version: 66.12
glider: 199
mission: 5
dive: 299
start: 9 5 114 22 14 10
data:
$ID,199
$MISSION,5
$DIVE,299
$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,-25247.572
$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,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
$GPS1,050914,220242,7431.590,-14724.150,38,0.9,58,22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.1
$GPS2,050914,221346,7431.553,-14724.420,4,0.8,24,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,353.8,228076,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-175.1,198,2359,485,506,0.0,0.0,0,81,0.00,0.00,-62.40,0.000,16386,0.000,0.000,196,2362,2011,2020,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.72,-175.1,195,2362,2020,2003,3.3,-2.3,6,142,11.25,2.47,-41.08,0.000,18948,0.470,0.099,2197,953,3946,3999,3894,0,0,0,0,0,0,13.87,14.21,14.48
$GC,252,-0.72,-175.1,2197,954,4001,3897,56.8,-28.9,40,257,0.00,2.53,0.00,0.000,1030,0.000,0.096,2185,2359,3948,3999,3897,0,0,0,0,0,0,28.83,14.20,28.83
$GC,562,-0.72,-175.1,2190,2360,3999,3897,129.0,-21.1,72,567,0.00,2.45,0.00,0.000,516,0.000,0.083,2189,952,3948,4000,3897,0,0,0,0,0,0,28.83,14.32,28.83
$GC,602,-0.72,-175.1,2189,952,4001,3898,137.1,-20.0,80,607,0.00,2.53,0.00,0.000,1030,0.000,0.096,2180,2363,3948,3999,3897,0,0,0,0,0,0,28.83,14.30,28.83
$GC,912,-0.72,-175.1,2179,2363,4001,3898,198.8,-19.1,112,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2363,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-0.72,-175.1,2180,2363,3999,3897,254.8,-16.1,142,1237,0.00,2.45,0.00,0.000,516,0.000,0.083,2179,954,3948,3999,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1337,-0.72,-175.1,2180,955,3999,3898,270.6,-14.1,163,1343,0.12,2.50,0.00,0.000,3078,0.303,0.097,2193,2362,3948,3999,3897,0,0,0,0,0,0,14.12,14.36,28.83
$GC,1654,-0.72,-175.1,2194,2362,3999,3898,313.0,-13.1,176,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-0.72,-175.1,2194,2362,3998,3897,351.9,-13.0,186,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3950,3999,3902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.72,-175.1,2192,2363,4001,3898,390.6,-12.7,196,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2362,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.72,-175.1,2194,2362,3996,3898,428.2,-12.4,206,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2362,3946,3999,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.72,-175.1,2193,2363,4001,3898,465.6,-12.4,216,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-0.72,-175.1,2194,2362,3999,3898,502.1,-12.1,226,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-0.72,-175.1,2193,2362,4001,3898,538.1,-12.0,236,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2362,3950,4004,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3752,-0.72,-175.1,2193,2362,3999,3898,573.7,-11.8,246,3757,0.00,2.45,0.00,0.000,516,0.000,0.081,2193,947,3948,3999,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3787,-0.72,-175.1,2193,948,4001,3899,577.7,-11.4,253,3792,0.00,2.50,0.00,0.000,1030,0.000,0.096,2184,2364,3950,3999,3902,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4114,-0.72,-175.1,2183,2365,4001,3898,617.2,-12.2,268,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3948,3999,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,-0.72,-175.1,2184,2364,3998,3899,653.6,-12.1,278,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3948,3999,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4712,-0.72,-175.1,2185,2364,3998,3899,690.2,-12.2,288,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3949,3999,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5012,-0.72,-175.1,2185,2365,4001,3900,726.7,-12.1,298,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2368,3949,3999,3899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5220,begin apogee
$GC,5225,-0.14,0.0,2182,2608,3999,3900,752.3,-12.2,305,5448,0.80,0.00,219.23,1.616,10246,0.269,0.000,2383,2608,3227,3280,3174,0,0,0,0,0,0,14.18,28.83,12.97
$STATE,5449,end apogee,CONTROL_FINISHED_OK
$STATE,5449,begin climb
$GC,5451,0.72,175.1,2384,2608,3277,3172,761.1,0.0,312,5614,0.95,2.35,154.90,1.890,10500,0.143,0.113,2661,3771,2508,2574,2442,0,0,0,0,0,0,13.57,13.18,12.49
$GC,5765,0.72,175.1,2661,3772,2571,2433,732.8,14.8,378,5769,0.00,2.10,0.00,0.000,1030,0.000,0.070,2666,2589,2500,2570,2431,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6096,0.72,175.1,2670,2588,2571,2431,689.8,12.9,394,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2587,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,0.72,175.1,2670,2588,2571,2431,651.2,12.7,404,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2588,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6694,0.72,175.1,2670,2588,2571,2431,612.6,12.8,414,6699,0.00,2.15,0.00,0.000,260,0.000,0.115,2670,3771,2500,2570,2430,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6719,0.72,175.1,2671,3771,2569,2430,608.8,14.5,419,6725,0.00,2.03,0.00,0.000,1030,0.000,0.070,2679,2602,2500,2570,2430,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7024,0.72,175.1,2679,2603,2571,2431,568.4,13.3,430,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2603,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7324,0.72,175.1,2679,2602,2569,2430,529.0,13.1,440,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2602,2499,2569,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7624,0.72,175.1,2680,2601,2569,2430,489.6,13.2,450,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2602,2498,2569,2428,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b834a6bf1;,*0A
$MODEM_MSG,CACST,6,0,20140906000041.262913,3,378,19,0127,0150,100,00,00,01,04,1,004,000,0,5,1,0,150,9.8,4.3,-100,-1.3,-01,-0.2,23,900,0025*32
$GC,7925,0.72,175.1,2678,2602,2571,2430,449.8,13.2,460,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2602,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8224,0.72,175.1,2678,2602,2569,2430,410.2,13.1,470,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2602,2499,2569,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8524,0.72,175.1,2680,2602,2570,2430,371.6,12.9,480,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2602,2500,2569,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8824,0.72,175.1,2679,2603,2571,2433,333.7,12.5,490,8829,0.00,2.12,0.00,0.000,260,0.000,0.115,2678,3771,2500,2570,2430,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8849,0.72,175.1,2680,3772,2569,2430,330.3,13.5,495,8856,0.00,2.03,0.00,0.000,1030,0.000,0.073,2687,2602,2500,2570,2430,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9154,0.72,175.1,2689,2602,2570,2430,292.0,12.4,506,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2602,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9454,0.72,175.1,2689,2602,2570,2430,257.8,11.1,516,9460,0.00,2.42,0.00,0.000,516,0.000,0.079,2698,1197,2500,2570,2430,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9479,0.77,175.1,2698,1198,2570,2430,255.2,10.4,521,9486,0.00,2.50,0.00,0.000,1030,0.000,0.094,2698,2605,2499,2570,2429,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9784,0.85,255.1,2699,2605,2569,2430,225.8,8.1,548,9856,0.00,0.00,68.43,1.327,8454,0.000,0.000,2698,2605,2184,2261,2107,0,0,0,0,0,0,28.83,28.83,13.56
$GC,10154,0.90,255.1,2699,2605,2254,2088,186.3,10.3,586,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2605,2171,2254,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10455,0.98,255.1,2699,2605,2254,2088,156.0,9.8,616,10460,0.15,2.47,0.00,0.000,2564,0.134,0.077,2765,1197,2170,2254,2087,0,0,0,0,0,0,14.44,14.33,28.83
$GC,10489,0.98,255.1,2766,1198,2254,2088,152.1,11.3,623,10496,0.00,2.50,0.00,0.000,1030,0.000,0.094,2765,2600,2170,2254,2087,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10795,0.98,255.1,2765,2601,2256,2087,116.4,11.2,654,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2600,2170,2254,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11095,1.03,304.4,2765,2600,2257,2086,86.3,9.4,684,11119,0.00,0.00,22.77,0.418,8198,0.000,0.000,2765,2600,1987,2076,1899,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11416,1.13,404.9,2766,2601,2085,1923,58.8,7.2,716,11476,0.00,2.47,52.67,0.343,8708,0.000,0.080,2775,1199,1581,1667,1496,0,0,0,0,0,0,28.83,14.23,14.00
$GC,11622,1.28,559.1,2774,1200,1676,1500,45.2,4.8,757,11713,0.22,2.53,81.12,0.301,11270,0.113,0.094,2855,2600,951,1014,888,0,0,0,0,0,0,14.25,14.19,13.96
$FREEZE,8.65,-1.178,-1.446,2,1,0
$FREEZE,7.78,-1.179,-1.445,2,1,0
$FREEZE,6.93,-1.179,-1.444,2,1,0
$FREEZE,6.02,-1.178,-1.443,2,1,0
$FREEZE,5.20,-1.177,-1.443,2,1,0
$FREEZE,4.25,-1.176,-1.442,2,1,0
$FREEZE,3.43,-1.176,-1.441,2,1,0
$FREEZE,3.02,-1.176,-1.441,2,1,0
$FREEZE,2.47,-1.177,-1.440,2,1,0
$FREEZE,1.87,-1.177,-1.440,2,1,0
$GC,12019,1.34,623.2,2854,2601,1024,888,3.4,8.8,806,12039,0.00,0.00,18.73,0.197,8450,0.000,0.000,2855,2600,801,868,734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12039,end climb,SURFACE_DEPTH_REACHED
$STATE,12039,begin surface coast
$FREEZE,1.38,-1.171,-1.439,2,1,0
$FREEZE,1.51,-1.183,-1.365,2,1,0
$FREEZE,1.41,-1.152,-0.832,2,1,0
$FINISH,1.4,1.012250
$STATE,12062,end surface coast,FINISH_DEPTH_REACHED
$STATE,12062,begin surface
$SM_CCo,12080,37.90,0.195,0,0,498,669.67
$SM_GC,2.63,8.12,0.43,37.90,0.093,0.094,0.195,198,2363,498,-6.94,1.19,669.67,0,0,0,0,0,0,14.32,14.33,14.15
$RAFOS_CLK,255
$MODEM,4,1409961641,74.96720,-146.23320,40.263,58197.2
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7350.26,-14721.22,050914,220616
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.21
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.80
$XPDR_PINGS,1
$SC_FREEKB,3981292
$24V_AH,12.49,160.743
$10V_AH,12.46,0.000
$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,21.625,48.425,617.850,37.900,0.000,0.000,0.000,377.750,0.250,0.000,25.317,0.000,9781.987,709.466,2060.842,227.586,0.000,1754.928,0.000,1213.247,1428.000,0.537,0.000
$DEVICE_MAMPS,469.710,123.165,1889.550,195.075,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12130.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.240,0.000,0.000,0.000
$MEM,190368
$DATA_FILE_SIZE,26715,812
$CAP_FILE_SIZE,131996,0
$CFSIZE,2097872896,2026668032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15090.68,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,060914,013742,7433.208,-14724.364,39,0.8,59,22.2