version: 66.12
glider: 199
mission: 5
dive: 205
start: 8 24 114 8 10 28
data:
$ID,199
$MISSION,5
$DIVE,205
$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,-22219.014
$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,21
$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
$GPS1,240814,080249,7344.727,-14650.285,15,0.7,35,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-72.4
$GPS2,240814,081008,7344.753,-14650.286,6,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.7,171778,-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,13,begin dive
$GC,16,-0.72,-175.1,202,2362,486,504,0.0,0.0,0,79,0.00,0.00,-62.03,0.000,16386,0.000,0.000,200,2363,1976,1989,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,198,2364,1990,1965,3.0,-1.9,6,148,11.07,2.65,-47.00,0.000,18692,0.468,0.143,2181,3767,3944,4000,3889,0,0,0,0,0,0,13.90,14.14,14.45
$GC,183,-0.72,-175.1,2181,3767,4001,3892,33.6,-42.0,27,189,0.00,2.47,0.00,0.000,1030,0.000,0.083,2181,2356,3946,4000,3892,0,0,0,0,0,0,28.83,14.24,28.83
$GC,488,-0.72,-175.1,2181,2354,4001,3894,113.8,-22.3,58,493,0.00,2.60,0.00,0.000,260,0.000,0.124,2171,3767,3946,4000,3893,0,0,0,0,0,0,28.83,14.25,28.83
$GC,513,-0.72,-175.1,2172,3768,4000,3894,119.5,-25.0,63,520,0.12,2.45,0.00,0.000,3078,0.316,0.081,2192,2358,3946,4000,3893,0,0,0,0,0,0,14.11,14.31,28.83
$GC,818,-0.72,-175.1,2194,2357,4000,3894,179.7,-18.7,94,823,0.00,2.42,0.00,0.000,516,0.000,0.090,2193,952,3946,4000,3893,0,0,0,0,0,0,28.83,14.37,28.83
$MODEM_MSG,CACST,6,1,20140824080539.532173,3,99,07,0091,0150,100,00,00,02,05,-1,-01,-01,1,3,0,0,150,6.4,0.3,-100,2.7,-01,0.1,18,900,0025*24
$GC,843,-0.72,-175.1,2194,952,4000,3894,184.2,-19.8,99,852,0.00,2.55,0.00,0.000,1030,0.000,0.099,2184,2359,3946,4000,3893,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1149,-0.72,-175.1,2184,2360,4002,3895,237.7,-16.8,130,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2359,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-0.72,-175.1,2184,2360,4001,3895,286.2,-14.8,146,1474,0.00,2.42,0.00,0.000,516,0.000,0.090,2184,948,3946,4000,3893,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1513,-0.72,-175.1,2184,948,4002,3895,292.8,-14.3,155,1518,0.00,2.50,0.00,0.000,1030,0.000,0.103,2174,2363,3947,4001,3894,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1828,-0.72,-175.1,2174,2364,4001,3895,339.5,-14.5,168,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,-0.72,-175.1,2176,2363,3999,3894,382.2,-14.3,178,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.72,-175.1,2176,2364,4000,3892,424.5,-14.0,188,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.72,-175.1,2174,2364,4001,3894,465.9,-13.8,198,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,-0.72,-175.1,2175,2364,4000,3895,506.6,-13.6,208,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3328,-0.72,-175.1,2176,2363,3999,3894,547.3,-13.5,218,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2362,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3628,-0.72,-175.1,2176,2364,4000,3895,587.6,-13.3,228,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3946,3999,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3928,-0.72,-175.1,2176,2364,4000,3895,627.6,-13.3,238,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-0.72,-175.1,2175,2364,4000,3895,667.3,-13.2,248,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4528,-0.72,-175.1,2174,2369,4001,3896,706.4,-12.9,258,4529,0.12,0.00,0.00,0.000,2054,0.312,0.000,2198,2363,3947,4000,3895,0,0,0,0,0,0,14.45,28.83,28.83
$GC,4828,-0.72,-175.1,2200,2364,3999,3896,740.6,-11.3,268,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2363,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4916,begin apogee
$GC,4921,-0.14,0.0,2199,2609,3999,3896,750.7,-11.3,271,5078,0.70,0.00,153.62,2.019,10246,0.255,0.000,2381,2608,3227,3278,3176,0,0,0,0,0,0,14.45,28.83,13.02
$STATE,5079,end apogee,CONTROL_FINISHED_OK
$STATE,5079,begin climb
$GC,5081,0.72,175.1,2382,2609,3274,3173,756.5,0.0,276,5244,0.95,2.38,153.48,1.936,10500,0.149,0.118,2659,3770,2507,2570,2444,0,0,0,0,0,0,13.67,13.14,12.48
$GC,5383,0.72,175.1,2659,3770,2567,2438,728.2,15.1,339,5389,0.00,2.15,0.00,0.000,1030,0.000,0.075,2668,2602,2501,2565,2437,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5700,0.72,175.1,2669,2601,2566,2436,685.9,13.4,352,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2601,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,0.72,175.1,2669,2601,2566,2436,646.2,13.1,362,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2602,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,0.72,175.1,2669,2601,2566,2436,606.8,13.0,372,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6598,0.72,175.1,2669,2601,2566,2436,567.6,13.1,382,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2601,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6898,0.72,175.1,2669,2602,2566,2435,528.8,12.8,392,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7198,0.72,175.1,2668,2602,2566,2436,490.5,12.9,402,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7498,0.72,175.1,2669,2602,2566,2435,452.5,12.7,412,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,0.72,175.1,2669,2602,2566,2435,414.6,12.6,422,7804,0.00,2.42,0.00,0.000,516,0.000,0.088,2679,1193,2500,2566,2435,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7838,0.72,175.1,2680,1194,2566,2435,409.8,12.2,430,7844,0.00,2.47,0.00,0.000,1030,0.000,0.100,2678,2603,2500,2567,2434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8160,0.72,175.1,2678,2603,2568,2436,368.1,12.9,444,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2603,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8458,0.72,175.1,2680,2603,2566,2436,329.4,12.8,454,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2600,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8758,0.72,175.1,2678,2603,2568,2436,292.6,11.8,464,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9058,0.72,175.1,2680,2608,2567,2435,256.9,11.7,474,9064,0.00,2.42,0.00,0.000,516,0.000,0.086,2689,1189,2500,2566,2435,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9128,0.76,175.1,2689,1190,2568,2435,249.4,10.6,488,9134,0.00,2.47,0.00,0.000,1030,0.000,0.100,2689,2601,2503,2566,2440,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9439,0.81,221.2,2690,2601,2566,2435,217.6,9.6,521,9485,0.00,2.50,38.60,1.386,8708,0.000,0.086,2699,1195,2321,2389,2253,0,0,0,0,0,0,28.83,14.36,13.78
$GC,9520,0.86,271.3,2699,1195,2388,2248,210.0,9.4,537,9571,0.00,2.50,43.40,1.392,9222,0.000,0.099,2699,2600,2116,2195,2038,0,0,0,0,0,0,28.83,14.38,13.56
$GC,9869,0.86,271.3,2699,2601,2193,2025,169.5,11.2,577,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2601,2107,2190,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10169,0.92,271.3,2699,2601,2193,2024,137.3,10.2,607,10174,0.00,2.45,0.00,0.000,516,0.000,0.086,2709,1186,2107,2191,2023,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10200,0.99,271.3,2709,1186,2193,2020,134.3,9.7,613,10205,0.15,2.53,0.00,0.000,3078,0.136,0.100,2765,2605,2107,2191,2023,0,0,0,0,0,0,14.51,14.45,28.83
$GC,10510,0.99,271.3,2765,2605,2193,2023,96.3,11.4,645,10515,0.00,2.45,0.00,0.000,516,0.000,0.087,2775,1194,2107,2191,2023,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10560,1.03,271.3,2776,1195,2193,2023,90.7,10.7,655,10565,0.00,2.50,0.00,0.000,1030,0.000,0.100,2776,2600,2106,2191,2022,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10870,1.14,381.1,2777,2600,2191,2022,61.6,6.8,687,10931,0.00,2.55,52.17,0.354,8708,0.000,0.087,2786,1187,1678,1766,1591,0,0,0,0,0,0,28.83,14.27,14.11
$GC,10962,1.14,381.1,2787,1188,1771,1595,53.6,11.3,702,10966,0.00,2.53,0.00,0.000,1030,0.000,0.099,2786,2600,1683,1772,1595,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11271,1.27,513.9,2786,2600,1773,1595,29.9,5.7,734,11343,0.17,2.55,67.12,0.259,10756,0.133,0.086,2856,1193,1134,1217,1051,0,0,0,0,0,0,14.37,14.27,14.14
$GC,11389,1.34,578.8,2857,1193,1221,1052,20.3,8.7,757,11430,0.00,2.55,33.33,0.235,9222,0.000,0.099,2856,2607,869,935,803,0,0,0,0,0,0,28.83,14.26,14.08
$FREEZE,7.87,-0.903,-1.468,2,1,0
$FREEZE,6.79,-0.894,-1.467,2,1,0
$FREEZE,5.63,-0.889,-1.466,2,1,0
$FREEZE,4.59,-0.889,-1.466,2,1,0
$FREEZE,3.35,-0.889,-1.465,2,1,0
$FREEZE,2.23,-0.891,-1.464,2,1,0
$FREEZE,1.52,-0.917,-1.465,2,1,0
$STATE,11563,end climb,SURFACE_DEPTH_REACHED
$STATE,11563,begin surface coast
$FREEZE,1.39,-0.868,-0.702,2,1,0
$FINISH,1.4,1.010304
$STATE,11573,end surface coast,FINISH_DEPTH_REACHED
$STATE,11573,begin surface
$SM_CCo,11589,45.58,0.191,0,0,497,669.67
$SM_GC,2.50,8.07,0.45,45.58,0.090,0.094,0.191,197,2358,497,-6.94,0.90,669.67,0,0,0,0,0,0,14.36,14.38,14.24
$RAFOS_CLK,510
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14644.11,240814,051347
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.09
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3993600
$24V_AH,12.48,130.240
$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,21.375,60.400,541.725,45.575,0.000,0.000,0.000,262.300,0.000,0.000,27.223,0.000,9381.485,661.805,1866.637,168.604,0.000,1580.681,0.000,1162.625,0.000,0.537,0.000
$DEVICE_MAMPS,468.180,143.055,2018.835,191.250,0.000,0.000,0.000,165.240,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11616.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.238,0.000,0.000,0.000
$MEM,241632
$DATA_FILE_SIZE,26818,780
$CAP_FILE_SIZE,127700,0
$CFSIZE,2097872896,2044035072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10334.47,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,240814,112554,7343.163,-14650.917,36,0.8,56,22.2