version: 66.12
glider: 199
mission: 5
dive: 157
start: 8 17 114 12 27 33
data:
$ID,199
$MISSION,5
$DIVE,157
$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,-21792.723
$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,25
$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
$GPS1,170814,122024,7243.855,-14555.901,31,0.8,51,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-69.1
$GPS2,170814,122718,7243.888,-14555.892,5,0.9,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.3,39229,-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
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5ac8ba5e73;,*56
$MODEM_MSG,CACST,6,0,20140817120213.326376,3,452,14,0183,0150,100,00,00,02,04,1,004,000,0,5,1,0,150,-2.4,2.6,-100,0.4,-01,0.1,28,900,0025*1B
$MODEM_MSG,CACST,6,1,20140817121643.744086,3,149,15,0123,0150,100,00,00,01,04,-1,-01,-01,1,3,1,0,150,9.3,1.2,-100,1.8,-01,0.5,26,900,0025*1C
$GC,16,-0.72,-175.1,166,2364,524,473,0.0,0.0,0,69,0.00,0.00,-52.08,0.000,16386,0.000,0.000,165,2363,1797,1813,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.72,-175.1,166,2364,1813,1782,3.3,-2.8,5,134,10.98,2.58,-44.83,0.000,18692,0.463,0.142,2176,3773,3946,4003,3890,0,0,0,0,0,0,14.00,14.30,14.56
$GC,359,-0.72,-175.1,2179,3773,4004,3895,90.3,-26.8,63,364,0.00,2.42,0.00,0.000,1030,0.000,0.077,2179,2351,3947,4003,3891,0,0,0,0,0,0,28.83,14.42,28.83
$GC,669,-0.72,-175.1,2179,2351,4004,3897,159.0,-20.4,95,674,0.00,2.55,0.00,0.000,260,0.000,0.120,2162,3771,3948,4003,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,829,-0.72,-175.1,2168,3772,4004,3896,192.8,-20.3,127,835,0.15,2.45,0.00,0.000,3078,0.309,0.079,2196,2334,3949,4003,3896,0,0,0,0,0,0,14.33,14.51,28.83
$GC,1140,-0.72,-175.1,2198,2331,4002,3896,241.7,-14.9,159,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2336,3953,4010,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1440,-0.72,-175.1,2197,2332,4003,3896,283.5,-13.6,173,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2331,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-0.72,-175.1,2198,2332,4002,3896,322.6,-12.9,183,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2331,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.72,-175.1,2198,2331,4002,3896,360.5,-12.6,193,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2331,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.72,-175.1,2198,2331,4002,3896,398.0,-12.4,203,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2331,3947,4003,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.72,-175.1,2198,2331,4002,3896,434.9,-12.2,213,2644,0.00,2.58,0.00,0.000,260,0.000,0.122,2189,3770,3948,4002,3894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2684,-0.72,-175.1,2189,3771,4003,3895,440.9,-13.2,222,2689,0.00,2.42,0.00,0.000,1030,0.000,0.079,2188,2360,3947,4003,3892,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2999,-0.72,-175.1,2188,2361,4004,3896,481.2,-12.6,235,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2360,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3299,-0.72,-175.1,2189,2360,4002,3895,519.0,-12.6,245,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2359,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3599,-0.72,-175.1,2189,2360,4002,3895,556.2,-12.4,255,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2360,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3899,-0.72,-175.1,2189,2360,4002,3895,593.4,-12.3,265,3904,0.00,2.53,0.00,0.000,260,0.000,0.122,2178,3775,3948,4002,3895,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3944,-0.72,-175.1,2178,3776,4004,3895,599.5,-13.5,274,3949,0.00,2.42,0.00,0.000,1030,0.000,0.078,2177,2360,3950,4002,3899,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4259,-0.72,-175.1,2179,2359,4002,3896,640.4,-12.9,287,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2356,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-0.72,-175.1,2178,2359,4002,3895,678.8,-12.8,297,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2359,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4859,-0.72,-175.1,2177,2359,4004,3896,717.2,-12.8,307,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2358,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5132,-0.14,0.0,2175,2598,4005,3896,751.2,-12.6,316,5354,0.80,0.00,219.50,1.727,10246,0.277,0.000,2380,2597,3228,3280,3177,0,0,0,0,0,0,14.50,28.83,13.05
$STATE,5355,end apogee,CONTROL_FINISHED_OK
$STATE,5355,begin climb
$GC,5357,0.72,175.1,2381,2598,3276,3176,758.9,0.0,323,5521,0.98,2.38,152.77,1.882,10500,0.158,0.116,2659,3759,2505,2566,2444,0,0,0,0,0,0,13.60,13.07,12.45
$GC,5640,0.72,175.1,2661,3760,2563,2435,731.5,15.4,383,5646,0.00,2.12,0.00,0.000,1030,0.000,0.074,2669,2605,2498,2562,2435,0,0,0,0,0,0,28.83,13.65,28.83
$GC,5971,0.72,175.1,2668,2606,2563,2435,686.3,13.6,399,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2604,2498,2563,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6270,0.72,175.1,2668,2605,2564,2434,645.7,13.6,409,6276,0.00,2.47,0.00,0.000,516,0.000,0.085,2675,1196,2497,2562,2433,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6295,0.72,175.1,2679,1197,2564,2433,642.2,13.9,414,6302,0.00,2.55,0.00,0.000,1030,0.000,0.099,2679,2608,2497,2562,2432,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6600,0.72,175.1,2680,2604,2565,2433,599.1,14.2,425,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6900,0.72,175.1,2679,2604,2563,2433,556.9,14.1,435,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7200,0.72,175.1,2680,2604,2562,2429,514.9,14.0,445,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2496,2561,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,0.72,175.1,2681,2604,2562,2432,473.0,14.0,455,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2495,2562,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7800,0.72,175.1,2679,2604,2567,2432,431.5,13.9,465,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8100,0.72,175.1,2680,2604,2562,2432,389.7,14.0,475,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2498,2562,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8400,0.72,175.1,2679,2604,2564,2432,348.9,13.6,485,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8700,0.72,175.1,2679,2604,2564,2432,308.7,13.3,495,8706,0.00,2.40,0.00,0.000,516,0.000,0.085,2686,1196,2499,2568,2431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8720,0.72,175.1,2691,1193,2562,2432,306.0,13.1,499,8726,0.00,2.50,0.00,0.000,1030,0.000,0.098,2689,2598,2498,2566,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9030,0.72,175.1,2690,2598,2562,2432,264.8,13.2,511,9036,0.00,2.10,0.00,0.000,260,0.000,0.121,2689,3771,2496,2562,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9055,0.72,175.1,2690,3771,2564,2432,261.3,14.5,516,9062,0.00,2.00,0.00,0.000,1030,0.000,0.077,2697,2595,2497,2563,2432,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9361,0.72,175.1,2698,2595,2565,2432,223.7,11.4,541,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2595,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,0.78,235.3,2697,2596,2564,2432,193.2,9.0,571,9717,0.00,2.42,51.08,1.405,8708,0.000,0.081,2708,1192,2260,2329,2191,0,0,0,0,0,0,28.83,14.28,13.70
$GC,9752,0.83,235.3,2707,1193,2325,2181,184.4,10.6,586,9757,0.00,2.53,0.00,0.000,1030,0.000,0.097,2714,2605,2251,2323,2180,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10061,0.88,235.3,2710,2606,2322,2175,149.9,10.4,618,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2606,2249,2322,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10361,0.94,295.0,2708,2606,2324,2176,120.4,9.0,648,10417,0.00,2.47,51.38,1.362,8708,0.000,0.083,2718,1197,2017,2100,1935,0,0,0,0,0,0,28.83,14.19,13.62
$GC,10472,0.97,295.0,2718,1198,2092,1924,109.7,10.8,670,10477,0.00,2.53,0.00,0.000,1030,0.000,0.099,2718,2603,2008,2091,1925,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10782,1.02,344.8,2719,2604,2091,1919,77.7,9.4,702,10809,0.12,2.45,22.25,0.391,10756,0.145,0.082,2775,1186,1823,1907,1740,0,0,0,0,0,0,14.41,14.38,14.14
$GC,10839,1.02,344.8,2774,1187,1923,1748,71.6,11.2,713,10845,0.00,2.53,1.38,0.261,9222,0.000,0.098,2776,2608,1826,1909,1744,0,0,0,0,0,0,28.83,14.31,14.25
$GC,11144,1.08,401.2,2776,2608,1925,1755,43.0,9.1,744,11179,0.00,2.45,29.75,0.298,8708,0.000,0.086,2785,1204,1595,1687,1504,0,0,0,0,0,0,28.83,14.42,14.25
$GC,11194,1.15,401.2,2786,1196,1689,1509,38.3,9.7,753,11199,0.00,2.50,0.00,0.000,1030,0.000,0.099,2785,2605,1601,1693,1509,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11504,1.40,651.8,2785,2606,1702,1514,15.7,0.5,785,11631,0.30,0.00,123.70,0.221,10502,0.112,0.000,2886,2606,570,594,547,0,0,0,0,0,0,14.50,28.83,14.24
$FREEZE,8.78,2.226,-1.384,2,1,0
$FREEZE,7.86,2.259,-1.384,2,1,0
$FREEZE,7.06,2.271,-1.384,2,1,0
$FREEZE,6.52,2.273,-1.384,2,1,0
$FREEZE,5.65,2.269,-1.383,2,1,0
$FREEZE,4.58,2.258,-1.383,2,1,0
$FREEZE,3.28,2.267,-1.382,2,1,0
$FREEZE,2.00,2.259,-1.381,2,1,0
$FREEZE,1.28,2.075,-0.777,2,1,0
$STATE,11714,end climb,SURFACE_DEPTH_REACHED
$STATE,11714,begin surface coast
$FREEZE,1.27,1.881,-0.868,2,1,0
$FINISH,1.3,1.012795
$STATE,11726,end surface coast,CONTROL_FINISHED_OK
$STATE,11726,begin surface
$SM_CCo,11740,9.02,0.202,0,0,502,669.91
$SM_GC,3.28,8.05,0.43,9.02,0.076,0.096,0.202,195,2366,502,-6.97,1.10,669.91,0,0,0,0,0,0,14.40,14.42,14.30
$RAFOS_CLK,507
$MODEM,4,1408276933,74.37020,-147.61481,132.326,191877.3
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7207.11,-14552.55,170814,085229
$TT8_MAMPS,0.050932,0.050932
$HUMID,50.55
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3999156
$24V_AH,12.45,113.880
$10V_AH,12.60,0.000
$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,21.375,59.225,651.800,9.025,0.000,0.000,0.000,246.225,0.000,0.000,27.738,0.000,9403.655,709.787,1901.685,146.280,0.000,1633.210,0.000,1211.435,0.000,0.537,0.000
$DEVICE_MAMPS,462.825,141.525,1881.900,201.960,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.970,0.000,0.000,0.000
$MEM,268280
$DATA_FILE_SIZE,26729,814
$CAP_FILE_SIZE,129449,0
$CFSIZE,2097872896,2053177344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12643.33,0x2378b6,7,5
$SOUNDSPEED,1450.3
$GPS,170814,154454,7245.521,-14555.422,37,0.8,57,22.3