version: 66.12
glider: 199
mission: 5
dive: 127
start: 8 13 114 2 14 4
data:
$ID,199
$MISSION,5
$DIVE,127
$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,-21754.91
$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,24
$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
$GPS1,130814,015948,7152.205,-14604.855,36,0.8,56,22.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.5
$GPS2,130814,021345,7152.289,-14605.088,5,0.8,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,351.2,37491,-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,-175.1,173,2365,521,480,0.0,0.0,0,74,0.00,0.00,-51.40,0.000,16386,0.000,0.000,172,2364,1807,1816,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,169,2364,1817,1800,3.2,-2.6,5,136,11.12,2.62,-41.88,0.000,18692,0.469,0.138,2180,3769,3947,4003,3891,0,0,0,0,0,0,14.00,14.18,14.47
$GC,360,-0.72,-175.1,2180,3769,4004,3899,80.5,-23.8,62,368,0.00,2.42,0.00,0.000,1030,0.000,0.078,2185,2358,3950,4003,3898,0,0,0,0,0,0,28.83,14.30,28.83
$GC,666,-0.72,-175.1,2182,2356,4004,3899,141.9,-19.0,93,673,0.00,2.58,0.00,0.000,260,0.000,0.121,2173,3774,3951,4003,3899,0,0,0,0,0,0,28.83,14.33,28.83
$GC,867,-0.72,-175.1,2175,3775,4002,3900,182.2,-18.8,133,874,0.00,2.45,0.00,0.000,1030,0.000,0.080,2173,2349,3951,4003,3899,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1178,-0.72,-175.1,2174,2348,4004,3899,232.9,-14.8,165,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2348,3950,4001,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1478,-0.72,-175.1,2175,2348,4002,3899,275.7,-14.1,183,1485,0.00,2.53,0.00,0.000,260,0.000,0.123,2162,3769,3950,4003,3898,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1619,-0.72,-175.1,2162,3770,4004,3898,298.0,-15.9,211,1626,0.15,2.42,0.00,0.000,3078,0.301,0.080,2192,2354,3949,4002,3897,0,0,0,0,0,0,14.28,14.43,28.83
$GC,1931,-0.72,-175.1,2193,2353,4002,3894,337.4,-12.6,223,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2352,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-0.72,-175.1,2193,2353,4002,3895,374.3,-12.1,233,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2352,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.72,-175.1,2192,2353,4004,3894,410.3,-11.9,243,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2352,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.72,-175.1,2192,2353,4004,3893,445.5,-11.5,253,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2353,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,-0.72,-175.1,2192,2353,4007,3893,480.4,-11.5,263,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.72,-175.1,2193,2354,4002,3892,514.6,-11.4,273,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3730,-0.72,-175.1,2189,2350,4004,3892,548.8,-11.4,283,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2352,3947,4003,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4030,-0.72,-175.1,2193,2359,4002,3892,582.9,-11.3,293,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2352,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.72,-175.1,2190,2353,4004,3891,617.4,-11.6,303,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2353,3946,4003,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.72,-175.1,2193,2353,4002,3890,651.6,-11.4,313,4637,0.00,2.58,0.00,0.000,260,0.000,0.125,2183,3767,3948,4002,3894,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4691,-0.72,-175.1,2184,3768,4002,3890,659.2,-12.7,325,4698,0.00,2.42,0.00,0.000,1030,0.000,0.080,2183,2346,3945,4002,3888,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5023,-0.72,-175.1,2185,2347,4002,3890,699.0,-11.8,341,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2346,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.72,-175.1,2183,2347,4004,3890,735.0,-12.0,351,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2346,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5470,begin apogee
$GC,5474,-0.14,0.0,2182,2608,4004,3890,752.7,-11.8,356,5697,0.77,0.00,217.70,1.726,10246,0.273,0.000,2379,2607,3229,3280,3179,0,0,0,0,0,0,14.33,28.83,12.98
$STATE,5699,end apogee,CONTROL_FINISHED_OK
$STATE,5699,begin climb
$GC,5701,0.72,175.1,2380,2607,3276,3174,759.9,0.0,363,5871,1.00,2.35,154.02,1.866,10500,0.168,0.121,2661,3765,2505,2568,2443,0,0,0,0,0,0,13.54,12.99,12.38
$GC,6035,0.72,175.1,2662,3766,2564,2433,722.8,16.0,432,6042,0.00,2.10,0.00,0.000,1030,0.000,0.076,2669,2599,2501,2564,2438,0,0,0,0,0,0,28.83,13.68,28.83
$GC,6352,0.72,175.1,2669,2600,2566,2430,679.8,13.5,445,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2495,2564,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6651,0.72,175.1,2670,2599,2559,2431,639.3,13.5,455,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6951,0.72,175.1,2669,2600,2566,2430,598.3,13.6,465,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2500,2571,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7251,0.72,175.1,2671,2600,2564,2430,557.7,13.4,475,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2564,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,0.72,175.1,2670,2600,2564,2429,517.7,13.2,485,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2496,2564,2429,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140813040409.570410,3,639,28,0150,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,14.0,0.9,-100,2.1,-01,0.4,31,900,0025*2B
$MODEM_MSG,CACST,6,1,20140813041639.861877,3,437,20,0110,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,10.0,1.0,-100,2.0,-01,-0.5,27,900,0025*0C
$GC,7856,0.72,175.1,2669,2600,2566,2429,478.1,13.2,495,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2564,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,0.72,175.1,2669,2600,2564,2429,438.8,13.2,505,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2564,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8451,0.72,175.1,2669,2600,2566,2429,399.8,13.0,515,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2564,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8751,0.72,175.1,2670,2600,2563,2429,360.5,13.1,525,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2496,2564,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9051,0.72,175.1,2670,2600,2564,2429,322.3,12.6,535,9058,0.00,2.42,0.00,0.000,516,0.000,0.087,2680,1191,2496,2564,2428,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9072,0.72,175.1,2681,1192,2564,2429,319.5,13.2,539,9079,0.00,2.50,0.00,0.000,1030,0.000,0.100,2680,2603,2496,2564,2428,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9384,0.72,175.1,2680,2602,2565,2424,279.1,12.6,551,9391,0.00,2.42,0.00,0.000,516,0.000,0.086,2690,1197,2496,2564,2429,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9430,0.72,175.1,2690,1197,2566,2429,273.3,12.8,560,9437,0.00,2.50,0.00,0.000,1030,0.000,0.101,2690,2604,2496,2564,2428,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9736,0.72,175.1,2690,2605,2566,2428,234.4,12.5,580,9743,0.00,2.08,0.00,0.000,260,0.000,0.124,2690,3771,2496,2564,2428,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9952,0.72,175.1,2691,3771,2563,2429,204.6,14.3,623,9960,0.10,2.05,0.00,0.000,5126,0.252,0.082,2673,2595,2496,2564,2428,0,0,0,0,0,0,14.30,14.43,28.83
$GC,10258,0.80,249.0,2673,2596,2566,2429,177.3,8.3,654,10330,0.00,2.22,62.17,1.365,8452,0.000,0.125,2673,3763,2202,2275,2130,0,0,0,0,0,0,28.83,14.02,13.50
$GC,10365,0.80,249.0,2671,3763,2271,2123,166.9,11.6,675,10373,0.00,2.03,0.00,0.000,1030,0.000,0.080,2680,2599,2195,2270,2121,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10671,0.86,307.5,2681,2599,2265,2118,137.6,9.0,706,10726,0.00,0.00,51.08,1.332,8198,0.000,0.000,2680,2599,1976,2062,1890,0,0,0,0,0,0,28.83,28.83,13.48
$GC,11021,0.92,307.5,2679,2599,2047,1864,102.3,10.0,741,11024,0.17,0.00,0.00,0.000,2054,0.129,0.000,2741,2599,1954,2046,1863,0,0,0,0,0,0,14.29,28.83,28.83
$GC,11321,0.92,307.5,2742,2600,2044,1862,64.3,11.9,771,11328,0.00,2.45,0.00,0.000,516,0.000,0.089,2751,1187,1953,2045,1861,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11512,1.02,410.8,2753,1188,2043,1862,46.3,7.0,809,11569,0.00,2.55,48.17,0.305,9222,0.000,0.102,2752,2607,1554,1648,1460,0,0,0,0,0,0,28.83,14.35,14.13
$GC,11873,1.19,576.2,2753,2607,1658,1469,13.2,4.3,851,11967,0.17,2.55,82.12,0.218,10756,0.122,0.087,2834,1192,879,959,800,0,0,0,0,0,0,14.38,14.18,14.18
$GC,12042,1.46,847.2,2834,1193,968,801,11.7,-0.4,884,12099,0.22,2.53,47.40,0.215,11270,0.110,0.099,2916,2600,497,528,466,0,0,0,0,0,0,14.32,14.28,14.16
$FREEZE,8.68,5.205,-1.307,2,1,0
$FREEZE,8.07,5.214,-1.308,2,1,0
$FREEZE,7.14,5.213,-1.308,2,1,0
$FREEZE,6.39,5.209,-1.307,2,1,0
$FREEZE,5.21,5.199,-1.307,2,1,0
$FREEZE,4.11,5.206,-1.306,2,1,0
$FREEZE,2.91,5.210,-1.305,2,1,0
$FREEZE,2.15,5.212,-1.305,2,1,0
$FREEZE,1.28,5.092,-1.308,2,1,0
$STATE,12185,end climb,SURFACE_DEPTH_REACHED
$STATE,12185,begin surface coast
$FREEZE,1.35,5.171,-0.751,2,1,0
$FREEZE,1.25,4.993,-1.312,2,1,0
$FINISH,1.2,1.019080
$STATE,12207,end surface coast,CONTROL_FINISHED_OK
$STATE,12207,begin surface
$SM_CCo,12228,0.08,1.208,0,0,499,669.67
$SM_GC,2.74,8.27,0.43,0.08,0.091,0.096,1.208,199,2366,499,-6.94,1.05,669.67,0,0,0,0,0,0,14.37,14.35,14.16
$RAFOS_CLK,257
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7118.99,-14559.41,130814,020415
$TT8_MAMPS,0.048685,0.048685
$HUMID,53.07
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4002620
$TM_FREEKB,5822592
$24V_AH,12.38,100.645
$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,22.000,53.700,662.675,0.075,0.000,0.000,0.000,499.800,0.000,0.000,26.914,0.000,9690.198,691.825,2519.877,164.052,0.000,2025.030,0.000,1341.917,1476.000,0.537,0.000
$DEVICE_MAMPS,468.945,138.465,1865.835,1207.935,0.000,0.000,0.000,188.955,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12238.000,12285.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.996,44.641,0.000,0.000
$MEM,284836
$DATA_FILE_SIZE,30048,906
$CAP_FILE_SIZE,145327,0
$CFSIZE,2097872896,2060386304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13093.02,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,130814,053955,7154.196,-14604.917,64,0.7,84,22.0