version: 66.12
glider: 199
mission: 5
dive: 126
start: 8 12 114 22 35 50
data:
$ID,199
$MISSION,5
$DIVE,126
$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,-21753.65
$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,19
$R_STBD_OVSHOOT,15
$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
$GPS1,120814,222412,7150.331,-14604.988,71,0.9,91,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.6
$GPS2,120814,223532,7150.419,-14605.195,5,1.1,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,350.1,40883,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-175.1,174,2359,524,478,0.0,0.0,0,74,0.00,0.00,-51.17,0.000,16386,0.000,0.000,173,2361,1800,1805,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,175,2361,1805,1796,3.4,-2.9,5,136,11.18,2.58,-41.70,0.000,18692,0.470,0.137,2181,3770,3945,4003,3888,0,0,0,0,0,0,13.98,14.22,14.46
$GC,360,-0.72,-175.1,2181,3770,4004,3894,79.2,-22.9,62,368,0.00,2.45,0.00,0.000,1030,0.000,0.079,2181,2348,3947,4002,3893,0,0,0,0,0,0,28.83,14.29,28.83
$GC,666,-0.72,-175.1,2180,2348,4005,3895,140.6,-18.6,93,673,0.00,2.58,0.00,0.000,260,0.000,0.122,2170,3769,3948,4002,3894,0,0,0,0,0,0,28.83,14.33,28.83
$GC,887,-0.72,-175.1,2170,3773,4004,3895,183.9,-17.6,137,894,0.10,2.42,0.00,0.000,3078,0.319,0.079,2191,2358,3948,4003,3894,0,0,0,0,0,0,14.24,14.40,28.83
$GC,1199,-0.72,-175.1,2192,2358,4002,3894,230.4,-13.5,169,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2358,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-0.72,-175.1,2191,2359,4004,3894,270.4,-13.0,189,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2358,3946,4003,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1798,-0.72,-175.1,2193,2358,4002,3893,308.3,-12.3,199,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2355,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,-0.72,-175.1,2192,2359,4002,3892,344.4,-12.0,209,2104,0.00,2.58,0.00,0.000,260,0.000,0.126,2182,3768,3946,4002,3890,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2169,-0.72,-175.1,2182,3771,4004,3891,353.7,-13.6,223,2176,0.00,2.42,0.00,0.000,1030,0.000,0.080,2182,2358,3946,4003,3890,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2491,-0.72,-175.1,2183,2357,4002,3890,395.0,-12.8,237,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2790,-0.72,-175.1,2183,2357,3998,3889,431.7,-12.3,247,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3090,-0.72,-175.1,2182,2355,4004,3889,468.4,-12.3,257,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2357,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.72,-175.1,2183,2357,4002,3890,504.4,-12.0,267,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3690,-0.72,-175.1,2180,2357,4002,3889,540.9,-12.2,277,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3990,-0.72,-175.1,2183,2357,4002,3889,578.1,-12.3,287,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4290,-0.72,-175.1,2180,2357,4004,3889,614.4,-12.2,297,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3946,4005,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4590,-0.72,-175.1,2183,2357,4002,3888,650.5,-12.0,307,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2357,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4890,-0.72,-175.1,2183,2357,4002,3888,685.8,-11.6,317,4897,0.00,2.58,0.00,0.000,260,0.000,0.125,2172,3769,3943,4000,3887,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4931,-0.72,-175.1,2172,3772,4009,3888,691.0,-13.3,325,4938,0.12,2.42,0.00,0.000,3078,0.297,0.080,2195,2350,3944,4002,3887,0,0,0,0,0,0,14.33,14.48,28.83
$GC,5252,-0.72,-175.1,2197,2350,4002,3884,725.8,-10.8,339,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2350,3944,4002,3887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5490,begin apogee
$GC,5494,-0.14,0.0,2196,2610,4002,3888,751.1,-10.5,347,5715,0.73,0.00,215.48,1.639,10246,0.265,0.000,2379,2608,3228,3280,3176,0,0,0,0,0,0,14.27,28.83,12.95
$STATE,5717,end apogee,CONTROL_FINISHED_OK
$STATE,5717,begin climb
$GC,5719,0.72,175.1,2381,2610,3276,3173,757.1,0.0,354,5890,1.00,2.38,156.07,1.968,10500,0.169,0.121,2660,3770,2506,2570,2443,0,0,0,0,0,0,13.54,12.93,12.29
$GC,6049,0.72,175.1,2661,3770,2565,2432,719.6,16.1,423,6056,0.00,2.12,0.00,0.000,1030,0.000,0.077,2669,2599,2496,2566,2427,0,0,0,0,0,0,28.83,13.62,28.83
$GC,6366,0.72,175.1,2670,2605,2565,2430,675.5,13.8,436,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140813000411.912310,3,1430,25,0162,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,10.7,0.9,-100,2.1,-01,-0.5,32,900,0025*37
$GC,6666,0.72,175.1,2669,2600,2567,2430,634.1,13.7,446,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6965,0.72,175.1,2671,2599,2565,2429,593.3,13.4,456,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,0.72,175.1,2670,2599,2565,2429,551.5,14.0,466,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,0.72,175.1,2669,2599,2567,2429,511.7,13.2,476,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2564,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,0.72,175.1,2669,2600,2567,2428,472.2,13.2,486,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8165,0.72,175.1,2670,2600,2565,2428,432.4,13.3,496,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8465,0.72,175.1,2669,2600,2567,2428,392.6,13.0,506,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2595,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8765,0.72,175.1,2669,2600,2567,2428,353.8,12.9,516,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,0.72,175.1,2673,2600,2565,2426,315.8,12.7,526,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9365,0.72,175.1,2670,2597,2566,2428,277.6,12.8,536,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9666,0.72,175.1,2670,2605,2565,2428,241.6,11.8,550,9672,0.00,2.12,0.00,0.000,260,0.000,0.125,2669,3766,2496,2566,2427,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9791,0.72,175.1,2669,3768,2568,2428,224.1,13.8,575,9799,0.00,2.00,0.00,0.000,1030,0.000,0.082,2684,2593,2496,2565,2427,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10096,0.78,175.1,2679,2594,2565,2428,191.1,10.1,606,10103,0.00,2.40,0.00,0.000,516,0.000,0.086,2688,1194,2496,2566,2427,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10122,0.84,228.0,2688,1194,2563,2428,188.5,9.3,611,10175,0.00,2.53,44.05,1.365,9222,0.000,0.101,2688,2608,2295,2365,2225,0,0,0,0,0,0,28.83,14.41,13.58
$GC,10479,0.88,276.2,2689,2605,2356,2208,151.5,9.5,652,10531,0.00,2.22,41.88,1.343,8452,0.000,0.125,2688,3770,2092,2172,2012,0,0,0,0,0,0,28.83,14.05,13.51
$GC,10570,0.88,276.2,2690,3770,2167,2004,141.3,12.0,670,10577,0.00,2.05,0.00,0.000,1030,0.000,0.081,2696,2593,2084,2167,2002,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10882,0.94,276.2,2698,2593,2167,1998,107.3,10.4,702,10886,0.12,0.00,0.00,0.000,2054,0.157,0.000,2741,2593,2083,2168,1998,0,0,0,0,0,0,14.31,28.83,28.83
$GC,11181,0.96,276.2,2744,2594,2168,1997,71.7,11.1,732,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2593,2081,2167,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11481,1.06,380.9,2742,2593,2167,1995,43.8,7.0,762,11535,0.10,0.00,48.35,0.298,10502,0.171,0.000,2776,2593,1675,1766,1585,0,0,0,0,0,0,14.37,28.83,14.16
$GC,11831,1.37,692.4,2779,2593,1778,1596,14.6,-2.2,801,11985,0.28,2.50,141.38,0.216,10756,0.109,0.091,2887,1204,500,516,484,0,0,0,0,0,0,14.35,14.18,14.14
$FREEZE,8.88,5.120,-1.308,2,1,0
$FREEZE,8.69,5.120,-1.308,2,1,0
$FREEZE,8.52,5.123,-1.309,2,1,0
$FREEZE,8.15,5.123,-1.308,2,1,0
$FREEZE,7.82,5.111,-1.309,2,1,0
$GC,12024,1.52,834.6,2888,1205,521,488,7.8,5.3,839,12032,0.12,2.53,0.10,0.950,11270,0.149,0.102,2932,2597,501,518,484,0,0,0,0,0,0,14.21,14.19,14.13
$FREEZE,6.98,5.119,-1.310,2,1,0
$FREEZE,6.05,5.123,-1.309,2,1,0
$FREEZE,5.06,5.118,-1.309,2,1,0
$FREEZE,4.11,5.122,-1.308,2,1,0
$FREEZE,3.14,5.122,-1.307,2,1,0
$FREEZE,2.04,5.122,-1.307,2,1,0
$FREEZE,1.33,5.020,-1.304,2,1,0
$STATE,12095,end climb,SURFACE_DEPTH_REACHED
$STATE,12095,begin surface coast
$FREEZE,1.18,5.056,-0.401,2,1,0
$FREEZE,1.14,5.041,-0.934,2,1,0
$FINISH,1.1,1.013632
$STATE,12115,end surface coast,CONTROL_FINISHED_OK
$STATE,12115,begin surface
$SM_CCo,12136,0.22,0.524,0,0,499,669.91
$SM_GC,2.60,8.18,0.43,0.22,0.073,0.099,0.524,192,2365,499,-6.97,0.96,669.91,0,0,0,0,0,0,14.31,14.35,14.25
$RAFOS_CLK,303
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7112.27,-14605.25,120814,185443
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.87
$INTERNAL_PRESSURE,8.45573
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4002736
$TM_FREEKB,5841984
$24V_AH,12.29,100.126
$10V_AH,12.50,0.000
$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,21.925,43.800,647.300,0.225,0.000,0.000,0.000,403.975,0.000,0.000,26.607,0.000,9673.676,660.194,2327.741,160.782,0.000,1856.976,0.000,1262.550,1420.000,0.537,0.000
$DEVICE_MAMPS,469.710,136.935,1967.580,524.025,0.000,0.000,0.000,197.370,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12146.000,12192.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.039,44.332,0.000,0.000
$MEM,285476
$DATA_FILE_SIZE,30036,849
$CAP_FILE_SIZE,140481,0
$CFSIZE,2097872896,2060648448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12780.33,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,130814,015948,7152.205,-14604.855,36,0.8,56,22.0