version: 66.12
glider: 199
mission: 5
dive: 154
start: 8 17 114 2 4 44
data:
$ID,199
$MISSION,5
$DIVE,154
$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,-21788.941
$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,27
$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
$GPS1,170814,015654,7238.450,-14556.461,78,0.7,98,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-67.4
$GPS2,170814,020425,7238.490,-14556.509,5,0.7,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,341.9,49223,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-175.1,166,2356,522,473,0.0,0.0,0,69,0.00,0.00,-51.88,0.000,16386,0.000,0.000,163,2356,1792,1811,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,164,2356,1815,1779,3.3,-2.4,5,134,11.15,2.60,-44.17,0.000,18692,0.473,0.141,2177,3769,3946,4004,3889,0,0,0,0,0,0,14.04,14.29,14.57
$GC,358,-0.72,-175.1,2179,3769,4004,3895,88.0,-24.8,63,364,0.00,2.45,0.00,0.000,1030,0.000,0.076,2177,2331,3948,4003,3894,0,0,0,0,0,0,28.83,14.44,28.83
$GC,668,-0.72,-175.1,2178,2331,4003,3896,156.0,-19.5,95,673,0.00,2.58,0.00,0.000,260,0.000,0.120,2172,3773,3949,4003,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,898,-0.72,-175.1,2166,3774,4005,3896,203.4,-18.7,141,904,0.12,2.42,0.00,0.000,3078,0.307,0.079,2193,2341,3949,4004,3894,0,0,0,0,0,0,14.33,14.52,28.83
$GC,1208,-0.72,-175.1,2193,2342,4005,3896,251.3,-14.4,173,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2338,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1508,-0.72,-175.1,2194,2341,4003,3895,293.5,-13.8,183,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2341,3951,4003,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1808,-0.72,-175.1,2193,2342,4005,3896,333.7,-13.2,193,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2340,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2108,-0.72,-175.1,2193,2342,4003,3895,372.5,-12.9,203,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2341,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2408,-0.72,-175.1,2192,2342,4005,3895,410.4,-12.6,213,2414,0.00,2.58,0.00,0.000,260,0.000,0.122,2183,3756,3948,4003,3894,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2458,-0.72,-175.1,2183,3757,4005,3895,417.3,-14.2,223,2464,0.00,2.35,0.00,0.000,1030,0.000,0.078,2183,2356,3948,4003,3894,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2768,-0.72,-175.1,2184,2355,4003,3894,458.3,-13.2,235,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2355,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3068,-0.72,-175.1,2183,2356,4004,3895,497.2,-12.9,245,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2355,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-0.72,-175.1,2183,2355,4005,3895,535.8,-12.9,255,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2355,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,-0.72,-175.1,2185,2356,4003,3895,574.1,-12.7,265,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2359,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3968,-0.72,-175.1,2183,2355,4005,3895,612.4,-12.7,275,3973,0.00,2.53,0.00,0.000,260,0.000,0.123,2173,3771,3948,4003,3894,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4003,-0.72,-175.1,2174,3772,4003,3891,617.3,-14.6,282,4008,0.00,2.40,0.00,0.000,1030,0.000,0.079,2173,2362,3947,4001,3893,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4329,-0.72,-175.1,2174,2362,4003,3894,660.5,-13.3,297,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2362,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.72,-175.1,2174,2362,4003,3894,700.0,-13.2,307,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2362,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4928,-0.72,-175.1,2174,2363,4003,3894,739.4,-13.1,317,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2361,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5017,begin apogee
$GC,5021,-0.14,0.0,2173,2603,4003,3892,751.3,-13.1,320,5242,0.82,0.00,217.98,1.686,10246,0.279,0.000,2382,2602,3229,3280,3178,0,0,0,0,0,0,14.48,28.83,13.05
$STATE,5243,end apogee,CONTROL_FINISHED_OK
$STATE,5243,begin climb
$GC,5245,0.72,175.1,2379,2603,3286,3174,759.5,0.0,327,5410,0.95,2.38,153.43,1.859,10500,0.155,0.116,2657,3763,2504,2566,2443,0,0,0,0,0,0,13.63,13.09,12.45
$GC,5534,0.72,175.1,2656,3764,2564,2435,732.2,15.0,388,5540,0.00,2.12,0.00,0.000,1030,0.000,0.073,2665,2597,2498,2562,2434,0,0,0,0,0,0,28.83,13.68,28.83
$GC,5860,0.72,175.1,2671,2600,2564,2433,688.9,13.3,403,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,0.72,175.1,2666,2600,2564,2433,649.2,13.2,413,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,0.72,175.1,2665,2600,2564,2432,609.8,13.2,423,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2600,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,0.72,175.1,2665,2600,2564,2432,570.2,13.1,433,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,0.72,175.1,2665,2600,2564,2431,530.9,13.1,443,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2601,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,0.72,175.1,2667,2600,2562,2431,491.5,13.1,453,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7660,0.72,175.1,2665,2600,2564,2431,452.4,12.9,463,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2599,2498,2562,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,0.72,175.1,2667,2600,2562,2431,413.8,12.8,473,7965,0.00,2.40,0.00,0.000,516,0.000,0.086,2675,1192,2496,2562,2430,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7979,0.72,175.1,2675,1193,2567,2431,411.2,13.0,477,7985,0.00,2.50,0.00,0.000,1030,0.000,0.099,2676,2588,2496,2562,2430,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8290,0.72,175.1,2676,2589,2564,2431,369.8,13.4,489,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2588,2496,2558,2434,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140817041639.618309,3,271,18,0137,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,6.2,0.7,-100,2.3,-01,-0.2,29,900,0025*3A
$GC,8591,0.72,175.1,2677,2589,2562,2431,330.6,12.9,499,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2589,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8890,0.72,175.1,2677,2589,2562,2430,292.5,12.6,509,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2588,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9190,0.72,175.1,2677,2589,2562,2431,255.7,12.0,519,9195,0.00,2.08,0.00,0.000,260,0.000,0.123,2676,3773,2493,2557,2430,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9235,0.72,175.1,2676,3774,2564,2431,249.7,13.3,528,9240,0.00,2.00,0.00,0.000,1030,0.000,0.078,2691,2597,2496,2563,2430,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9540,0.76,175.1,2686,2598,2562,2431,214.9,10.8,560,9545,0.00,2.42,0.00,0.000,516,0.000,0.083,2695,1194,2496,2562,2430,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9580,0.81,229.4,2699,1194,2564,2432,210.8,9.2,568,9632,0.00,2.47,45.12,1.422,9222,0.000,0.097,2695,2606,2290,2355,2225,0,0,0,0,0,0,28.83,14.57,13.68
$GC,9930,0.87,229.4,2697,2605,2346,2204,172.4,10.2,608,9935,0.00,2.10,0.00,0.000,260,0.000,0.122,2695,3760,2275,2347,2204,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9950,0.87,229.4,2695,3761,2349,2204,170.0,11.3,612,9955,0.00,2.00,0.00,0.000,1030,0.000,0.077,2704,2601,2275,2347,2204,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10260,0.92,280.8,2704,2602,2346,2204,139.6,9.3,644,10311,0.00,2.17,43.83,1.376,8452,0.000,0.123,2703,3756,2074,2155,1994,0,0,0,0,0,0,28.83,14.20,13.64
$GC,10351,0.92,280.8,2703,3757,2150,1988,129.4,12.6,662,10356,0.00,2.03,0.00,0.000,1030,0.000,0.078,2712,2605,2067,2149,1986,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10662,0.99,280.8,2713,2605,2148,1982,96.4,9.9,694,10667,0.12,2.42,0.00,0.000,2564,0.150,0.084,2772,1189,2065,2149,1981,0,0,0,0,0,0,14.44,14.42,28.83
$GC,10746,0.99,280.8,2773,1189,2148,1981,86.5,11.7,711,10753,0.00,2.53,0.00,0.000,1030,0.000,0.099,2772,2592,2064,2148,1980,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11051,1.14,434.3,2773,2592,2148,1980,58.4,4.8,742,11133,0.00,2.15,73.53,0.343,8452,0.000,0.124,2772,3765,1460,1552,1368,0,0,0,0,0,0,28.83,14.31,14.18
$GC,11168,1.14,434.3,2773,3766,1555,1376,47.9,13.4,765,11175,0.00,2.03,0.00,0.000,1030,0.000,0.080,2780,2602,1466,1558,1375,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11473,1.23,519.2,2780,2603,1561,1376,15.0,7.9,796,11525,0.15,2.47,42.62,0.224,10756,0.142,0.085,2844,1193,1112,1201,1024,0,0,0,0,0,0,14.48,14.38,14.31
$FREEZE,8.99,3.384,-1.368,2,1,0
$GC,11550,1.45,740.3,2845,1194,1206,1028,11.9,1.8,811,11634,0.17,2.53,74.07,0.214,11270,0.132,0.097,2905,2620,501,523,479,0,0,0,0,0,0,14.43,14.40,14.23
$FREEZE,8.07,3.403,-1.374,2,1,0
$FREEZE,7.32,3.404,-1.375,2,1,0
$FREEZE,6.48,3.406,-1.375,2,1,0
$FREEZE,5.23,3.405,-1.375,2,1,0
$FREEZE,3.95,3.397,-1.374,2,1,0
$FREEZE,2.69,3.403,-1.374,2,1,0
$FREEZE,1.54,3.402,-1.373,2,1,0
$STATE,11697,end climb,SURFACE_DEPTH_REACHED
$STATE,11697,begin surface coast
$FREEZE,1.24,3.345,-0.314,2,1,0
$FINISH,1.2,1.004565
$STATE,11707,end surface coast,CONTROL_FINISHED_OK
$STATE,11707,begin surface
$SM_CCo,11723,0.28,0.460,0,0,501,669.67
$SM_GC,2.69,8.32,0.45,0.28,0.101,0.098,0.460,192,2367,501,-6.95,1.10,669.67,0,0,0,0,0,0,14.40,14.40,14.31
$RAFOS_CLK,215
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7200.11,-14558.69,160814,223335
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.55
$INTERNAL_PRESSURE,8.45573
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3999500
$24V_AH,12.45,112.844
$10V_AH,12.67,0.000
$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,21.825,61.600,650.575,0.275,0.000,0.000,0.000,282.850,0.000,0.000,27.717,0.000,9334.284,705.704,1985.134,149.430,0.000,1689.777,0.000,1240.467,1478.000,0.537,0.000
$DEVICE_MAMPS,472.770,140.760,1858.950,459.765,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11744.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.803,0.000,0.000,0.000
$MEM,269816
$DATA_FILE_SIZE,30030,835
$CAP_FILE_SIZE,131162,0
$CFSIZE,2097872896,2053734400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12393.35,0x2378b6,7,5
$SOUNDSPEED,1450.4
$GPS,170814,052224,7240.180,-14556.409,83,0.7,103,22.3