version: 66.12
glider: 199
mission: 5
dive: 147
start: 8 16 114 1 49 0
data:
$ID,199
$MISSION,5
$DIVE,147
$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,-21780.113
$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,23
$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,1
$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
$GPS1,160814,013254,7225.488,-14554.422,40,0.8,60,22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-71.7
$GPS2,160814,014841,7225.604,-14554.714,5,0.9,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.8,73006,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-175.1,158,2368,522,474,0.0,0.0,0,81,0.00,0.00,-62.85,0.000,16386,0.000,0.000,156,2368,2103,2115,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,157,2368,2113,2093,4.0,-3.8,6,133,11.23,2.62,-32.35,0.000,18692,0.468,0.145,2181,3767,3947,4005,3890,0,0,0,0,0,0,13.99,14.27,14.52
$GC,357,-0.72,-175.1,2181,3768,4006,3896,86.6,-25.9,61,363,0.00,2.47,0.00,0.000,1030,0.000,0.078,2181,2349,3950,4005,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,662,-0.72,-175.1,2182,2348,4005,3898,152.2,-19.5,92,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2347,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,962,-0.72,-175.1,2182,2347,4004,3896,206.4,-16.7,122,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2347,3952,4005,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-0.72,-175.1,2181,2348,4006,3897,255.3,-15.0,151,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2347,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1572,-0.72,-175.1,2182,2348,4004,3896,299.0,-14.4,161,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2352,3950,4004,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1872,-0.72,-175.1,2182,2348,4004,3895,340.7,-13.7,171,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2346,3949,4005,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.72,-175.1,2182,2347,4004,3894,381.8,-13.7,181,2177,0.00,2.58,0.00,0.000,260,0.000,0.124,2170,3776,3949,4004,3894,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2222,-0.72,-175.1,2170,3777,4005,3894,389.3,-15.4,191,2227,0.10,2.45,0.00,0.000,3078,0.275,0.080,2195,2355,3948,4004,3893,0,0,0,0,0,0,14.43,14.62,28.83
$GC,2533,-0.72,-175.1,2195,2355,4006,3893,428.3,-12.5,203,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2354,3946,4004,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,-0.72,-175.1,2196,2355,4005,3892,465.4,-12.4,213,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2354,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,-0.72,-175.1,2196,2354,4004,3892,501.8,-12.1,223,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2352,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,-0.72,-175.1,2193,2355,4006,3892,538.0,-12.0,233,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2354,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3732,-0.72,-175.1,2196,2354,4004,3891,574.0,-12.0,243,3737,0.00,2.53,0.00,0.000,260,0.000,0.125,2186,3767,3946,4004,3889,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3777,-0.72,-175.1,2185,3768,4005,3890,579.8,-13.2,252,3782,0.00,2.42,0.00,0.000,1030,0.000,0.081,2185,2357,3946,4004,3889,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4093,-0.72,-175.1,2187,2357,4004,3890,619.3,-12.5,265,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2357,3946,4004,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.72,-175.1,2187,2355,4004,3890,656.5,-12.3,275,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2357,3946,4004,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4692,-0.72,-175.1,2186,2358,4006,3890,693.1,-12.2,285,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2357,3946,4004,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4992,-0.72,-175.1,2185,2358,4005,3890,729.1,-11.9,295,4997,0.00,2.53,0.00,0.000,260,0.000,0.125,2174,3770,3947,4004,3890,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5032,-0.72,-175.1,2177,3771,4004,3889,734.3,-13.4,303,5037,0.00,2.42,0.00,0.000,1030,0.000,0.082,2175,2359,3949,4009,3889,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,5170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5170,begin apogee
$GC,5174,-0.14,0.0,2175,2604,3999,3889,752.1,-12.6,311,5396,0.82,0.00,218.90,1.655,10246,0.281,0.000,2384,2602,3231,3283,3179,0,0,0,0,0,0,14.50,28.83,13.10
$STATE,5397,end apogee,CONTROL_FINISHED_OK
$STATE,5397,begin climb
$GC,5399,0.72,175.1,2384,2603,3279,3175,759.7,0.0,318,5559,0.98,2.38,152.80,1.893,10500,0.161,0.119,2664,3761,2509,2573,2446,0,0,0,0,0,0,13.65,13.09,12.45
$GC,5738,0.72,175.1,2664,3761,2567,2433,722.1,16.0,389,5745,0.00,2.12,0.00,0.000,1030,0.000,0.077,2673,2600,2502,2566,2438,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6043,0.72,175.1,2675,2601,2564,2431,679.9,13.8,400,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2598,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6343,0.72,175.1,2673,2601,2567,2430,637.8,14.0,410,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2600,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6643,0.72,175.1,2674,2601,2565,2430,595.9,13.9,420,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6943,0.72,175.1,2674,2601,2565,2430,555.1,13.6,430,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2600,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7243,0.72,175.1,2674,2601,2565,2430,514.6,13.4,440,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2599,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7543,0.72,175.1,2675,2601,2565,2430,474.4,13.3,450,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7844,0.72,175.1,2674,2600,2565,2429,434.1,13.4,460,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2602,2494,2561,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8143,0.72,175.1,2675,2601,2565,2429,394.0,13.3,470,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2601,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,0.72,175.1,2673,2601,2567,2430,354.8,13.0,480,8448,0.00,2.40,0.00,0.000,516,0.000,0.087,2684,1194,2497,2565,2429,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8468,0.72,175.1,2685,1195,2565,2429,351.7,12.4,485,8475,0.00,2.50,0.00,0.000,1030,0.000,0.100,2684,2592,2497,2566,2429,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8773,0.72,175.1,2685,2592,2565,2429,310.4,13.4,496,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2593,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,0.72,175.1,2685,2593,2565,2429,271.3,12.9,506,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2592,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140816040427.970768,3,1165,24,0099,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,7.5,0.6,-100,2.4,-01,-1.0,35,900,0025*0E
$MODEM_MSG,CACST,6,1,20140816041646.202337,3,342,19,0147,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,6.4,1.2,-100,1.8,-01,0.3,29,900,0025*17
$GC,9373,0.72,175.1,2685,2593,2565,2429,234.8,11.7,524,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2592,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,0.78,175.1,2685,2593,2565,2426,202.2,10.2,554,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2592,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9973,0.86,254.3,2684,2593,2572,2429,175.6,8.1,584,10046,0.00,2.15,66.62,1.385,8452,0.000,0.123,2684,3767,2183,2257,2109,0,0,0,0,0,0,28.83,14.12,13.57
$GC,10075,0.86,254.3,2684,3767,2250,2104,165.6,12.8,604,10080,0.00,2.05,0.00,0.000,1030,0.000,0.080,2692,2603,2175,2249,2102,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10386,0.91,301.6,2693,2607,2248,2095,134.2,9.5,636,10428,0.12,0.00,40.53,1.359,10502,0.156,0.000,2741,2606,2000,2085,1915,0,0,0,0,0,0,14.40,28.83,13.59
$GC,10725,0.91,301.6,2741,2607,2070,1887,90.3,12.1,671,10730,0.00,2.15,0.00,0.000,260,0.000,0.125,2741,3762,1977,2069,1886,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10760,0.91,301.6,2742,3762,2067,1887,85.5,13.5,678,10767,0.00,2.03,0.00,0.000,1030,0.000,0.082,2750,2605,1977,2068,1886,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11065,1.01,399.5,2751,2605,2068,1886,54.5,7.3,709,11117,0.00,0.00,45.58,0.319,8198,0.000,0.000,2750,2605,1601,1695,1508,0,0,0,0,0,0,28.83,28.83,14.22
$GC,11416,1.05,446.5,2751,2605,1707,1518,22.0,9.5,744,11447,0.00,2.45,24.23,0.236,8708,0.000,0.092,2760,1192,1410,1505,1315,0,0,0,0,0,0,28.83,14.42,14.33
$GC,11466,1.19,586.6,2761,1193,1512,1322,18.3,5.4,754,11543,0.17,2.53,69.53,0.220,11270,0.131,0.102,2823,2609,840,916,764,0,0,0,0,0,0,14.47,14.41,14.27
$FREEZE,8.57,3.813,-1.362,2,1,0
$FREEZE,8.15,3.812,-1.362,2,1,0
$FREEZE,7.89,3.811,-1.362,2,1,0
$FREEZE,7.64,3.811,-1.362,2,1,0
$FREEZE,7.34,3.812,-1.362,2,1,0
$FREEZE,7.11,3.811,-1.362,2,1,0
$FREEZE,6.57,3.811,-1.361,2,1,0
$FREEZE,5.97,3.812,-1.361,2,1,0
$FREEZE,5.26,3.812,-1.360,2,1,0
$FREEZE,4.57,3.812,-1.360,2,1,0
$FREEZE,3.75,3.814,-1.359,2,1,0
$FREEZE,2.73,3.817,-1.359,2,1,0
$FREEZE,1.97,3.811,-1.358,2,1,0
$STATE,11807,end climb,SURFACE_DEPTH_REACHED
$STATE,11807,begin surface coast
$FREEZE,1.20,3.736,-1.361,2,1,0
$FREEZE,1.16,3.753,-1.244,2,1,0
$FINISH,1.2,1.018200
$STATE,11828,end surface coast,CONTROL_FINISHED_OK
$STATE,11828,begin surface
$SM_CCo,11843,41.83,0.192,0,0,498,669.67
$SM_GC,2.65,7.97,0.45,41.83,0.099,0.103,0.192,208,2361,498,-6.94,0.79,669.67,0,0,0,0,0,0,14.41,14.48,14.34
$RAFOS_CLK,178
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7146.24,-14556.93,150814,220336
$TT8_MAMPS,0.048685,0.048685
$HUMID,52.79
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4000304
$24V_AH,12.45,110.497
$10V_AH,12.64,0.000
$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,21.400,43.675,618.175,41.825,0.000,0.000,0.000,563.675,0.000,0.000,27.666,0.000,9614.745,708.961,2314.330,186.882,0.000,1925.052,0.000,1186.630,1489.000,0.537,0.000
$DEVICE_MAMPS,468.180,144.585,1893.375,192.015,0.000,0.000,0.000,198.900,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11866.000,123.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.019,42.362,0.000,0.000
$MEM,273852
$DATA_FILE_SIZE,26774,798
$CAP_FILE_SIZE,135995,0
$CFSIZE,2097872896,2055077888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12899.33,0x2378b6,7,5
$SOUNDSPEED,1451.3
$GPS,160814,050829,7227.490,-14555.478,31,0.8,51,22.2