version: 66.12
glider: 199
mission: 5
dive: 137
start: 8 14 114 14 7 28
data:
$ID,199
$MISSION,5
$DIVE,137
$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,-21767.514
$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,26
$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
$GPS1,140814,135548,7210.553,-14552.061,67,0.9,87,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-71.8
$GPS2,140814,140710,7210.574,-14552.080,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,1.8,2892,-24.4,-11.628,-27.42,1523
$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,-0.80,-115.0,178,2362,518,490,0.0,0.0,0,74,0.00,0.00,-51.00,0.000,16386,0.000,0.000,178,2361,1783,1792,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.86,-175.1,180,2362,1792,1771,3.1,-2.2,5,140,10.82,2.62,-44.17,0.000,18692,0.468,0.141,2137,3765,3946,4000,3892,0,0,0,0,0,0,14.00,14.19,14.48
$GC,364,-0.86,-175.1,2137,3765,4000,3899,92.9,-27.2,63,371,0.00,2.42,0.00,0.000,1030,0.000,0.079,2139,2358,3949,4000,3898,0,0,0,0,0,0,28.83,14.34,28.83
$GC,675,-0.86,-175.1,2139,2356,4001,3900,165.7,-21.7,95,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2355,3950,4001,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,975,-0.86,-175.1,2139,2355,4002,3899,224.8,-18.7,125,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2355,3953,4001,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.86,-175.1,2140,2356,4000,3899,275.9,-16.7,145,1282,0.00,2.42,0.00,0.000,516,0.000,0.090,2139,954,3949,4000,3898,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1337,-0.86,-175.1,2141,954,3999,3899,285.9,-16.0,157,1343,0.00,2.50,0.00,0.000,1030,0.000,0.102,2130,2366,3951,4000,3902,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1668,-0.86,-175.1,2130,2367,4002,3898,341.4,-16.7,173,1671,0.12,0.00,0.00,0.000,2054,0.327,0.000,2152,2367,3948,4000,3897,0,0,0,0,0,0,14.28,28.83,28.83
$GC,1967,-0.86,-175.1,2153,2367,4000,3897,385.9,-14.7,183,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2366,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2268,-0.86,-175.1,2152,2372,4001,3896,429.8,-14.5,193,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2366,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,-0.86,-175.1,2153,2367,4000,3895,473.2,-14.4,203,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2366,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2867,-0.86,-175.1,2152,2367,4002,3895,516.2,-14.2,213,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2366,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3167,-0.86,-175.1,2152,2367,4001,3893,558.9,-14.1,223,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2366,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3467,-0.86,-175.1,2152,2367,4002,3895,601.2,-14.2,233,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2366,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3767,-0.86,-175.1,2152,2367,4002,3894,643.2,-13.8,243,3774,0.00,2.47,0.00,0.000,516,0.000,0.090,2152,946,3946,4000,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3808,-0.86,-175.1,2153,946,4000,3894,649.0,-14.3,251,3815,0.00,2.53,0.00,0.000,1030,0.000,0.103,2143,2369,3946,4000,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4130,-0.86,-175.1,2144,2370,4002,3894,695.3,-14.5,265,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2369,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.86,-175.1,2144,2370,4002,3893,738.2,-14.2,275,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2369,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4517,begin apogee
$GC,4521,-0.14,0.0,2144,2601,4000,3893,750.9,-14.1,278,4746,0.95,0.00,219.23,1.703,10246,0.289,0.000,2379,2601,3230,3283,3178,0,0,0,0,0,0,14.30,28.83,12.97
$STATE,4748,end apogee,CONTROL_FINISHED_OK
$STATE,4748,begin climb
$GC,4750,0.86,175.1,2381,2601,3279,3173,758.2,0.0,285,4919,1.12,2.38,152.90,1.867,10500,0.160,0.119,2705,3757,2508,2567,2450,0,0,0,0,0,0,13.55,12.99,12.38
$GC,5139,0.86,175.1,2701,3758,2562,2445,706.4,17.6,365,5146,0.00,2.10,0.00,0.000,1030,0.000,0.079,2709,2594,2502,2561,2443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5461,0.86,175.1,2705,2594,2564,2444,655.4,15.8,379,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2593,2502,2562,2443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5760,0.86,175.1,2708,2600,2563,2443,608.4,15.6,389,5766,0.00,2.15,0.00,0.000,260,0.000,0.122,2708,3769,2500,2562,2439,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5795,0.86,175.1,2709,3769,2562,2443,602.1,17.8,396,5802,0.00,2.03,0.00,0.000,1030,0.000,0.080,2717,2589,2502,2562,2442,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6123,0.86,175.1,2717,2590,2564,2443,549.6,16.1,411,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2590,2502,2562,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6421,0.86,175.1,2719,2590,2562,2442,501.3,16.0,421,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2590,2502,2562,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6741,0.86,175.1,2726,2590,2562,2442,452.6,16.0,431,6748,0.00,2.15,0.00,0.000,260,0.000,0.122,2717,3771,2501,2562,2440,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6777,0.86,175.1,2717,3772,2564,2449,443.1,18.2,438,6784,0.00,2.00,0.00,0.000,1030,0.000,0.081,2726,2601,2501,2562,2441,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7104,0.86,175.1,2726,2602,2559,2439,389.6,16.3,453,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2601,2501,2562,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7403,0.86,175.1,2727,2598,2562,2441,341.9,15.9,463,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2599,2501,2562,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7703,0.86,175.1,2724,2601,2564,2442,294.4,15.8,473,7709,0.00,2.12,0.00,0.000,260,0.000,0.125,2722,3768,2501,2562,2440,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7769,0.86,175.1,2726,3769,2564,2442,283.0,17.5,486,7775,0.00,2.00,0.00,0.000,1030,0.000,0.081,2735,2599,2504,2562,2446,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8075,0.86,175.1,2736,2597,2562,2442,235.6,14.8,505,8081,0.00,2.12,0.00,0.000,260,0.000,0.123,2734,3767,2501,2562,2441,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8130,0.86,175.1,2735,3767,2564,2442,226.3,17.0,516,8138,0.00,2.00,0.00,0.000,1030,0.000,0.080,2744,2601,2504,2562,2446,0,0,0,0,0,0,28.83,14.37,28.83
$MODEM_MSG,CACST,6,1,20140814160418.302575,3,884,29,0146,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,16.1,1.4,-100,1.6,-01,-0.3,32,900,0025*0C
$MODEM_MSG,CACST,6,1,20140814161636.284835,3,700,22,0137,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,12.9,1.1,-100,1.9,-01,0.5,24,900,0025*2F
$GC,8436,0.86,175.1,2745,2601,2562,2443,186.0,11.9,547,8438,0.12,0.00,0.00,0.000,4102,0.321,0.000,2719,2601,2501,2562,2441,0,0,0,0,0,0,14.26,28.83,28.83
$GC,8736,0.90,212.9,2719,2602,2564,2442,156.3,9.1,577,8772,0.00,0.00,32.45,1.337,8710,0.000,0.000,2719,2601,2362,2424,2300,0,0,0,0,0,0,28.83,28.83,13.62
$GC,9068,0.97,212.9,2721,2601,2409,2282,123.7,9.8,611,9074,0.00,2.45,0.00,0.000,516,0.000,0.086,2728,1191,2346,2410,2282,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9159,1.01,250.1,2730,1191,2409,2281,115.2,9.1,629,9202,0.00,2.53,31.17,1.320,9222,0.000,0.101,2728,2601,2202,2270,2134,0,0,0,0,0,0,28.83,14.33,13.60
$GC,9498,1.08,250.1,2730,2602,2268,2123,79.9,10.0,667,9501,0.17,0.00,0.00,0.000,2054,0.129,0.000,2789,2601,2195,2268,2122,0,0,0,0,0,0,14.29,28.83,28.83
$GC,9798,1.17,344.6,2789,2602,2269,2122,52.8,5.3,697,9850,0.00,0.00,44.42,0.327,8198,0.000,0.000,2789,2602,1825,1904,1746,0,0,0,0,0,0,28.83,28.83,14.12
$GC,10149,1.22,398.4,2789,2602,1919,1749,21.3,8.0,732,10183,0.12,0.00,27.35,0.243,10246,0.152,0.000,2834,2600,1603,1692,1515,0,0,0,0,0,0,14.33,28.83,14.21
$GC,10479,1.40,571.1,2834,2602,1702,1518,16.1,-0.0,765,10573,0.15,2.20,85.68,0.227,11012,0.143,0.125,2891,3771,900,975,825,0,0,0,0,0,0,14.34,14.19,14.17
$GC,10607,1.47,641.5,2891,3772,977,829,13.0,6.9,787,10649,0.00,2.03,35.17,0.218,9222,0.000,0.083,2900,2602,613,663,563,0,0,0,0,0,0,28.83,14.26,14.16
$FREEZE,8.71,4.291,-1.343,2,1,0
$FREEZE,7.76,4.265,-1.342,2,1,0
$FREEZE,6.77,4.210,-1.340,2,1,0
$FREEZE,5.87,4.199,-1.338,2,1,0
$FREEZE,5.01,4.195,-1.338,2,1,0
$FREEZE,4.07,4.196,-1.337,2,1,0
$FREEZE,3.14,4.199,-1.336,2,1,0
$FREEZE,1.92,4.199,-1.335,2,1,0
$STATE,10732,end climb,SURFACE_DEPTH_REACHED
$STATE,10732,begin surface coast
$FREEZE,1.19,4.165,-0.762,2,1,0
$FREEZE,1.17,3.946,-0.789,2,1,0
$FINISH,1.2,1.011568
$STATE,10753,end surface coast,CONTROL_FINISHED_OK
$STATE,10753,begin surface
$SM_CCo,10775,14.43,0.200,0,0,499,669.67
$SM_GC,2.80,8.20,0.43,14.43,0.086,0.104,0.200,195,2360,499,-6.95,0.79,669.67,0,0,0,0,0,0,14.34,14.35,14.23
$RAFOS_CLK,176
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7132.53,-14547.52,140814,102448
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.75
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4001460
$TM_FREEKB,5633344
$24V_AH,12.38,105.598
$10V_AH,12.53,0.000
$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,21.800,46.075,628.375,14.425,0.000,0.000,0.000,401.025,0.000,0.000,25.813,0.000,8380.503,684.671,2235.277,168.755,0.000,1831.806,0.000,1200.483,1472.000,0.538,0.000
$DEVICE_MAMPS,468.180,140.760,1867.365,199.665,0.000,0.000,0.000,194.310,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10784.000,10831.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.758,44.171,0.000,0.000
$MEM,279220
$DATA_FILE_SIZE,26685,806
$CAP_FILE_SIZE,132947,0
$CFSIZE,2097872896,2057764864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12896.30,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,140814,170854,7212.104,-14550.957,39,0.7,59,22.2