version: 66.12
glider: 199
mission: 5
dive: 202
start: 8 23 114 22 27 44
data:
$ID,199
$MISSION,5
$DIVE,202
$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,-22215.234
$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,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
$GPS1,230814,222013,7341.255,-14640.561,35,0.8,55,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-71.2
$GPS2,230814,222725,7341.283,-14640.514,7,0.8,27,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.3,8458,-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,-175.1,193,2364,487,507,0.0,0.0,0,69,0.00,0.00,-51.60,0.000,16386,0.000,0.000,195,2364,1753,1773,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,193,2365,1773,1734,3.2,-2.2,5,144,10.88,2.45,-56.70,0.000,18948,0.462,0.104,2194,952,3943,4002,3884,0,0,0,0,0,0,13.99,14.26,14.54
$GC,369,-0.72,-175.1,2195,953,4002,3895,81.0,-22.5,65,375,0.00,2.50,0.00,0.000,1030,0.000,0.098,2186,2359,3948,4002,3894,0,0,0,0,0,0,28.83,14.33,28.83
$GC,679,-0.72,-175.1,2185,2361,4003,3895,148.3,-20.6,97,685,0.00,2.42,0.00,0.000,516,0.000,0.088,2186,952,3948,4003,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,809,-0.72,-175.1,2185,953,4003,3895,172.8,-18.5,123,815,0.00,2.50,0.00,0.000,1030,0.000,0.099,2176,2365,3946,3999,3894,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1119,-0.72,-175.1,2175,2366,4004,3895,230.5,-17.5,155,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2366,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1419,-0.72,-175.1,2175,2367,4004,3895,280.0,-16.2,173,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2365,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.72,-175.1,2175,2366,4003,3894,325.4,-14.9,183,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2365,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.72,-175.1,2175,2366,4003,3895,368.8,-14.3,193,2025,0.00,2.47,0.00,0.000,260,0.000,0.121,2164,3769,3948,4002,3894,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2069,-0.72,-175.1,2164,3770,4003,3895,376.6,-15.5,203,2075,0.15,2.42,0.00,0.000,3078,0.277,0.077,2196,2328,3947,4001,3894,0,0,0,0,0,0,14.39,14.61,28.83
$GC,2381,-0.72,-175.1,2195,2327,4003,3895,415.7,-12.3,215,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2327,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-0.72,-175.1,2195,2327,4003,3895,452.7,-12.2,225,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2327,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2979,-0.72,-175.1,2197,2327,4001,3895,489.4,-12.1,235,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2326,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3279,-0.72,-175.1,2197,2327,4001,3895,525.7,-12.1,245,3285,0.00,2.58,0.00,0.000,260,0.000,0.122,2186,3769,3951,4002,3901,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3319,-0.72,-175.1,2186,3769,4003,3895,530.9,-12.9,253,3325,0.00,2.40,0.00,0.000,1030,0.000,0.076,2186,2367,3948,4002,3894,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3640,-0.72,-175.1,2186,2368,4002,3895,571.8,-12.7,267,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2367,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-0.72,-175.1,2187,2367,4002,3895,609.6,-12.6,277,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2367,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.72,-175.1,2187,2367,4002,3895,647.0,-12.5,287,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2366,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4539,-0.72,-175.1,2187,2368,4002,3895,684.2,-12.4,297,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2366,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.72,-175.1,2185,2368,4003,3896,721.0,-12.2,307,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2363,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5078,begin apogee
$GC,5082,-0.14,0.0,2186,2605,4002,3895,750.3,-12.2,315,5306,0.77,0.00,221.15,1.722,10246,0.269,0.000,2384,2605,3230,3284,3177,0,0,0,0,0,0,14.45,28.83,12.95
$STATE,5307,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5309,0.72,175.1,2386,2606,3280,3174,758.9,0.0,322,5472,0.93,0.00,158.95,2.092,10502,0.132,0.000,2659,2605,2513,2577,2449,0,0,0,0,0,0,13.57,28.83,12.33
$GC,5769,0.72,175.1,2659,2605,2570,2431,713.9,12.9,343,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2604,2500,2571,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6069,0.72,175.1,2658,2606,2572,2431,675.3,12.8,353,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2605,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,0.72,175.1,2659,2606,2572,2431,636.7,12.9,363,6375,0.00,2.45,0.00,0.000,516,0.000,0.083,2670,1196,2500,2570,2430,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6394,0.72,175.1,2669,1197,2573,2430,633.5,12.4,368,6401,0.00,2.50,0.00,0.000,1030,0.000,0.097,2670,2599,2500,2570,2430,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6699,0.72,175.1,2671,2600,2570,2431,593.0,13.3,379,6705,0.00,2.45,0.00,0.000,516,0.000,0.082,2679,1182,2499,2570,2429,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6729,0.72,175.1,2679,1183,2571,2430,589.1,12.9,385,6735,0.00,2.53,0.00,0.000,1030,0.000,0.096,2679,2607,2500,2570,2430,0,0,0,0,0,0,28.83,14.41,28.83
$MODEM_MSG,CACST,6,1,20140824000535.873569,3,322,13,0101,0150,100,01,01,02,01,-1,-01,-01,1,3,0,0,150,5.6,1.1,-100,1.9,-01,0.4,21,900,0025*11
$GC,7059,0.72,175.1,2680,2608,2570,2431,543.7,13.7,401,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2607,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,0.72,175.1,2679,2607,2571,2431,502.4,13.7,411,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2607,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7659,0.72,175.1,2677,2608,2571,2431,461.6,13.6,421,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2607,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,0.72,175.1,2679,2608,2571,2431,420.9,13.6,431,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2607,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8259,0.72,175.1,2679,2608,2572,2430,380.8,13.3,441,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2607,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8559,0.72,175.1,2680,2608,2570,2430,341.7,12.9,451,8565,0.00,2.42,0.00,0.000,516,0.000,0.083,2689,1194,2500,2570,2430,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8589,0.72,175.1,2690,1189,2572,2431,337.9,12.6,457,8595,0.00,2.47,0.00,0.000,1030,0.000,0.096,2690,2609,2499,2570,2429,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8921,0.72,175.1,2691,2609,2570,2431,295.0,13.0,473,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2608,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9219,0.72,175.1,2691,2608,2570,2430,257.8,12.0,483,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2609,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9520,0.79,175.1,2690,2609,2572,2431,225.6,9.9,507,9525,0.00,2.42,0.00,0.000,516,0.000,0.083,2698,1195,2500,2570,2430,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9624,0.87,250.0,2701,1190,2570,2430,216.3,8.3,528,9692,0.00,2.47,62.83,1.409,9222,0.000,0.096,2700,2600,2211,2286,2136,0,0,0,0,0,0,28.83,14.58,13.64
$GC,9990,0.90,250.0,2699,2598,2273,2117,176.1,10.9,571,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2600,2193,2272,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10290,0.96,250.0,2700,2601,2273,2116,144.7,10.1,601,10295,0.12,2.42,0.00,0.000,2564,0.152,0.083,2756,1189,2193,2272,2115,0,0,0,0,0,0,14.51,14.48,28.83
$GC,10334,0.96,250.0,2757,1190,2271,2115,139.6,11.5,610,10341,0.00,2.50,0.00,0.000,1030,0.000,0.097,2756,2604,2194,2272,2116,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10641,1.03,250.0,2756,2605,2272,2115,105.4,9.9,641,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2604,2193,2272,2114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10940,1.09,313.4,2757,2605,2271,2114,77.0,8.8,671,10971,0.00,0.00,29.45,0.394,8198,0.000,0.000,2756,2604,1951,2035,1868,0,0,0,0,0,0,28.83,28.83,14.10
$GC,11271,1.21,435.8,2756,2605,2055,1882,49.6,6.2,704,11342,0.22,2.50,63.05,0.314,10756,0.120,0.085,2845,1197,1454,1542,1367,0,0,0,0,0,0,14.40,14.28,14.07
$GC,11376,1.28,435.8,2846,1198,1548,1371,41.2,10.1,720,11383,0.00,2.53,0.00,0.000,1030,0.000,0.097,2845,2600,1459,1548,1371,0,0,0,0,0,0,28.83,14.24,28.83
$FREEZE,8.97,-1.179,-1.481,2,1,0
$FREEZE,7.62,-1.179,-1.480,2,1,0
$FREEZE,6.63,-0.854,-1.467,2,1,0
$GC,11681,1.50,658.3,2847,2601,1548,1370,17.6,1.8,751,11804,0.22,2.55,110.72,0.220,10756,0.125,0.086,2929,1196,543,564,523,0,0,0,0,0,0,14.35,14.23,14.11
$FREEZE,4.39,-0.670,-1.462,2,1,0
$FREEZE,3.51,-0.670,-1.462,2,1,0
$FREEZE,2.80,-0.658,-1.462,2,1,0
$FREEZE,1.93,-0.658,-1.461,2,1,0
$STATE,11821,end climb,SURFACE_DEPTH_REACHED
$STATE,11821,begin surface coast
$FREEZE,1.42,-0.652,-1.461,2,1,0
$FREEZE,1.47,-0.652,-1.461,2,1,0
$FINISH,1.5,1.021523
$STATE,11832,end surface coast,CONTROL_FINISHED_OK
$STATE,11832,begin surface
$SM_CCo,11849,5.72,0.208,0,0,499,669.91
$SM_GC,3.55,8.43,2.15,5.72,0.098,0.104,0.208,199,2359,499,-6.94,-0.62,669.91,0,0,0,0,0,0,14.33,14.28,14.20
$RAFOS_CLK,275
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14631.32,230814,185902
$TT8_MAMPS,0.045689,0.045689
$HUMID,48.70
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3993984
$24V_AH,12.33,129.210
$10V_AH,12.56,0.000
$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,21.725,54.575,646.150,5.725,0.000,0.000,0.000,242.900,0.000,0.000,28.224,0.000,9506.336,744.385,1865.818,171.527,0.000,1619.191,0.000,1161.865,1418.000,0.537,0.000
$DEVICE_MAMPS,462.060,126.225,2091.510,208.080,0.000,0.000,0.000,174.420,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11883.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.482,0.000,0.000,0.000
$MEM,243372
$DATA_FILE_SIZE,26743,780
$CAP_FILE_SIZE,127527,0
$CFSIZE,2097872896,2044592128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12103.35,0x2378b6,7,5
$SOUNDSPEED,1449.1
$GPS,240814,014648,7342.604,-14644.074,35,0.8,55,22.2