35,14.59,28.83
$GC,5003,-0.72,-175.1,2196,2357,4002,3898,743.8,-11.2,376,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2357,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5060,begin apogee
$GC,5065,-0.14,0.0,2196,2597,4002,3898,750.6,-11.4,378,5287,0.73,0.00,219.65,1.596,10246,0.264,0.000,2381,2599,3230,3282,3179,0,0,0,0,0,0,14.36,28.83,13.05
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5290,0.72,175.1,2381,2599,3279,3175,759.0,0.0,385,5454,0.95,2.30,154.55,1.880,10500,0.143,0.112,2661,3764,2507,2570,2444,0,0,0,0,0,0,13.62,13.15,12.49
$GC,5488,0.72,175.1,2658,3765,2567,2438,746.8,15.0,428,5494,0.00,2.17,0.00,0.000,1030,0.000,0.069,2670,2600,2501,2566,2437,0,0,0,0,0,0,28.83,13.45,28.83
$GC,5815,0.72,175.1,2669,2601,2567,2434,702.4,13.6,443,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2497,2567,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,0.72,175.1,2671,2601,2566,2431,662.1,13.4,453,6119,0.00,2.42,0.00,0.000,516,0.000,0.082,2680,1196,2499,2566,2432,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6134,0.72,175.1,2677,1196,2565,2432,659.3,13.7,457,6139,0.00,2.50,0.00,0.000,1030,0.000,0.095,2680,2602,2499,2566,2432,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6444,0.72,175.1,2680,2600,2567,2433,616.4,13.8,469,6449,0.00,2.42,0.00,0.000,516,0.000,0.081,2690,1196,2499,2566,2432,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6464,0.72,175.1,2691,1197,2567,2431,613.7,13.6,473,6469,0.00,2.50,0.00,0.000,1030,0.000,0.096,2691,2607,2499,2566,2432,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6774,0.72,175.1,2690,2608,2567,2432,569.8,14.1,485,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2606,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7074,0.72,175.1,2690,2607,2566,2432,527.0,14.3,495,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2607,2499,2567,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7374,0.72,175.1,2696,2608,2567,2432,484.0,14.3,505,7379,0.00,2.42,0.00,0.000,516,0.000,0.081,2699,1197,2496,2563,2430,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7409,0.72,175.1,2702,1196,2566,2433,479.2,14.1,512,7414,0.15,2.47,0.00,0.000,5126,0.296,0.096,2670,2597,2499,2566,2432,0,0,0,0,0,0,14.24,14.41,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b727a6919;,*02
$MODEM_MSG,CACST,6,0,20140828120050.124946,3,1033,18,0244,0150,100,00,00,02,04,1,004,000,0,5,1,0,150,4.8,4.0,-100,-1.0,-01,-0.1,23,900,0025*0B
$GC,7734,0.72,175.1,2670,2600,2567,2432,436.9,12.8,527,7739,0.00,2.40,0.00,0.000,516,0.000,0.080,2679,1195,2499,2566,2432,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7759,0.72,175.1,2680,1195,2566,2432,433.7,13.1,532,7765,0.00,2.47,0.00,0.000,1030,0.000,0.095,2679,2606,2498,2566,2431,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8064,0.72,175.1,2679,2603,2567,2432,393.0,13.2,543,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2603,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8364,0.72,175.1,2676,2603,2567,2432,354.0,12.8,553,8369,0.00,2.40,0.00,0.000,516,0.000,0.081,2689,1194,2497,2566,2429,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8394,0.72,175.1,2690,1194,2565,2432,350.2,12.5,559,8400,0.00,2.47,0.00,0.000,1030,0.000,0.095,2690,2606,2499,2566,2432,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8725,0.72,175.1,2689,2599,2566,2432,307.6,12.9,575,8730,0.00,2.40,0.00,0.000,516,0.000,0.080,2699,1194,2499,2566,2432,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8755,0.72,175.1,2702,1194,2566,2432,303.8,12.8,581,8760,0.12,2.45,0.00,0.000,5126,0.297,0.094,2674,2595,2498,2566,2431,0,0,0,0,0,0,14.37,14.55,28.83
$GC,9085,0.72,175.1,2675,2594,2567,2432,266.2,11.2,597,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2593,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,0.77,224.2,2676,2595,2565,2432,235.3,9.4,617,9431,0.00,2.42,41.78,1.403,8708,0.000,0.078,2684,1193,2307,2376,2239,0,0,0,0,0,0,28.83,14.35,13.74
$GC,9467,0.83,277.6,2684,1193,2370,2230,228.1,9.3,632,9518,0.00,2.50,45.78,1.419,9222,0.000,0.095,2684,2600,2094,2172,2017,0,0,0,0,0,0,28.83,14.33,13.52
$GC,9816,0.86,277.6,2684,2601,2164,1993,189.2,10.9,672,9821,0.00,2.45,0.00,0.000,516,0.000,0.081,2694,1187,2077,2162,1992,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9841,0.92,277.6,2695,1188,2162,1992,186.6,10.0,677,9848,0.12,2.53,0.00,0.000,3078,0.152,0.095,2741,2607,2077,2163,1992,0,0,0,0,0,0,14.40,14.37,28.83
$GC,10147,0.92,277.6,2740,2608,2163,1992,146.3,12.3,708,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2607,2076,2162,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10446,0.92,277.6,2741,2608,2164,1991,110.6,11.3,738,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2607,2074,2158,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10746,1.00,353.5,2740,2608,2164,1990,80.6,8.3,768,10788,0.00,2.45,35.60,0.405,8708,0.000,0.080,2751,1196,1791,1873,1709,0,0,0,0,0,0,28.83,14.33,14.05
$GC,10877,1.06,420.1,2753,1196,1887,1717,68.3,8.7,794,10919,0.00,2.50,36.42,0.366,9222,0.000,0.097,2751,2600,1517,1605,1429,0,0,0,0,0,0,28.83,14.28,14.04
$GC,11217,1.18,537.1,2752,2601,1615,1439,40.9,6.4,832,11282,0.20,0.00,61.85,0.290,10502,0.130,0.000,2821,2600,1039,1117,961,0,0,0,0,0,0,14.34,28.83,14.04
$FREEZE,8.53,-1.178,-1.462,2,3,0
$FREEZE,7.87,-1.168,-1.461,2,3,0
$FREEZE,6.91,-1.176,-1.461,2,3,0
$FREEZE,6.55,-1.176,-1.460,2,3,0
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$STATE,12010,end climb,NO_VERTICAL_VELOCITY
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$FINISH2,2.8
$STATE,12025,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12025,begin surface
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$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,12.40
$XPDR_PINGS,1
$SC_FREEKB,3989720
$24V_AH,12.49,140.360
$10V_AH,12.57,0.000
$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,14.975,88.900,662.900,0.000,0.000,0.000,0.000,122.025,0.250,0.000,181.883,0.000,9468.777,740.105,2198.951,271.793,0.000,1641.791,0.000,1407.202,1495.000,0.536,0.000
$DEVICE_MAMPS,465.120,137.700,1880.370,0.000,0.000,0.000,0.000,49.725,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12071.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.312,0.000,0.000,0.000
$MEM,225336
$DATA_FILE_SIZE,33335,946
$CAP_FILE_SIZE,146285,0
$CFSIZE,2097872896,2038235136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12664.89,0x2378b6,7,5
$INTR,1,12013.62,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,280814,031908,7412.809,-14653.495,181,99.0,181,22.3