version: 66.12
glider: 199
mission: 5
dive: 165
start: 8 18 114 15 31 23
data:
$ID,199
$MISSION,5
$DIVE,165
$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,-21802.805
$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,18
$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
$GPS1,180814,152454,7254.354,-14552.042,17,0.9,37,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.9
$GPS2,180814,153108,7254.353,-14552.030,5,0.7,25,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.9,19750,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.1,173,2359,520,489,0.0,0.0,0,69,0.00,0.00,-51.72,0.000,16386,0.000,0.000,170,2359,1771,1790,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,171,2360,1790,1753,3.1,-2.2,5,139,11.15,2.55,-50.33,0.000,18692,0.474,0.138,2178,3770,3945,4002,3889,0,0,0,0,0,0,14.05,14.32,14.59
$GC,364,-0.72,-175.1,2179,3771,4002,3894,91.7,-25.8,64,370,0.00,2.45,0.00,0.000,1030,0.000,0.077,2174,2358,3944,3995,3894,0,0,0,0,0,0,28.83,14.43,28.83
$GC,669,-0.72,-175.1,2178,2357,4004,3895,159.1,-20.6,95,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2356,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.72,-175.1,2179,2357,4002,3894,214.6,-16.6,125,974,0.00,2.38,0.00,0.000,516,0.000,0.090,2178,955,3948,4002,3894,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1019,-0.72,-175.1,2178,955,4004,3896,222.8,-16.1,135,1024,0.15,2.47,0.00,0.000,3078,0.316,0.100,2197,2362,3948,4002,3895,0,0,0,0,0,0,14.33,14.50,28.83
$GC,1329,-0.72,-175.1,2198,2363,4003,3891,267.6,-14.4,159,1334,0.00,2.47,0.00,0.000,260,0.000,0.123,2193,3766,3948,4002,3894,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1399,-0.72,-175.1,2188,3768,4004,3896,278.3,-15.2,173,1404,0.00,2.42,0.00,0.000,1030,0.000,0.077,2188,2357,3948,4002,3894,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1719,-0.72,-175.1,2188,2355,4002,3895,323.0,-13.8,187,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2355,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.72,-175.1,2189,2355,4002,3895,364.0,-13.7,197,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2352,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,-0.72,-175.1,2187,2359,4002,3896,404.1,-13.3,207,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2355,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-0.72,-175.1,2189,2357,4003,3895,442.8,-12.8,217,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2919,-0.72,-175.1,2189,2360,4001,3895,481.1,-12.8,227,2924,0.00,2.55,0.00,0.000,260,0.000,0.122,2177,3772,3948,4002,3894,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2974,-0.72,-175.1,2178,3773,4002,3895,488.8,-14.3,238,2980,0.00,2.45,0.00,0.000,1030,0.000,0.080,2178,2358,3948,4002,3894,0,0,0,0,0,0,28.83,14.48,28.83
$MODEM_MSG,CACST,6,1,20140818160434.016518,3,2844,28,0151,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,9.0,1.7,-100,1.3,-01,-0.2,34,900,0025*00
$GC,3279,-0.72,-175.1,2178,2359,4002,3895,530.0,-13.4,249,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2358,3953,4012,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3579,-0.72,-175.1,2179,2359,4002,3895,570.3,-13.3,259,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2358,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3879,-0.72,-175.1,2178,2359,4002,3895,610.2,-13.3,269,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.72,-175.1,2180,2359,4004,3896,649.7,-13.1,279,4184,0.00,2.50,0.00,0.000,260,0.000,0.122,2166,3767,3948,4002,3894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4219,-0.72,-175.1,2166,3768,4004,3896,655.4,-14.5,287,4224,0.10,2.40,0.00,0.000,3078,0.275,0.077,2192,2359,3948,4002,3894,0,0,0,0,0,0,14.43,14.63,28.83
$GC,4540,-0.72,-175.1,2191,2360,4004,3896,694.3,-12.2,301,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2360,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.72,-175.1,2192,2360,4004,3896,730.5,-12.1,311,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2359,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5017,begin apogee
$GC,5021,-0.14,0.0,2193,2602,4002,3895,752.3,-12.1,317,5242,0.73,0.00,217.75,1.611,10246,0.271,0.000,2379,2601,3232,3280,3185,0,0,0,0,0,0,14.48,28.83,13.09
$STATE,5243,end apogee,CONTROL_FINISHED_OK
$STATE,5243,begin climb
$GC,5245,0.72,175.1,2381,2601,3276,3174,760.7,0.0,324,5406,1.00,2.30,153.48,1.883,10500,0.155,0.115,2663,3763,2508,2570,2447,0,0,0,0,0,0,13.65,13.09,12.46
$GC,5470,0.72,175.1,2664,3763,2562,2441,743.3,15.3,367,5476,0.00,2.17,0.00,0.000,1030,0.000,0.072,2672,2594,2501,2563,2440,0,0,0,0,0,0,28.83,13.50,28.83
$GC,5801,0.72,175.1,2672,2595,2564,2434,698.0,13.7,383,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2504,2570,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6101,0.72,175.1,2672,2594,2563,2438,656.4,14.0,393,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2500,2563,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6400,0.72,175.1,2673,2594,2561,2438,614.9,13.8,403,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2592,2497,2557,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6700,0.72,175.1,2673,2594,2563,2437,573.7,13.7,413,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2590,2500,2563,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7000,0.72,175.1,2673,2595,2561,2437,532.8,13.5,423,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2498,2559,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,0.72,175.1,2672,2594,2564,2436,492.8,13.2,433,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2499,2562,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,0.72,175.1,2672,2595,2562,2437,452.8,13.3,443,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2499,2563,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,0.72,175.1,2673,2594,2563,2437,412.8,13.3,453,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2498,2559,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,0.72,175.1,2672,2595,2564,2437,373.0,13.2,463,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2499,2562,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8500,0.72,175.1,2671,2595,2564,2440,333.4,13.2,473,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2501,2562,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8800,0.72,175.1,2671,2594,2564,2437,294.4,12.9,483,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2497,2558,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,0.74,175.1,2673,2594,2561,2437,259.3,11.1,493,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2594,2499,2563,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9401,0.81,175.1,2673,2594,2563,2437,228.1,9.9,517,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2594,2499,2563,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9701,0.88,242.3,2672,2594,2564,2437,200.3,8.6,547,9762,0.15,0.00,56.70,1.398,10246,0.145,0.000,2723,2594,2234,2302,2167,0,0,0,0,0,0,14.58,28.83,13.67
$GC,10061,0.91,242.3,2721,2594,2298,2154,158.2,10.8,583,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2594,2227,2300,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10361,0.97,242.3,2724,2594,2298,2152,125.9,10.4,613,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2592,2225,2299,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10661,1.03,306.0,2723,2594,2298,2153,97.8,8.8,643,10697,0.15,2.45,30.12,0.452,10756,0.145,0.087,2785,1191,1984,2065,1903,0,0,0,0,0,0,14.48,14.45,14.16
$GC,10771,1.03,306.0,2781,1192,2084,1913,84.2,11.9,664,10777,0.00,2.47,1.62,0.245,9222,0.000,0.100,2784,2598,1981,2063,1899,0,0,1,0,0,0,28.83,14.43,14.33
$GC,11083,1.15,432.0,2784,2599,2084,1915,53.5,6.0,696,11154,0.00,2.45,63.75,0.325,8708,0.000,0.087,2794,1196,1472,1563,1381,0,0,0,0,0,0,28.83,14.31,14.21
$GC,11253,1.18,432.0,2795,1196,1571,1384,36.5,10.9,730,11259,0.00,2.50,1.23,0.249,9222,0.000,0.102,2794,2599,1468,1561,1375,0,0,0,0,0,0,28.83,14.40,14.33
$GC,11564,1.44,688.6,2796,2600,1566,1383,18.8,0.2,762,11691,0.30,2.12,117.53,0.231,10500,0.109,0.125,2908,3758,497,511,484,0,0,0,0,0,0,14.50,14.29,14.24
$FREEZE,8.71,0.628,-1.439,2,1,0
$FREEZE,7.80,0.628,-1.438,2,1,0
$FREEZE,6.92,0.632,-1.437,2,1,0
$FREEZE,6.11,0.632,-1.437,2,1,0
$FREEZE,5.26,0.637,-1.436,2,1,0
$FREEZE,4.61,0.637,-1.436,2,1,0
$FREEZE,3.71,0.641,-1.435,2,1,0
$FREEZE,2.85,0.641,-1.434,2,1,0
$FREEZE,1.87,0.636,-1.434,2,1,0
$STATE,11735,end climb,SURFACE_DEPTH_REACHED
$STATE,11735,begin surface coast
$FREEZE,1.23,0.636,-1.433,2,1,0
$FREEZE,1.38,0.619,-1.434,2,1,0
$FINISH,1.4,1.021108
$STATE,11744,end surface coast,CONTROL_FINISHED_OK
$STATE,11744,begin surface
$SM_CCo,11821,0.00,0.000,0,0,499,669.91
$SM_GC,2.39,8.27,2.47,0.00,0.099,0.083,0.000,199,2362,499,-6.94,0.85,669.91,0,0,0,0,0,0,14.37,14.38,28.83
$RAFOS_CLK,450
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7221.25,-14550.20,180814,120931
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.15
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,3998252
$24V_AH,12.46,116.574
$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,22.000,44.050,642.175,0.000,0.000,0.000,0.000,212.075,0.000,0.000,27.183,0.000,9518.822,687.295,1842.408,146.287,0.000,1552.840,0.000,1193.205,1470.000,0.537,0.000
$DEVICE_MAMPS,473.535,137.700,1882.665,0.000,0.000,0.000,0.000,171.360,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11767.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.962,0.000,0.000,0.000
$MEM,263708
$DATA_FILE_SIZE,26750,798
$CAP_FILE_SIZE,125277,0
$CFSIZE,2097872896,2051670016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,11814.17,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,180814,184954,7256.024,-14551.964,38,0.8,58,22.4