version: 66.12
glider: 199
mission: 5
dive: 168
start: 8 19 114 1 44 50
data:
$ID,199
$MISSION,5
$DIVE,168
$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,-21806.584
$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,31
$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
$GPS1,190814,013749,7259.543,-14550.828,35,0.9,55,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-71.9
$GPS2,190814,014431,7259.570,-14550.792,5,0.8,25,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.0,10066,-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,-175.1,192,2367,518,492,0.0,0.0,0,80,0.00,0.00,-62.85,0.000,16386,0.000,0.000,191,2365,2027,2042,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,192,2365,2040,2013,3.2,-2.3,6,141,11.02,2.53,-40.83,0.000,18692,0.473,0.136,2180,3768,3943,4002,3885,0,0,0,0,0,0,14.00,14.28,14.57
$GC,365,-0.72,-175.1,2181,3769,4001,3892,90.3,-24.5,63,372,0.00,2.45,0.00,0.000,1030,0.000,0.077,2180,2359,3946,4002,3891,0,0,0,0,0,0,28.83,14.40,28.83
$GC,671,-0.72,-175.1,2180,2361,4003,3893,156.1,-20.1,94,676,0.00,2.53,0.00,0.000,260,0.000,0.121,2175,3768,3950,4002,3898,0,0,0,0,0,0,28.83,14.38,28.83
$GC,900,-0.72,-175.1,2171,3769,4002,3893,204.2,-20.5,140,906,0.12,2.40,0.00,0.000,3078,0.312,0.078,2192,2355,3947,4002,3892,0,0,0,0,0,0,14.26,14.45,28.83
$GC,1232,-0.72,-175.1,2194,2353,4001,3893,255.4,-14.7,172,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2354,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.72,-175.1,2194,2354,4002,3893,297.3,-13.7,182,1536,0.00,2.55,0.00,0.000,260,0.000,0.124,2185,3777,3945,4002,3889,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1575,-0.72,-175.1,2185,3778,4002,3893,303.9,-14.9,191,1581,0.00,2.45,0.00,0.000,1030,0.000,0.077,2184,2355,3947,4002,3892,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1891,-0.72,-175.1,2185,2354,4002,3893,348.0,-13.7,204,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.72,-175.1,2184,2355,4003,3893,388.4,-13.4,214,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2356,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-0.72,-175.1,2185,2355,4001,3892,427.7,-13.0,224,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2353,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2790,-0.72,-175.1,2185,2352,4001,3893,466.3,-12.8,234,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2354,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-0.72,-175.1,2184,2355,4004,3893,504.5,-12.6,244,3096,0.00,2.53,0.00,0.000,260,0.000,0.122,2170,3770,3945,4002,3888,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3140,-0.72,-175.1,2173,3771,4003,3893,511.6,-14.5,254,3146,0.00,2.40,0.00,0.000,1030,0.000,0.076,2173,2364,3947,4002,3892,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3451,-0.72,-175.1,2173,2364,4003,3893,553.3,-13.4,266,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2363,3950,4009,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3750,-0.72,-175.1,2174,2364,4001,3892,593.6,-13.4,276,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2363,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,-0.72,-175.1,2173,2364,4003,3893,634.0,-13.4,286,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2359,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4350,-0.72,-175.1,2173,2364,4003,3893,673.8,-13.1,296,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2363,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4650,-0.72,-175.1,2174,2364,4002,3893,713.3,-13.2,306,4656,0.12,2.50,0.00,0.000,2308,0.304,0.121,2188,3770,3947,4002,3892,0,0,0,0,0,0,14.50,14.62,28.83
$GC,4685,-0.72,-175.1,2187,3771,4003,3893,717.8,-12.7,313,4691,0.00,2.40,0.00,0.000,1030,0.000,0.076,2188,2363,3945,3998,3892,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,4979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4980,begin apogee
$GC,4984,-0.14,0.0,2187,2604,4003,3893,753.6,-12.1,327,5203,0.75,0.00,215.90,1.660,10246,0.273,0.000,2379,2602,3234,3282,3187,0,0,0,0,0,0,14.49,28.83,13.09
$STATE,5204,end apogee,CONTROL_FINISHED_OK
$STATE,5204,begin climb
$GC,5205,0.72,175.1,2375,2603,3279,3176,761.6,0.0,334,5367,0.98,2.38,154.88,1.951,10500,0.156,0.117,2661,3763,2510,2571,2450,0,0,0,0,0,0,13.62,13.07,12.43
$GC,5448,0.72,175.1,2662,3763,2565,2443,741.9,14.8,385,5452,0.00,2.12,0.00,0.000,1030,0.000,0.073,2670,2589,2503,2565,2442,0,0,0,0,0,0,28.83,13.54,28.83
$GC,5763,0.72,175.1,2670,2591,2566,2441,698.6,13.6,398,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2590,2503,2565,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,0.72,175.1,2671,2591,2564,2440,657.5,13.6,408,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2591,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6362,0.72,175.1,2669,2591,2566,2440,617.0,13.4,418,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,0.72,175.1,2671,2591,2565,2440,576.8,13.5,428,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2590,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6962,0.72,175.1,2670,2591,2566,2440,536.7,13.3,438,6967,0.00,2.15,0.00,0.000,260,0.000,0.122,2671,3763,2502,2565,2439,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6992,0.72,175.1,2670,3764,2567,2440,532.2,15.8,444,6997,0.00,1.98,0.00,0.000,1030,0.000,0.078,2679,2608,2502,2565,2439,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7323,0.72,175.1,2679,2609,2566,2440,487.1,13.6,460,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2608,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7622,0.72,175.1,2678,2609,2566,2440,446.4,13.4,470,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,0.72,175.1,2680,2609,2565,2439,405.7,13.5,480,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8223,0.72,175.1,2680,2609,2565,2440,365.7,13.4,490,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8522,0.72,175.1,2678,2609,2567,2440,326.0,13.3,500,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2501,2564,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8822,0.72,175.1,2678,2609,2566,2439,287.3,12.9,510,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2613,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,0.72,175.1,2680,2609,2565,2440,251.2,11.9,520,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2608,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9422,0.75,175.1,2680,2608,2564,2439,217.8,10.9,548,9427,0.00,2.08,0.00,0.000,260,0.000,0.122,2678,3766,2502,2566,2439,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9446,0.75,175.1,2679,3766,2566,2440,214.9,11.7,553,9453,0.00,2.03,0.00,0.000,1030,0.000,0.079,2686,2597,2504,2565,2443,0,0,0,0,0,0,28.83,14.49,28.83
$MODEM_MSG,CACST,6,1,20140819040441.131645,3,1464,31,0258,0150,100,00,00,00,01,1,000,000,2,5,1,0,150,18.9,3.9,-100,-0.9,-01,-0.0,25,900,0025*3F
$MODEM_MSG,CACST,6,1,20140819041658.048295,3,462,26,0197,0150,100,00,00,00,04,-1,-01,-01,1,3,1,0,150,6.4,1.7,-100,1.3,-01,0.4,29,900,0025*18
$GC,9752,0.84,261.4,2686,2598,2567,2440,188.3,7.8,584,9833,0.00,2.22,73.18,1.415,8452,0.000,0.122,2687,3765,2154,2223,2085,0,0,0,0,0,0,28.83,14.05,13.50
$GC,9869,0.84,261.4,2687,3766,2220,2081,176.3,13.1,607,9875,0.00,2.05,0.00,0.000,1030,0.000,0.078,2696,2605,2148,2219,2078,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10175,0.89,261.4,2695,2607,2221,2074,143.2,10.3,638,10180,0.00,2.42,0.00,0.000,516,0.000,0.086,2706,1194,2146,2219,2073,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10209,0.97,261.4,2706,1195,2221,2074,139.7,9.7,645,10216,0.12,2.50,0.00,0.000,3078,0.152,0.097,2751,2598,2146,2220,2073,0,0,0,0,0,0,14.38,14.37,28.83
$GC,10515,0.97,261.4,2751,2599,2220,2073,102.9,11.6,676,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2598,2149,2226,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10814,1.02,313.5,2752,2599,2219,2072,72.0,9.3,706,10846,0.00,2.47,23.05,0.376,8708,0.000,0.084,2759,1193,1957,2040,1874,0,0,0,0,0,0,28.83,14.43,14.23
$GC,10920,1.10,313.5,2762,1193,2054,1882,61.9,9.7,726,10927,0.00,2.50,1.85,0.246,9222,0.000,0.098,2761,2600,1951,2035,1868,0,0,0,0,0,0,28.83,14.47,14.33
$GC,11226,1.30,509.8,2761,2603,2056,1878,45.1,2.9,757,11333,0.25,2.10,99.07,0.300,10500,0.116,0.120,2852,3775,1151,1236,1066,0,0,0,0,0,0,14.52,14.32,14.20
$GC,11352,1.30,509.8,2853,3776,1236,1069,32.1,16.9,781,11359,0.00,2.08,0.00,0.000,1030,0.000,0.080,2861,2590,1150,1232,1069,0,0,0,0,0,0,28.83,14.36,28.83
$FREEZE,8.62,0.414,-1.451,2,1,0
$FREEZE,7.87,0.406,-1.450,2,1,0
$FREEZE,7.16,0.396,-1.449,2,1,0
$FREEZE,6.25,0.394,-1.449,2,1,0
$FREEZE,5.58,0.548,-1.445,2,1,0
$FREEZE,4.82,0.573,-1.445,2,1,0
$FREEZE,4.00,0.512,-1.442,2,1,0
$FREEZE,3.37,0.588,-1.423,2,1,0
$FREEZE,2.79,0.600,-1.419,2,1,0
$FREEZE,2.13,0.603,-1.417,2,1,0
$FREEZE,1.88,0.603,-1.417,2,1,0
$GC,11657,1.41,623.4,2861,2591,1239,1073,2.1,6.6,812,11665,0.00,0.00,6.20,0.208,8706,0.000,0.000,2861,2590,1100,1181,1020,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11665,end climb,SURFACE_DEPTH_REACHED
$STATE,11665,begin surface coast
$FREEZE,1.54,0.600,-1.416,2,1,0
$FREEZE,1.38,0.570,-1.407,2,1,0
$FREEZE,1.36,0.569,-0.344,2,1,0
$FREEZE,1.36,0.549,-1.418,2,1,0
$FINISH,1.4,1.020881
$STATE,11698,end surface coast,CONTROL_FINISHED_OK
$STATE,11698,begin surface
$SM_CCo,11714,73.60,0.193,0,0,497,669.91
$SM_GC,2.46,8.20,0.40,73.60,0.109,0.102,0.193,194,2355,497,-6.95,0.74,669.91,0,0,0,0,0,0,14.47,14.49,14.31
$RAFOS_CLK,165
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7221.25,-14546.09,180814,221541
$TT8_MAMPS,0.046438,0.046438
$HUMID,49.88
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3997904
$24V_AH,12.43,117.581
$10V_AH,12.63,0.000
$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,21.575,56.650,574.125,73.600,0.000,0.000,0.000,232.250,0.000,0.000,26.966,0.000,9393.688,723.290,1916.735,155.622,0.000,1625.838,0.000,1217.773,1480.000,0.536,0.000
$DEVICE_MAMPS,472.770,136.170,1950.750,192.780,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11736.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.027,0.000,0.000,0.000
$MEM,262068
$DATA_FILE_SIZE,26731,817
$CAP_FILE_SIZE,131222,0
$CFSIZE,2097872896,2051112960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12302.39,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,190814,050248,7301.122,-14550.694,37,0.7,57,22.4