version: 66.12
glider: 199
mission: 5
dive: 172
start: 8 19 114 15 28 12
data:
$ID,199
$MISSION,5
$DIVE,172
$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,-21814.701
$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,15
$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
$GPS1,190814,152054,7306.095,-14551.373,22,0.8,42,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.0
$GPS2,190814,152750,7306.090,-14551.378,5,0.8,26,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.2,16518,-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,-175.1,197,2368,497,501,0.0,0.0,0,69,0.00,0.00,-51.70,0.000,16386,0.000,0.000,198,2368,1766,1784,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,206,2368,1790,1750,3.2,-2.4,5,140,10.90,2.55,-51.62,0.000,18692,0.469,0.138,2182,3768,3945,4002,3889,0,0,0,0,0,0,14.04,14.32,14.58
$GC,364,-0.72,-175.1,2182,3769,4004,3894,88.6,-26.5,64,370,0.00,2.45,0.00,0.000,1030,0.000,0.080,2182,2366,3947,4002,3893,0,0,0,0,0,0,28.83,14.43,28.83
$GC,669,-0.72,-175.1,2182,2365,4004,3894,154.6,-20.5,95,674,0.00,2.55,0.00,0.000,260,0.000,0.122,2171,3774,3950,4008,3893,0,0,0,0,0,0,28.83,14.44,28.83
$GC,869,-0.72,-175.1,2171,3778,4004,3894,196.7,-19.9,135,874,0.00,2.42,0.00,0.000,1030,0.000,0.079,2172,2356,3948,4002,3894,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1179,-0.72,-175.1,2171,2355,4004,3894,249.9,-16.4,167,1185,0.12,2.53,0.00,0.000,2308,0.316,0.122,2185,3767,3948,4002,3894,0,0,0,0,0,0,14.36,14.47,28.83
$GC,1239,-0.72,-175.1,2185,3771,4004,3894,259.7,-15.9,179,1244,0.00,2.40,0.00,0.000,1030,0.000,0.077,2185,2356,3948,4003,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1570,-0.72,-175.1,2185,2356,4004,3894,308.0,-14.0,195,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-0.72,-175.1,2186,2356,4002,3894,350.0,-13.9,205,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2355,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-0.72,-175.1,2186,2356,4002,3894,390.6,-13.4,215,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2469,-0.72,-175.1,2184,2356,4004,3894,430.3,-13.2,225,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2769,-0.72,-175.1,2182,2356,4004,3894,469.3,-12.9,235,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3069,-0.72,-175.1,2186,2356,4002,3894,508.1,-12.9,245,3074,0.00,2.55,0.00,0.000,260,0.000,0.120,2175,3770,3947,4002,3893,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3109,-0.72,-175.1,2174,3771,4004,3894,513.8,-14.3,253,3114,0.00,2.45,0.00,0.000,1030,0.000,0.076,2175,2355,3947,4002,3893,0,0,0,0,0,0,28.83,14.50,28.83
$MODEM_MSG,CACST,6,1,20140819160447.612189,3,186,22,0092,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,15.5,1.2,-100,1.8,-01,0.3,23,900,0025*29
$MODEM_MSG,CACST,6,1,20140819161704.432819,3,667,22,0135,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,10.2,3.0,-100,-0.0,-01,0.2,25,900,0025*06
$GC,3429,-0.72,-175.1,2175,2355,4004,3894,557.4,-13.6,267,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2355,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-0.72,-175.1,2176,2355,4002,3894,597.7,-13.4,277,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2353,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-0.72,-175.1,2173,2355,4005,3894,637.7,-13.2,287,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2354,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4329,-0.72,-175.1,2174,2355,4003,3895,677.5,-13.3,297,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2355,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4629,-0.72,-175.1,2176,2355,4002,3894,717.2,-13.2,307,4634,0.00,2.53,0.00,0.000,260,0.000,0.121,2164,3770,3948,4003,3894,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4674,-0.72,-175.1,2165,3771,4002,3895,723.5,-14.1,316,4680,0.10,2.42,0.00,0.000,3078,0.263,0.076,2198,2353,3948,4002,3894,0,0,0,0,0,0,14.45,14.63,28.83
$STATE,4928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4928,begin apogee
$GC,4933,-0.14,0.0,2200,2603,4004,3895,752.3,-10.9,327,5157,0.70,0.00,221.15,1.669,10246,0.258,0.000,2384,2603,3227,3280,3174,0,0,0,0,0,0,14.47,28.83,13.05
$STATE,5158,end apogee,CONTROL_FINISHED_OK
$STATE,5158,begin climb
$GC,5160,0.72,175.1,2385,2604,3279,3175,761.0,0.0,334,5322,0.93,2.38,153.88,1.921,10500,0.142,0.116,2657,3759,2509,2569,2449,0,0,0,0,0,0,13.64,13.06,12.41
$GC,5351,0.72,175.1,2656,3760,2567,2444,749.4,14.3,376,5357,0.00,2.20,0.00,0.000,1030,0.000,0.073,2665,2599,2504,2565,2443,0,0,0,0,0,0,28.83,13.32,28.83
$GC,5682,0.72,175.1,2664,2600,2567,2439,705.8,13.2,392,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2599,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,0.72,175.1,2666,2600,2565,2439,665.9,13.3,402,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6282,0.72,175.1,2664,2599,2565,2440,626.5,13.0,412,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2596,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6581,0.72,175.1,2666,2600,2565,2438,587.1,13.2,422,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2599,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6881,0.72,175.1,2665,2600,2567,2438,547.6,13.3,432,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7181,0.72,175.1,2665,2600,2567,2438,508.8,12.9,442,7187,0.00,2.38,0.00,0.000,516,0.000,0.083,2671,1192,2501,2565,2437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7206,0.72,175.1,2675,1193,2567,2438,505.6,12.6,447,7213,0.00,2.50,0.00,0.000,1030,0.000,0.095,2675,2599,2498,2560,2437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7511,0.72,175.1,2677,2600,2565,2438,464.6,13.4,458,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7811,0.72,175.1,2676,2600,2565,2437,424.8,13.2,468,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8111,0.72,175.1,2675,2600,2567,2438,384.4,13.4,478,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,0.72,175.1,2675,2600,2567,2438,344.5,13.3,488,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2504,2565,2443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8711,0.72,175.1,2675,2600,2567,2438,306.4,12.5,498,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,0.72,175.1,2675,2600,2566,2438,268.6,12.5,508,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9311,0.72,175.1,2675,2600,2567,2437,234.1,11.2,526,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9611,0.80,250.0,2675,2600,2566,2438,205.5,8.3,556,9683,0.00,2.17,63.78,1.414,8452,0.000,0.122,2678,3763,2199,2269,2130,0,0,0,0,0,0,28.83,14.18,13.62
$GC,9703,0.80,250.0,2676,3763,2264,2127,196.5,11.8,573,9708,0.00,2.05,0.00,0.000,1030,0.000,0.076,2683,2595,2194,2263,2125,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10014,0.86,250.0,2685,2597,2263,2120,165.0,10.1,605,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2597,2191,2264,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10313,0.92,305.0,2684,2597,2265,2119,136.8,9.2,635,10365,0.15,0.00,47.12,1.357,10246,0.139,0.000,2738,2596,1978,2060,1897,0,0,0,0,0,0,14.51,28.83,13.63
$GC,10663,0.92,305.0,2739,2596,2052,1881,93.9,11.8,670,10668,0.00,2.42,0.00,0.000,516,0.000,0.083,2748,1191,1966,2053,1880,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10698,0.96,305.0,2750,1191,2052,1881,90.2,10.6,677,10704,0.00,2.50,0.00,0.000,1030,0.000,0.096,2749,2604,1966,2052,1880,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11003,1.07,415.2,2750,2597,2052,1880,59.6,6.7,708,11057,0.00,0.00,52.35,0.349,8710,0.000,0.000,2749,2597,1537,1628,1446,0,0,0,0,0,0,28.83,28.83,14.17
$GC,11353,1.16,510.7,2751,2597,1638,1454,32.2,7.4,745,11405,0.20,0.00,49.17,0.265,10502,0.128,0.000,2819,2593,1147,1234,1060,0,0,0,0,0,0,14.48,28.83,14.26
$FREEZE,8.90,-0.048,-1.435,2,1,0
$FREEZE,8.37,-0.064,-1.432,2,1,0
$FREEZE,7.91,-0.063,-1.431,2,1,0
$FREEZE,7.37,-0.063,-1.430,2,1,0
$FREEZE,6.93,-0.064,-1.429,2,1,0
$FREEZE,6.44,-0.060,-1.428,2,1,0
$FREEZE,5.95,-0.059,-1.428,2,1,0
$FREEZE,5.33,-0.061,-1.427,2,1,0
$FREEZE,4.92,-0.053,-1.427,2,1,0
$FREEZE,4.30,-0.055,-1.426,2,1,0
$FREEZE,3.93,-0.054,-1.426,2,1,0
$FREEZE,3.29,-0.055,-1.426,2,1,0
$FREEZE,2.85,-0.058,-1.425,2,1,0
$FREEZE,2.61,-0.058,-1.425,2,1,0
$FREEZE,2.24,-0.058,-1.425,2,1,0
$FREEZE,1.74,-0.058,-1.424,2,1,0
$GC,11703,1.31,656.4,2820,2597,1238,1069,2.8,5.2,785,11724,0.12,0.00,19.20,0.199,11010,0.155,0.000,2864,2597,992,1076,908,0,0,0,0,0,0,14.50,28.83,28.83
$STATE,11725,end climb,SURFACE_DEPTH_REACHED
$STATE,11725,begin surface coast
$FREEZE,1.37,-0.071,-1.425,2,1,0
$FREEZE,1.32,-0.101,-0.582,2,1,0
$FREEZE,1.40,-0.100,-0.951,2,1,0
$FREEZE,1.40,-0.075,-0.215,2,1,0
$FINISH,1.4,1.003015
$STATE,11759,end surface coast,CONTROL_FINISHED_OK
$STATE,11759,begin surface
$SM_CCo,11773,59.80,0.192,0,0,499,669.67
$SM_GC,2.44,8.07,0.43,59.80,0.098,0.099,0.192,199,2359,499,-6.95,1.02,669.67,0,0,0,0,0,0,14.46,14.50,14.33
$RAFOS_CLK,440
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7228.39,-14545.84,190814,115735
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.96
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3997452
$24V_AH,12.41,118.953
$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,21.300,44.350,606.650,59.800,0.000,0.000,0.000,246.100,0.000,0.000,28.672,0.000,9495.366,725.334,1878.939,154.845,0.000,1618.155,0.000,1181.046,1481.000,0.536,0.000
$DEVICE_MAMPS,468.945,138.465,1920.915,192.015,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.963,0.000,0.000,0.000
$MEM,259776
$DATA_FILE_SIZE,26694,792
$CAP_FILE_SIZE,127416,0
$CFSIZE,2097872896,2050359296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12372.28,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,190814,184654,7307.607,-14551.207,34,0.8,54,22.4