version: 66.12
glider: 199
mission: 5
dive: 115
start: 8 11 114 5 28 21
data:
$ID,199
$MISSION,5
$DIVE,115
$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,3
$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,688.85968
$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,-21743.475
$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,31
$R_STBD_OVSHOOT,14
$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,3
$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
$GPS1,100814,050504,7149.873,-14555.667,6,0.8,26,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-72.2
$GPS2,100814,050504,7149.873,-14555.667,6,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.7,25905,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.72,-175.1,189,2373,519,497,0.0,0.0,0,63,0.00,0.00,-41.45,0.000,16386,0.000,0.000,187,2372,1596,1629,1564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.72,-175.1,186,2373,1630,1565,3.2,-3.1,4,134,10.98,2.50,-49.67,0.000,18948,0.471,0.116,2193,949,3948,4003,3893,0,0,0,0,0,0,14.09,14.32,14.54
$GC,329,-0.72,-175.1,2193,950,4004,3899,65.0,-21.9,57,337,0.00,2.53,0.00,0.000,1030,0.000,0.103,2184,2369,3949,4002,3896,0,0,0,0,0,0,28.83,14.33,28.83
$GC,634,-0.72,-175.1,2185,2369,4002,3899,127.3,-19.2,88,641,0.00,2.45,0.00,0.000,516,0.000,0.090,2184,959,3951,4003,3899,0,0,0,0,0,0,28.83,14.37,28.83
$GC,675,-0.72,-175.1,2184,960,4004,3900,135.2,-18.1,96,682,0.00,2.50,0.00,0.000,1030,0.000,0.101,2174,2365,3954,4003,3905,0,0,0,0,0,0,28.83,14.36,28.83
$GC,986,-0.72,-175.1,2174,2366,4004,3900,190.4,-16.3,128,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2365,3951,4004,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1286,-0.72,-175.1,2175,2366,3998,3899,236.3,-15.1,158,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2365,3951,4003,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-0.72,-175.1,2175,2365,4002,3899,280.7,-14.1,175,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2365,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.72,-175.1,2177,2365,4004,3899,322.3,-13.7,185,1903,0.00,2.40,0.00,0.000,516,0.000,0.092,2175,953,3950,4003,3898,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1928,-0.72,-175.1,2174,954,4004,3899,326.6,-14.1,191,1935,0.15,2.50,0.00,0.000,3078,0.308,0.102,2193,2366,3950,4002,3898,0,0,0,0,0,0,14.29,14.42,28.83
$GC,2259,-0.72,-175.1,2194,2364,4002,3899,367.4,-12.3,207,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2366,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-0.72,-175.1,2193,2366,4004,3898,403.8,-12.1,217,2566,0.00,2.50,0.00,0.000,260,0.000,0.124,2185,3767,3950,4003,3898,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2594,-0.72,-175.1,2184,3768,4004,3895,408.5,-13.3,224,2601,0.00,2.40,0.00,0.000,1030,0.000,0.081,2184,2360,3947,3997,3898,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2921,-0.72,-175.1,2184,2360,4004,3899,449.4,-12.5,239,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.72,-175.1,2184,2360,4004,3897,486.6,-12.5,249,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.72,-175.1,2184,2360,4004,3899,523.2,-12.2,259,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.72,-175.1,2185,2360,4002,3899,559.4,-11.9,269,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2360,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,-0.72,-175.1,2185,2360,4002,3899,595.2,-11.9,279,4127,0.00,2.55,0.00,0.000,260,0.000,0.125,2174,3768,3950,4002,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4156,-0.72,-175.1,2175,3768,4002,3899,599.8,-13.6,286,4163,0.00,2.42,0.00,0.000,1030,0.000,0.081,2173,2354,3950,4003,3898,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4483,-0.72,-175.1,2173,2354,4004,3899,640.4,-12.4,301,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2353,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4783,-0.72,-175.1,2175,2354,4002,3899,677.7,-12.4,311,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5083,-0.72,-175.1,2173,2354,4004,3898,714.8,-12.4,321,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2353,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5381,begin apogee
$GC,5385,-0.14,0.0,2173,2601,4002,3899,751.7,-12.3,331,5617,0.82,0.00,227.23,1.800,10246,0.275,0.000,2386,2600,3230,3286,3175,0,0,0,0,0,0,14.34,28.83,12.82
$STATE,5618,end apogee,CONTROL_FINISHED_OK
$STATE,5618,begin climb
$GC,5621,0.72,175.1,2380,2601,3284,3171,759.0,0.0,338,5794,1.00,2.40,159.15,2.101,10500,0.164,0.119,2661,3770,2509,2576,2443,0,0,0,0,0,0,13.47,12.85,12.15
$GC,5994,0.72,175.1,2661,3771,2573,2433,716.3,15.2,415,6001,0.00,2.12,0.00,0.000,1030,0.000,0.077,2670,2591,2501,2571,2431,0,0,0,0,0,0,28.83,13.69,28.83
$GC,6298,0.72,175.1,2670,2592,2573,2431,674.3,13.7,426,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2501,2572,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6598,0.72,175.1,2669,2592,2573,2431,633.1,13.8,436,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2591,2505,2572,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6898,0.72,175.1,2671,2591,2571,2431,591.7,13.8,446,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2591,2503,2572,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7198,0.72,175.1,2671,2591,2571,2430,550.3,13.8,456,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2591,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7498,0.72,175.1,2670,2591,2573,2431,509.3,13.6,466,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2591,2500,2571,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,0.72,175.1,2671,2591,2572,2430,468.8,13.4,476,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2591,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8098,0.72,175.1,2671,2591,2571,2430,428.8,13.3,486,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2591,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,0.72,175.1,2669,2592,2573,2430,389.6,13.0,496,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2591,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,0.72,175.1,2670,2592,2573,2430,350.8,13.0,506,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2591,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8998,0.72,175.1,2670,2591,2573,2430,312.2,12.8,516,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2590,2500,2572,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9299,0.72,175.1,2669,2591,2573,2430,274.4,12.6,526,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2591,2500,2572,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9598,0.72,175.1,2669,2591,2573,2430,236.4,12.4,542,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2591,2500,2571,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9898,0.72,175.1,2669,2588,2571,2430,201.7,11.2,572,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2590,2498,2571,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10198,0.78,228.7,2670,2591,2571,2429,171.4,9.3,602,10250,0.00,0.00,46.15,1.293,8198,0.000,0.000,2670,2591,2288,2361,2216,0,0,0,0,0,0,28.83,28.83,13.54
$MODEM_MSG,CACST,6,1,20140811080411.957340,3,1078,30,0183,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,16.1,3.0,-100,0.0,-01,-0.7,33,900,0025*39
$MODEM_MSG,CACST,6,1,20140811081647.740199,3,88,19,0120,0150,100,00,00,00,04,-1,-01,-01,1,3,0,0,150,8.6,1.3,-100,1.7,-01,-0.0,24,900,0025*0F
$GC,10548,0.83,285.4,2671,2591,2350,2203,138.4,9.1,637,10608,0.00,2.58,49.05,1.286,8708,0.000,0.089,2680,1189,2053,2141,1966,0,0,0,0,0,0,28.83,13.99,13.47
$GC,10672,0.91,285.4,2681,1190,2135,1960,126.9,9.9,661,10680,0.15,2.60,0.00,0.000,3078,0.131,0.101,2735,2609,2046,2134,1958,0,0,0,0,0,0,14.14,14.10,28.83
$GC,10984,0.91,285.4,2735,2610,2136,1956,88.2,12.6,693,10991,0.00,2.50,0.00,0.000,516,0.000,0.090,2746,1195,2044,2134,1955,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11025,0.91,285.4,2746,1195,2136,1955,83.5,11.9,701,11032,0.00,2.55,0.00,0.000,1030,0.000,0.103,2746,2610,2044,2134,1955,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11337,0.99,370.0,2746,2609,2136,1955,51.4,7.9,733,11379,0.00,0.00,39.33,0.321,8198,0.000,0.000,2746,2608,1720,1813,1628,0,0,0,0,0,0,28.83,28.83,14.13
$GC,11677,1.05,431.0,2746,2609,1821,1641,20.4,8.9,767,11713,0.00,2.50,30.80,0.237,8708,0.000,0.089,2757,1196,1470,1566,1375,0,0,0,0,0,0,28.83,14.28,14.21
$GC,11842,1.30,684.4,2758,1196,1574,1384,13.2,0.4,800,11971,0.30,2.53,118.30,0.213,11270,0.096,0.103,2865,2608,497,515,479,0,0,0,0,0,0,14.36,14.33,14.14
$FREEZE,8.48,4.582,-1.315,2,8,0
$FREEZE,7.67,4.582,-1.315,2,8,0
$FREEZE,6.97,4.585,-1.315,2,8,0
$FREEZE,6.05,4.586,-1.315,2,8,0
$FREEZE,5.25,4.584,-1.314,2,8,0
$FREEZE,4.44,4.585,-1.313,2,8,0
$FREEZE,3.65,4.584,-1.313,2,8,0
$FREEZE,2.71,4.562,-1.313,2,8,0
$FREEZE,1.57,4.586,-1.311,2,8,0
$STATE,12087,end climb,SURFACE_DEPTH_REACHED
$STATE,12087,begin surface coast
$FREEZE,1.27,4.548,-1.312,2,8,0
$FREEZE,1.11,4.564,-0.170,2,8,0
$FINISH,1.1,1.002418
$STATE,12107,end surface coast,CONTROL_FINISHED_OK
$STATE,12107,begin surface
$SM_CCo,12128,-0.15,0.000,0,0,501,669.67
$SM_CCo,12130,0.00,0.000,0,0,501,669.67
$SM_CCo,12132,0.08,1.206,0,0,497,669.67
$SM_GC,3.17,8.05,0.45,0.08,0.080,0.102,1.206,194,2362,497,-6.95,0.88,669.67,0,0,0,0,0,0,14.32,14.33,14.10
$RAFOS_CLK,131
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7118.99,-14553.69,100814,012010
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.36
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4004012
$TM_FREEKB,6056544
$24V_AH,12.15,94.389
$10V_AH,12.37,0.000
$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,21.450,45.450,670.000,0.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9666.432,686.795,1875.665,102.054,0.000,1469.099,0.000,1245.469,1483.000,0.536,0.000
$DEVICE_MAMPS,471.240,130.050,2100.690,1206.405,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12138.000,12187.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.221,44.429,0.000,0.000
$MEM,291516
$DATA_FILE_SIZE,30055,839
$CAP_FILE_SIZE,132358,0
$CFSIZE,2097872896,2063761408
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12766.59,0x2378b6,7,5
$INTR,1,12131.32,0x2378b6,7,5
$SOUNDSPEED,1451.6
$GPS,100814,050504,7149.873,-14555.667,6,0.8,26,22.0