version: 66.12
glider: 199
mission: 5
dive: 158
start: 8 17 114 15 51 44
data:
$ID,199
$MISSION,5
$DIVE,158
$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,-21793.982
$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,16
$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
$GPS1,170814,154454,7245.521,-14555.422,37,0.8,57,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-69.4
$GPS2,170814,155125,7245.525,-14555.538,5,1.0,25,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.4,36191,-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,-175.1,165,2366,516,499,0.0,0.0,0,69,0.00,0.00,-51.85,0.000,16386,0.000,0.000,164,2365,1801,1815,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,164,2366,1818,1789,3.4,-2.9,5,134,11.05,2.53,-44.97,0.000,19204,0.469,0.141,2179,3768,3948,4002,3895,0,0,0,0,0,0,14.06,14.32,14.57
$GC,358,-0.72,-175.1,2179,3771,4004,3895,89.4,-26.2,63,364,0.00,2.45,0.00,0.000,1030,0.000,0.077,2179,2328,3948,4002,3895,0,0,0,0,0,0,28.83,14.44,28.83
$GC,673,-0.72,-175.1,2179,2327,4004,3892,158.0,-20.3,95,678,0.00,2.60,0.00,0.000,260,0.000,0.120,2168,3767,3948,4000,3896,0,0,0,0,0,0,28.83,14.39,28.83
$GC,847,-0.72,-175.1,2168,3768,4004,3896,194.7,-21.2,130,854,0.10,2.45,0.00,0.000,3078,0.294,0.077,2191,2363,3949,4003,3895,0,0,0,0,0,0,14.24,14.42,28.83
$GC,1152,-0.72,-175.1,2192,2359,4004,3896,243.6,-14.8,161,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2357,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1473,-0.72,-175.1,2190,2357,4002,3895,289.2,-14.2,175,1478,0.00,2.55,0.00,0.000,260,0.000,0.122,2181,3768,3948,4003,3894,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1517,-0.72,-175.1,2184,3769,3997,3895,296.3,-15.5,184,1523,0.00,2.45,0.00,0.000,1030,0.000,0.077,2182,2357,3948,4002,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1833,-0.72,-175.1,2189,2357,4002,3895,341.5,-14.0,197,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2357,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5ad00a5d8e;,*57
$MODEM_MSG,CACST,6,0,20140817160213.482484,3,221,11,0094,0150,100,00,00,02,04,1,004,000,0,5,1,0,150,10.3,2.8,-100,0.2,-01,0.0,26,900,0025*06
$MODEM_MSG,CACST,6,1,20140817160421.299397,3,272,24,0112,0150,100,00,00,00,02,-1,-01,-01,1,3,1,0,150,11.2,1.7,-100,1.3,-01,0.6,32,900,0025*26
$GC,2132,-0.72,-175.1,2184,2357,4002,3895,382.6,-13.7,207,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2432,-0.72,-175.1,2184,2357,4002,3895,423.4,-13.6,217,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2733,-0.72,-175.1,2182,2357,4004,3896,463.9,-13.5,227,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2354,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.72,-175.1,2182,2357,4004,3895,503.7,-13.2,237,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2356,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,-0.72,-175.1,2180,2357,4004,3891,543.4,-13.3,247,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3632,-0.72,-175.1,2182,2357,4004,3896,583.3,-13.1,257,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2353,3951,4008,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,-0.72,-175.1,2182,2357,4003,3895,622.6,-13.1,267,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2361,3946,3998,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4233,-0.72,-175.1,2184,2357,4002,3895,661.5,-12.9,277,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2359,3946,3998,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,-0.72,-175.1,2183,2357,4002,3895,699.7,-12.6,287,4538,0.00,2.53,0.00,0.000,260,0.000,0.123,2172,3772,3948,4002,3895,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4572,-0.72,-175.1,2172,3773,4004,3896,705.3,-13.9,295,4578,0.00,2.42,0.00,0.000,1030,0.000,0.079,2172,2356,3951,4003,3900,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4893,-0.72,-175.1,2173,2353,4001,3895,747.6,-13.2,309,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2352,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4921,begin apogee
$GC,4925,-0.14,0.0,2170,2605,4004,3896,751.7,-13.2,310,5149,0.82,0.00,220.82,1.717,10246,0.279,0.000,2379,2604,3231,3283,3180,0,0,0,0,0,0,14.48,28.83,13.01
$STATE,5150,end apogee,CONTROL_FINISHED_OK
$STATE,5150,begin climb
$GC,5151,0.72,175.1,2379,2605,3279,3175,759.7,0.0,317,5315,0.98,2.40,155.40,1.974,10500,0.159,0.116,2659,3770,2509,2572,2447,0,0,0,0,0,0,13.57,13.02,12.36
$GC,5434,0.72,175.1,2658,3771,2567,2437,733.4,14.8,377,5440,0.00,2.15,0.00,0.000,1030,0.000,0.073,2668,2595,2501,2565,2437,0,0,0,0,0,0,28.83,13.64,28.83
$GC,5765,0.72,175.1,2669,2596,2566,2436,688.9,13.3,393,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6064,0.72,175.1,2668,2596,2567,2436,648.6,13.5,403,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6364,0.72,175.1,2668,2596,2567,2436,608.1,13.5,413,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6664,0.72,175.1,2669,2596,2565,2435,568.0,13.4,423,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2502,2565,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6964,0.72,175.1,2669,2596,2565,2435,528.4,13.1,433,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7264,0.72,175.1,2667,2596,2567,2435,489.1,13.0,443,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2596,2502,2565,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7564,0.72,175.1,2669,2596,2565,2434,449.9,13.0,453,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2501,2568,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7864,0.72,175.1,2668,2596,2567,2435,411.4,12.8,463,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8164,0.72,175.1,2668,2596,2566,2435,372.9,12.8,473,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8464,0.72,175.1,2667,2596,2566,2435,334.9,12.6,483,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8764,0.72,175.1,2668,2596,2566,2435,297.0,12.7,493,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2502,2565,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9064,0.72,175.1,2669,2596,2565,2435,260.8,11.8,503,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9364,0.80,175.1,2668,2596,2567,2435,229.0,9.8,525,9370,0.00,2.38,0.00,0.000,516,0.000,0.085,2675,1193,2500,2565,2435,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9379,0.85,225.5,2680,1193,2565,2435,227.6,9.4,528,9426,0.00,2.45,41.70,1.437,9222,0.000,0.099,2677,2599,2309,2376,2242,0,0,0,0,0,0,28.83,14.60,13.73
$GC,9724,0.91,225.5,2678,2600,2367,2225,189.6,10.0,567,9726,0.17,0.00,0.00,0.000,2054,0.135,0.000,2741,2599,2297,2369,2225,0,0,0,0,0,0,14.47,28.83,28.83
$GC,10024,0.91,225.5,2742,2600,2365,2225,154.5,11.3,597,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2599,2293,2363,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10324,0.94,225.5,2740,2600,2367,2225,121.7,10.8,627,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2599,2297,2371,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10625,1.04,320.0,2742,2600,2365,2224,94.7,7.4,657,10676,0.00,2.42,45.58,0.449,8708,0.000,0.083,2751,1195,1927,2009,1845,0,0,0,0,0,0,28.83,14.42,14.16
$GC,10716,1.07,320.0,2751,1196,2024,1851,86.0,10.7,675,10722,0.00,2.50,1.35,0.259,9222,0.000,0.101,2751,2598,1924,2007,1841,0,0,0,0,0,0,28.83,14.42,14.35
$GC,11027,1.19,439.6,2752,2599,2024,1856,57.9,6.3,707,11091,0.20,0.00,61.83,0.337,10246,0.132,0.000,2820,2599,1438,1529,1348,0,0,0,0,0,0,14.47,28.83,14.20
$GC,11386,1.33,573.5,2821,2599,1535,1358,16.5,5.7,743,11458,0.12,0.00,67.40,0.229,10758,0.153,0.000,2863,2598,890,968,813,0,0,0,0,0,0,14.41,28.83,14.26
$FREEZE,8.32,0.989,-1.408,2,1,0
$FREEZE,7.32,0.977,-1.408,2,1,0
$FREEZE,6.32,0.981,-1.407,2,1,0
$FREEZE,5.34,0.989,-1.406,2,1,0
$FREEZE,4.67,0.991,-1.405,2,1,0
$FREEZE,4.09,0.992,-1.405,2,1,0
$FREEZE,3.14,0.991,-1.404,2,1,0
$FREEZE,2.14,0.990,-1.403,2,1,0
$FREEZE,1.36,0.991,-1.403,2,1,0
$STATE,11636,end climb,SURFACE_DEPTH_REACHED
$STATE,11636,begin surface coast
$FREEZE,1.23,0.961,-1.404,2,1,0
$FREEZE,1.46,0.986,-0.734,2,1,0
$FINISH,1.5,1.010815
$STATE,11655,end surface coast,CONTROL_FINISHED_OK
$STATE,11655,begin surface
$SM_CCo,11669,47.92,0.190,0,0,498,669.67
$SM_GC,2.22,8.07,0.43,47.92,0.093,0.096,0.190,195,2362,498,-6.95,0.96,669.67,0,0,0,0,0,0,14.45,14.48,14.35
$RAFOS_CLK,490
$MODEM,4,1408291333,74.39360,-147.70641,132.482,192138.0
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7207.11,-14558.54,170814,122302
$TT8_MAMPS,0.050183,0.050183
$HUMID,51.22
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3999044
$24V_AH,12.36,114.210
$10V_AH,12.61,0.000
$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,21.525,35.175,594.075,47.925,0.000,0.000,0.000,223.175,0.000,0.000,27.082,0.000,9464.981,683.527,1816.374,143.824,0.000,1530.797,0.000,1152.981,1490.000,0.537,0.000
$DEVICE_MAMPS,468.945,140.760,1974.465,189.720,0.000,0.000,0.000,172.890,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11691.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.939,0.000,0.000,0.000
$MEM,267600
$DATA_FILE_SIZE,26720,772
$CAP_FILE_SIZE,123466,0
$CFSIZE,2097872896,2052980736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12250.26,0x2378b6,7,5
$SOUNDSPEED,1450.4
$GPS,170814,190824,7247.199,-14555.236,29,0.8,49,22.3