version: 66.12
glider: 199
mission: 5
dive: 117
start: 8 11 114 12 22 2
data:
$ID,199
$MISSION,5
$DIVE,117
$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,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,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,2.22
$_SM_ANGLEo,-72.1
$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,-175.1,193,2348,536,470,0.0,0.0,0,73,0.00,0.00,-51.12,0.000,16386,0.000,0.000,192,2347,1829,1842,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.72,-175.1,194,2348,1842,1817,3.6,-3.1,5,134,11.05,2.45,-39.95,0.000,18948,0.473,0.112,2186,956,3941,3998,3885,0,0,0,0,0,0,14.02,14.23,14.45
$MODEM_MSG,CACST,6,1,20140811121647.087575,3,247,17,0106,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,10.3,-7.9,-100,10.9,-01,0.6,30,900,0025*33
$GC,358,-0.72,-175.1,2188,957,3998,3891,72.5,-20.3,62,366,0.00,2.50,0.00,0.000,1030,0.000,0.099,2179,2363,3944,3998,3891,0,0,0,0,0,0,28.83,14.31,28.83
$GC,663,-0.72,-175.1,2178,2364,3999,3892,133.7,-18.9,93,670,0.00,2.45,0.00,0.000,516,0.000,0.087,2179,952,3943,3996,3891,0,0,0,0,0,0,28.83,14.37,28.83
$GC,879,-0.72,-175.1,2180,953,3998,3892,170.8,-16.6,136,887,0.00,2.50,0.00,0.000,1030,0.000,0.099,2168,2361,3944,3998,3891,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1184,-0.72,-175.1,2168,2361,3999,3892,220.6,-15.5,167,1187,0.15,0.00,0.00,0.000,2054,0.313,0.000,2197,2361,3945,3998,3892,0,0,0,0,0,0,14.26,28.83,28.83
$GC,1504,-0.72,-175.1,2197,2361,3999,3892,262.4,-13.0,193,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2360,3944,3998,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1804,-0.72,-175.1,2197,2361,3999,3892,298.9,-11.9,203,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2360,3945,3998,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2104,-0.72,-175.1,2197,2358,3999,3893,334.4,-11.9,213,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2360,3944,3997,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2404,-0.72,-175.1,2197,2361,3998,3892,369.6,-11.8,223,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2361,3944,3998,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2704,-0.72,-175.1,2197,2361,3999,3890,404.7,-11.7,233,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2361,3943,3997,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3004,-0.72,-175.1,2200,2359,3997,3890,439.3,-11.5,243,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2360,3943,3997,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3304,-0.72,-175.1,2195,2361,3997,3891,473.6,-11.4,253,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2360,3943,3997,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3604,-0.72,-175.1,2203,2361,3997,3891,507.8,-11.4,263,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2366,3943,3997,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3904,-0.72,-175.1,2198,2361,3997,3890,541.5,-11.2,273,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2360,3944,3997,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4204,-0.72,-175.1,2197,2361,3999,3891,574.9,-11.1,283,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2361,3943,3997,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,-0.72,-175.1,2198,2361,3997,3891,608.4,-11.2,293,4511,0.00,2.53,0.00,0.000,260,0.000,0.124,2188,3775,3943,3997,3890,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4540,-0.72,-175.1,2188,3777,3999,3890,612.9,-12.6,300,4547,0.00,2.42,0.00,0.000,1030,0.000,0.082,2188,2352,3943,3998,3889,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4867,-0.72,-175.1,2189,2351,3997,3890,650.6,-11.5,315,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2351,3941,3997,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5166,-0.72,-175.1,2188,2352,3999,3897,684.9,-11.4,325,5172,0.00,2.55,0.00,0.000,260,0.000,0.124,2178,3767,3941,3997,3886,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5206,-0.72,-175.1,2178,3768,3999,3890,689.9,-12.0,333,5213,0.00,2.40,0.00,0.000,1030,0.000,0.080,2178,2358,3943,3997,3890,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5528,-0.72,-175.1,2177,2359,3997,3890,728.4,-11.8,347,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3943,3997,3890,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5740,-0.14,0.0,2176,2607,3999,3890,753.6,-12.0,354,5958,0.80,0.00,212.77,1.816,10246,0.276,0.000,2379,2606,3230,3286,3174,0,0,0,0,0,0,14.35,28.83,12.89
$STATE,5960,end apogee,CONTROL_FINISHED_OK
$STATE,5960,begin climb
$GC,5962,0.72,175.1,2380,2606,3281,3169,760.4,0.0,361,6132,1.00,2.42,156.45,1.931,10500,0.169,0.120,2660,3765,2508,2576,2440,0,0,0,0,0,0,13.53,12.95,12.31
$GC,6216,0.72,175.1,2661,3765,2569,2430,735.8,15.3,414,6224,0.00,2.15,0.00,0.000,1030,0.000,0.076,2669,2593,2499,2569,2429,0,0,0,0,0,0,28.83,13.45,28.83
$GC,6521,0.72,175.1,2672,2594,2572,2428,694.5,13.6,425,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6821,0.72,175.1,2670,2594,2570,2427,654.0,13.4,435,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2498,2570,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7121,0.72,175.1,2669,2594,2571,2427,614.3,13.3,445,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2498,2570,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7421,0.72,175.1,2669,2594,2570,2426,574.7,13.2,455,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2593,2498,2570,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,0.72,175.1,2670,2594,2574,2426,535.1,13.2,465,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2594,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8021,0.72,175.1,2670,2594,2569,2426,495.1,13.3,475,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2593,2494,2564,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8321,0.72,175.1,2669,2594,2571,2426,455.6,13.1,485,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2498,2570,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,0.72,175.1,2664,2594,2571,2426,415.9,13.2,495,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,0.72,175.1,2668,2594,2571,2426,376.2,13.2,505,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9221,0.72,175.1,2670,2594,2570,2426,336.4,13.3,515,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,0.72,175.1,2665,2594,2571,2426,297.3,13.0,525,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,0.72,175.1,2670,2594,2570,2425,258.8,12.8,535,9828,0.00,2.40,0.00,0.000,516,0.000,0.089,2679,1196,2497,2570,2425,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9892,0.72,175.1,2679,1195,2570,2426,250.2,11.8,549,9898,0.00,2.50,0.00,0.000,1030,0.000,0.101,2679,2604,2497,2570,2425,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10203,0.72,175.1,2679,2610,2571,2426,211.9,12.1,582,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10503,0.78,175.1,2679,2605,2570,2426,179.1,10.2,612,10510,0.00,2.45,0.00,0.000,516,0.000,0.088,2690,1195,2497,2570,2425,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10559,0.84,229.7,2691,1196,2569,2425,173.6,9.2,623,10612,0.00,2.50,46.03,1.325,9222,0.000,0.101,2690,2599,2293,2369,2218,0,0,0,0,0,0,28.83,14.41,13.59
$GC,10916,0.90,229.7,2691,2599,2351,2192,135.8,10.1,664,10919,0.10,0.00,0.00,0.000,2054,0.168,0.000,2725,2600,2273,2352,2195,0,0,0,0,0,0,14.34,28.83,28.83
$GC,11217,0.94,229.7,2726,2600,2353,2196,102.8,10.4,694,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2599,2274,2353,2195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11516,1.00,289.1,2725,2600,2353,2193,73.2,9.0,724,11549,0.00,2.17,26.80,0.380,8452,0.000,0.126,2725,3771,2052,2138,1966,0,0,0,0,0,0,28.83,14.31,14.15
$GC,11603,1.00,289.1,2727,3772,2147,1985,63.6,12.0,741,11612,0.00,2.03,1.90,0.243,9222,0.000,0.084,2735,2592,2050,2135,1965,0,0,0,0,0,0,28.83,14.35,14.23
$GC,11909,1.11,399.7,2735,2593,2157,1984,38.6,6.7,772,11972,0.15,2.50,55.80,0.281,10756,0.138,0.090,2802,1196,1599,1694,1504,0,0,0,0,0,0,14.32,14.28,14.17
$GC,12133,1.18,468.7,2802,1196,1703,1515,14.6,8.6,816,12176,0.00,2.53,34.50,0.223,9222,0.000,0.103,2802,2606,1319,1416,1223,0,0,0,0,0,0,28.83,14.31,14.16
$GC,12473,1.45,732.1,2803,2606,1419,1229,13.9,-0.1,854,12582,0.28,2.50,99.90,0.213,10756,0.096,0.090,2918,1194,498,528,468,0,0,0,0,0,0,14.39,14.24,14.15
$FREEZE,8.02,4.423,-1.340,2,10,2
$FREEZE,7.58,4.423,-1.339,2,10,2
$FREEZE,6.92,4.431,-1.339,2,10,2
$FREEZE,6.41,4.431,-1.339,2,10,2
$FREEZE,5.86,4.432,-1.338,2,10,2
$FREEZE,5.27,4.432,-1.338,2,10,2
$FREEZE,4.86,4.431,-1.337,2,10,2
$FREEZE,4.21,4.431,-1.337,2,10,2
$FREEZE,3.71,4.437,-1.337,2,10,2
$FREEZE,3.25,4.437,-1.336,2,10,2
$FREEZE,2.56,4.436,-1.336,2,10,2
$FREEZE,1.97,4.436,-1.335,2,10,2
$STATE,12640,end climb,SURFACE_DEPTH_REACHED
$STATE,12640,begin surface coast
$FREEZE,1.47,4.433,-1.335,2,10,2
$FREEZE,1.10,4.433,-1.334,2,10,2
$FINISH,1.1,1.019452
$STATE,12651,end surface coast,CONTROL_FINISHED_OK
$STATE,12651,begin surface
$SM_CCo,12674,0.20,0.563,0,0,497,669.67
$SM_CCo,12676,-0.17,0.000,0,0,501,669.67
$SM_CCo,12679,0.22,0.527,0,0,497,669.67
$SM_GC,3.10,8.35,2.15,0.22,0.096,0.100,0.527,202,2367,497,-6.94,-0.37,669.67,0,0,0,0,0,0,14.28,14.29,14.24
$RAFOS_CLK,549
$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,52.28
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4003780
$TM_FREEKB,6017024
$24V_AH,12.31,95.326
$10V_AH,12.52,0.000
$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,21.875,48.575,634.150,0.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10153.719,651.991,1964.440,110.550,0.000,1466.418,0.000,1320.478,0.000,0.537,0.000
$DEVICE_MAMPS,472.770,129.285,1930.860,563.040,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12681.000,12732.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.269,43.973,0.000,0.000
$MEM,290496
$DATA_FILE_SIZE,30005,889
$CAP_FILE_SIZE,138517,0
$CFSIZE,2097872896,2063204352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12455.22,0x2378b6,7,5
$SOUNDSPEED,1451.0
$GPS,110814,155455,7135.202,-14559.328,36,0.8,56,21.9