version: 66.12
glider: 199
mission: 5
dive: 144
start: 8 15 114 15 2 42
data:
$ID,199
$MISSION,5
$DIVE,144
$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,-21776.336
$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,22
$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
$GPS1,150814,145054,7219.840,-14553.413,57,0.8,77,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.5
$GPS2,150814,150224,7219.912,-14553.535,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.1,83524,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.72,-175.1,167,2365,522,483,0.0,0.0,0,75,0.00,0.00,-51.80,0.000,16386,0.000,0.000,165,2364,1819,1836,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.72,-175.1,165,2365,1838,1805,3.5,-3.2,5,137,11.18,2.58,-41.45,0.000,18692,0.469,0.138,2178,3777,3946,4004,3889,0,0,0,0,0,0,13.99,14.19,14.48
$GC,362,-0.72,-175.1,2178,3772,4005,3895,86.0,-24.6,62,369,0.00,2.45,0.00,0.000,1030,0.000,0.080,2178,2353,3949,4004,3895,0,0,0,0,0,0,28.83,14.32,28.83
$GC,667,-0.72,-175.1,2178,2353,4005,3896,151.0,-19.9,93,674,0.00,2.58,0.00,0.000,260,0.000,0.122,2165,3770,3946,3998,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,899,-0.72,-175.1,2167,3770,4003,3896,198.1,-20.3,139,905,0.15,2.42,0.00,0.000,3078,0.304,0.081,2196,2360,3950,4004,3896,0,0,0,0,0,0,14.23,14.40,28.83
$GC,1211,-0.72,-175.1,2196,2359,4005,3896,243.9,-13.8,171,1217,0.00,2.60,0.00,0.000,260,0.000,0.125,2187,3770,3949,4004,3895,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1336,-0.72,-175.1,2192,3771,4005,3892,262.8,-14.9,196,1343,0.00,2.42,0.00,0.000,1030,0.000,0.081,2187,2359,3949,4004,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1664,-0.72,-175.1,2187,2357,4005,3896,307.2,-13.3,211,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,-0.72,-175.1,2187,2357,4005,3896,347.0,-13.3,221,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2262,-0.72,-175.1,2187,2357,4005,3895,386.4,-13.1,231,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2562,-0.72,-175.1,2186,2357,4005,3894,424.9,-12.8,241,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2862,-0.72,-175.1,2187,2357,4005,3894,462.7,-12.5,251,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3162,-0.72,-175.1,2185,2357,4005,3893,500.1,-12.4,261,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2356,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3463,-0.72,-175.1,2188,2357,4003,3893,537.1,-12.2,271,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3762,-0.72,-175.1,2187,2357,4005,3893,573.7,-12.2,281,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4062,-0.72,-175.1,2186,2357,4005,3893,610.1,-12.2,291,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3945,4003,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4362,-0.72,-175.1,2194,2356,4003,3892,646.6,-12.1,301,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3946,4003,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4662,-0.72,-175.1,2187,2357,4005,3891,683.1,-12.1,311,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2356,3951,4010,3892,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140815160429.372965,3,202,23,0113,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,11.7,1.7,-100,1.3,-01,0.5,29,900,0025*21
$MODEM_MSG,CACST,6,1,20140815161642.914111,3,564,21,0130,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,9.6,1.9,-100,1.2,-01,-0.2,28,900,0025*33
$GC,4963,-0.72,-175.1,2188,2357,4003,3891,719.5,-12.1,321,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2356,3947,4003,3891,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5231,begin apogee
$GC,5235,-0.14,0.0,2187,2603,4003,3891,752.3,-12.1,330,5445,0.77,0.00,203.38,1.673,10246,0.273,0.000,2380,2602,3225,3277,3173,0,0,0,0,0,0,14.28,28.83,12.99
$STATE,5447,end apogee,CONTROL_FINISHED_OK
$STATE,5447,begin climb
$GC,5449,0.72,175.1,2382,2603,3274,3172,759.9,0.0,337,5619,0.98,2.33,153.77,1.869,10500,0.165,0.115,2657,3758,2504,2566,2442,0,0,0,0,0,0,13.57,13.00,12.39
$GC,5788,0.72,175.1,2658,3759,2562,2432,724.4,15.4,406,5795,0.00,2.10,0.00,0.000,1030,0.000,0.077,2664,2592,2497,2563,2431,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6105,0.72,175.1,2667,2591,2563,2430,681.8,13.5,419,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2496,2563,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6404,0.72,175.1,2665,2593,2565,2431,641.0,13.6,429,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2589,2498,2563,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,0.72,175.1,2663,2589,2562,2429,599.9,13.7,439,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2496,2563,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7004,0.72,175.1,2665,2593,2565,2430,559.2,13.6,449,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2592,2496,2563,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,0.72,175.1,2667,2592,2563,2429,518.9,13.3,459,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7604,0.72,175.1,2665,2593,2564,2429,479.2,13.2,469,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2592,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7904,0.72,175.1,2667,2592,2563,2429,440.4,12.9,479,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,0.72,175.1,2665,2593,2560,2429,402.2,12.7,489,8210,0.00,2.12,0.00,0.000,260,0.000,0.124,2666,3766,2495,2563,2428,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8240,0.72,175.1,2667,3766,2563,2429,397.2,14.4,496,8246,0.00,1.98,0.00,0.000,1030,0.000,0.081,2674,2600,2495,2562,2428,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8566,0.72,175.1,2674,2601,2565,2429,354.7,12.9,511,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2600,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8865,0.72,175.1,2674,2600,2564,2428,316.0,12.9,521,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2600,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9166,0.72,175.1,2676,2600,2563,2429,278.1,12.4,531,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2599,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9466,0.72,175.1,2674,2600,2564,2429,241.4,11.6,545,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2599,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9766,0.78,175.1,2674,2600,2564,2429,209.1,10.1,575,9772,0.00,2.42,0.00,0.000,516,0.000,0.086,2685,1194,2499,2570,2428,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9797,0.83,220.9,2686,1195,2563,2429,206.0,9.6,581,9844,0.00,2.50,38.30,1.396,9222,0.000,0.100,2685,2603,2322,2390,2254,0,0,0,0,0,0,28.83,14.42,13.59
$GC,10148,0.88,269.7,2686,2600,2381,2238,169.4,9.5,621,10201,0.00,2.20,42.30,1.395,8452,0.000,0.125,2685,3762,2118,2196,2040,0,0,0,0,0,0,28.83,14.06,13.52
$GC,10231,0.88,269.7,2685,3763,2193,2035,160.3,13.1,633,10238,0.00,2.03,0.00,0.000,1030,0.000,0.081,2694,2601,2112,2191,2034,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10543,0.92,269.7,2693,2601,2193,2028,126.1,10.5,665,10550,0.12,2.45,0.00,0.000,2564,0.155,0.086,2752,1192,2109,2191,2027,0,0,0,0,0,0,14.32,14.31,28.83
$GC,10585,0.92,269.7,2754,1193,2191,2028,121.2,12.2,673,10591,0.00,2.53,0.00,0.000,1030,0.000,0.101,2753,2601,2109,2192,2027,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10896,0.92,269.7,2754,2601,2191,2025,82.4,12.3,705,10903,0.00,2.10,0.00,0.000,260,0.000,0.125,2753,3769,2106,2191,2022,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10952,0.92,269.7,2752,3769,2193,2027,75.0,13.6,716,10960,0.00,2.00,0.00,0.000,1030,0.000,0.082,2761,2597,2108,2191,2026,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11258,1.08,427.9,2762,2598,2191,2026,51.0,4.6,747,11340,0.00,2.53,74.75,0.308,8708,0.000,0.089,2772,1193,1486,1579,1393,0,0,0,0,0,0,28.83,14.23,14.12
$GC,11406,1.13,427.9,2773,1193,1590,1398,38.3,10.5,776,11414,0.00,2.55,0.00,0.000,1030,0.000,0.103,2772,2606,1493,1590,1397,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11711,1.40,701.3,2771,2607,1591,1398,14.5,-0.5,807,11839,0.32,0.00,120.38,0.215,10758,0.105,0.000,2890,2606,496,514,479,0,0,0,0,0,0,14.35,28.83,14.14
$FREEZE,8.89,3.979,-1.363,2,1,0
$FREEZE,7.88,3.977,-1.363,2,1,0
$FREEZE,6.86,3.978,-1.362,2,1,0
$FREEZE,5.73,3.981,-1.361,2,1,0
$FREEZE,4.56,3.985,-1.361,2,1,0
$FREEZE,3.53,3.984,-1.360,2,1,0
$FREEZE,2.40,3.986,-1.359,2,1,0
$FREEZE,1.33,3.987,-1.358,2,1,0
$STATE,11932,end climb,SURFACE_DEPTH_REACHED
$STATE,11932,begin surface coast
$FREEZE,1.25,3.746,-1.360,2,1,0
$FINISH,1.3,1.019870
$STATE,11943,end surface coast,CONTROL_FINISHED_OK
$STATE,11943,begin surface
$SM_CCo,11965,0.03,2.739,0,0,498,669.67
$SM_GC,2.68,8.18,0.45,0.03,0.088,0.101,2.739,196,2364,498,-6.94,0.85,669.67,0,0,0,0,0,0,14.35,14.35,13.40
$RAFOS_CLK,367
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7139.36,-14553.13,150814,111644
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.32
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,5.10
$XPDR_PINGS,0
$SC_FREEKB,4000652
$TM_FREEKB,5499520
$24V_AH,12.39,109.105
$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,21.700,47.800,632.875,0.025,0.000,0.000,0.000,407.350,0.000,0.000,25.457,0.000,9508.156,669.881,2300.602,176.296,0.000,1852.004,0.000,1240.606,1477.000,0.538,0.000
$DEVICE_MAMPS,468.945,137.700,1868.895,2739.465,0.000,0.000,0.000,195.840,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11975.000,12023.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.067,43.446,0.000,0.000
$MEM,275436
$DATA_FILE_SIZE,30024,835
$CAP_FILE_SIZE,138241,0
$CFSIZE,2097872896,2055929856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12985.30,0x2378b6,7,5
$SOUNDSPEED,1450.7
$GPS,150814,182354,7221.685,-14553.678,48,0.7,68,22.2