version: 66.12
glider: 199
mission: 5
dive: 166
start: 8 18 114 18 57 1
data:
$ID,199
$MISSION,5
$DIVE,166
$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,-21804.064
$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,24
$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
$GPS1,180814,184954,7256.024,-14551.964,38,0.8,58,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.6
$GPS2,180814,185642,7256.046,-14552.042,5,0.9,25,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,341.4,16619,-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,14,begin dive
$GC,16,-0.72,-175.1,174,2355,514,480,0.0,0.0,0,79,0.00,0.00,-62.03,0.000,16386,0.000,0.000,172,2355,2009,2022,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,173,2356,2024,1997,3.4,-2.3,6,140,11.02,2.58,-40.47,0.000,18692,0.469,0.138,2176,3774,3949,4009,3890,0,0,0,0,0,0,14.01,14.32,14.56
$GC,364,-0.72,-175.1,2176,3774,4004,3895,90.3,-26.9,63,371,0.00,2.47,0.00,0.000,1030,0.000,0.081,2176,2359,3950,4007,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,670,-0.72,-175.1,2178,2357,4002,3895,157.0,-21.0,94,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2356,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.72,-175.1,2178,2357,4003,3895,213.4,-17.7,124,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2357,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1290,-0.72,-175.1,2178,2357,4002,3895,265.4,-15.8,150,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2357,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1589,-0.72,-175.1,2177,2357,4002,3895,310.7,-14.8,160,1595,0.00,2.55,0.00,0.000,260,0.000,0.125,2167,3771,3948,4002,3894,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1639,-0.72,-175.1,2166,3772,4004,3895,318.7,-16.0,170,1645,0.08,2.45,0.00,0.000,3078,0.283,0.080,2194,2348,3952,4010,3894,0,0,0,0,0,0,14.39,14.57,28.83
$GC,1950,-0.72,-175.1,2198,2346,4002,3895,359.9,-13.0,182,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2347,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2249,-0.72,-175.1,2197,2348,4004,3895,398.5,-12.8,192,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2347,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2549,-0.72,-175.1,2198,2347,4002,3895,436.6,-12.7,202,2555,0.00,2.55,0.00,0.000,260,0.000,0.123,2188,3772,3948,4002,3895,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2589,-0.72,-175.1,2188,3774,4004,3895,442.1,-14.2,210,2595,0.00,2.40,0.00,0.000,1030,0.000,0.077,2188,2348,3948,4002,3894,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2910,-0.72,-175.1,2187,2348,4004,3895,484.3,-13.3,224,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2347,3951,4002,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-0.72,-175.1,2189,2348,4002,3895,523.4,-13.0,234,3215,0.00,2.53,0.00,0.000,260,0.000,0.122,2177,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3259,-0.72,-175.1,2179,3767,4002,3895,530.3,-14.0,244,3265,0.00,2.40,0.00,0.000,1030,0.000,0.076,2177,2365,3948,4002,3894,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3570,-0.72,-175.1,2178,2364,4002,3895,572.5,-13.6,256,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2367,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.72,-175.1,2176,2365,4004,3895,612.9,-13.6,266,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2361,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4169,-0.72,-175.1,2179,2365,4002,3895,653.1,-13.3,276,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2364,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.72,-175.1,2177,2364,4004,3895,692.7,-13.1,286,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4769,-0.72,-175.1,2178,2365,4003,3895,731.9,-13.0,296,4774,0.00,2.53,0.00,0.000,260,0.000,0.120,2168,3773,3948,4002,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4814,-0.72,-175.1,2168,3774,4002,3895,738.2,-14.7,305,4820,0.08,2.45,0.00,0.000,3078,0.274,0.077,2197,2352,3948,4002,3895,0,0,0,0,0,0,14.33,14.50,28.83
$STATE,4918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4918,begin apogee
$GC,4922,-0.14,0.0,2197,2604,4003,3900,750.8,-11.8,311,5142,0.73,0.00,218.02,1.619,10246,0.266,0.000,2382,2603,3230,3281,3179,0,0,0,0,0,0,14.33,28.83,13.02
$STATE,5143,end apogee,CONTROL_FINISHED_OK
$STATE,5143,begin climb
$MODEM_MSG,CACST,6,1,20140818200435.856097,3,205,23,0104,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,12.1,2.0,-100,1.0,-01,0.5,27,900,0025*2F
$GC,5145,0.72,175.1,2382,2604,3278,3174,759.2,0.0,318,5304,1.00,0.00,155.88,1.865,10246,0.149,0.000,2668,2603,2514,2575,2454,0,0,0,0,0,0,13.57,28.83,12.43
$GC,5579,0.72,175.1,2669,2604,2567,2435,715.4,13.3,333,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2603,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5879,0.72,175.1,2668,2604,2569,2435,675.6,13.3,343,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2603,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6179,0.72,175.1,2669,2602,2567,2435,635.9,13.3,353,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2603,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6479,0.72,175.1,2669,2603,2567,2435,595.6,13.4,363,6485,0.00,2.42,0.00,0.000,516,0.000,0.085,2678,1192,2501,2567,2435,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6499,0.72,175.1,2678,1193,2569,2432,593.1,12.6,367,6505,0.00,2.47,0.00,0.000,1030,0.000,0.099,2678,2600,2500,2567,2434,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6809,0.72,175.1,2678,2602,2569,2434,550.7,13.6,379,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2497,2561,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,0.72,175.1,2679,2602,2567,2434,509.8,13.6,389,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7410,0.72,175.1,2678,2602,2569,2435,468.9,13.8,399,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,0.72,175.1,2680,2602,2567,2434,427.7,13.6,409,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,0.72,175.1,2678,2602,2568,2435,387.1,13.5,419,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,0.72,175.1,2680,2602,2567,2434,347.1,13.2,429,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8609,0.72,175.1,2680,2601,2566,2434,307.8,13.0,439,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8909,0.72,175.1,2679,2602,2567,2435,270.0,12.4,449,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,2502,2567,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9209,0.72,175.1,2680,2601,2566,2434,234.9,11.6,467,9215,0.00,2.42,0.00,0.000,516,0.000,0.085,2690,1184,2500,2567,2434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9264,0.76,175.1,2690,1185,2567,2434,228.7,10.7,478,9271,0.00,2.47,0.00,0.000,1030,0.000,0.099,2689,2602,2500,2567,2434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9569,0.82,238.2,2689,2603,2569,2435,197.4,8.8,509,9631,0.00,2.50,53.92,1.393,8708,0.000,0.085,2699,1201,2252,2318,2187,0,0,0,0,0,0,28.83,14.26,13.68
$GC,9670,0.85,238.2,2700,1202,2314,2171,187.5,10.9,526,9676,0.00,2.53,0.00,0.000,1030,0.000,0.099,2699,2608,2242,2314,2170,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9980,0.90,286.0,2699,2608,2315,2169,155.7,9.5,558,10023,0.00,0.00,41.15,1.374,8454,0.000,0.000,2699,2608,2061,2142,1981,0,0,0,0,0,0,28.83,28.83,13.60
$GC,10322,0.93,286.0,2700,2608,2128,1959,118.4,10.8,593,10323,0.12,0.00,0.00,0.000,2054,0.153,0.000,2746,2608,2043,2128,1959,0,0,0,0,0,0,14.39,28.83,28.83
$GC,10621,0.98,286.0,2744,2608,2128,1958,83.2,10.4,623,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2607,2043,2128,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10921,1.13,427.9,2742,2608,2130,1958,57.2,5.3,653,10993,0.17,2.55,67.38,0.339,10756,0.134,0.087,2821,1189,1486,1576,1397,0,0,0,0,0,0,14.45,14.38,14.19
$GC,11219,1.22,526.6,2816,1189,1587,1405,26.6,7.3,712,11276,0.00,2.53,50.35,0.252,9222,0.000,0.101,2815,2609,1083,1170,996,0,0,0,0,0,0,28.83,14.37,14.25
$FREEZE,8.76,0.387,-1.446,2,1,0
$FREEZE,8.06,0.387,-1.445,2,1,0
$FREEZE,7.31,0.388,-1.444,2,1,0
$FREEZE,6.71,0.386,-1.444,2,1,0
$FREEZE,5.89,0.388,-1.443,2,1,0
$FREEZE,5.18,0.388,-1.442,2,1,0
$FREEZE,4.54,0.392,-1.442,2,1,0
$FREEZE,3.96,0.394,-1.441,2,1,0
$FREEZE,3.22,0.392,-1.441,2,1,0
$FREEZE,2.98,0.392,-1.440,2,1,0
$FREEZE,2.54,0.393,-1.440,2,1,0
$FREEZE,1.72,0.388,-1.439,2,1,0
$GC,11574,1.34,641.0,2816,2609,1171,1005,3.2,6.6,753,11598,0.15,0.00,22.55,0.196,10754,0.137,0.000,2869,2608,899,984,815,0,0,0,0,0,0,14.50,28.83,28.83
$STATE,11599,end climb,SURFACE_DEPTH_REACHED
$STATE,11599,begin surface coast
$FREEZE,1.28,0.371,-0.837,2,1,0
$FREEZE,1.42,0.250,-1.446,2,1,0
$FINISH,1.4,1.021291
$STATE,11613,end surface coast,CONTROL_FINISHED_OK
$STATE,11613,begin surface
$SM_CCo,11629,48.75,0.191,0,0,499,669.91
$SM_GC,2.29,8.12,0.45,48.75,0.096,0.098,0.191,197,2358,499,-6.94,0.79,669.91,0,0,0,0,0,0,14.45,14.48,14.32
$RAFOS_CLK,347
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7221.25,-14556.26,180814,152722
$TT8_MAMPS,0.048685,0.048685
$HUMID,50.11
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3998136
$24V_AH,12.43,116.908
$10V_AH,12.62,0.000
$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,21.475,45.725,609.250,48.750,0.000,0.000,0.000,239.150,0.000,0.000,27.137,0.000,9363.462,754.562,1825.750,143.669,0.000,1594.315,0.000,1134.422,1472.000,0.537,0.000
$DEVICE_MAMPS,468.945,138.465,1865.070,191.250,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11641.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.915,0.000,0.000,0.000
$MEM,263108
$DATA_FILE_SIZE,26723,758
$CAP_FILE_SIZE,124518,0
$CFSIZE,2097872896,2051506176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12337.40,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,180814,221312,7257.810,-14551.571,39,0.9,59,22.4