version: 66.12
glider: 199
mission: 5
dive: 304
start: 9 6 114 15 43 31
data:
$ID,199
$MISSION,5
$DIVE,304
$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,-25252.707
$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,32
$R_STBD_OVSHOOT,19
$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
$GPS1,060914,153124,7439.815,-14721.252,27,0.8,47,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-70.9
$GPS2,060914,154310,7439.776,-14721.038,3,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,354.4,213046,-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,18,-0.72,-175.1,195,2364,487,506,0.0,0.0,0,81,0.00,0.00,-61.75,0.000,16386,0.000,0.000,194,2363,2001,2013,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.72,-175.1,195,2363,2013,1990,3.4,-2.2,6,142,11.23,2.47,-40.70,0.000,18948,0.468,0.103,2189,953,3945,3999,3892,0,0,0,0,0,0,13.88,14.19,14.48
$GC,367,-0.72,-175.1,2191,952,3999,3895,82.8,-22.6,63,373,0.00,2.50,0.00,0.000,1030,0.000,0.093,2187,2359,3947,3999,3895,0,0,0,0,0,0,28.83,14.23,28.83
$GC,672,-0.72,-175.1,2182,2360,4001,3896,149.7,-20.9,94,677,0.00,2.45,0.00,0.000,516,0.000,0.080,2181,947,3947,4000,3895,0,0,0,0,0,0,28.83,14.30,28.83
$GC,773,-0.72,-175.1,2183,948,3999,3895,169.5,-19.3,114,779,0.12,2.53,0.00,0.000,3078,0.317,0.094,2193,2364,3947,3999,3895,0,0,0,0,0,0,14.09,14.34,28.83
$GC,1088,-0.72,-175.1,2192,2365,4001,3896,224.8,-16.2,146,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2364,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-0.72,-175.1,2194,2365,4000,3896,273.3,-15.0,167,1402,0.00,2.47,0.00,0.000,516,0.000,0.080,2193,947,3947,3999,3896,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1447,-0.72,-175.1,2193,948,4001,3896,280.4,-13.8,177,1452,0.00,2.53,0.00,0.000,1030,0.000,0.094,2184,2361,3946,3999,3894,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1758,-0.72,-175.1,2185,2362,3999,3896,324.6,-14.0,189,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2058,-0.72,-175.1,2185,2362,3999,3896,365.3,-13.4,199,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2361,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.72,-175.1,2185,2362,3999,3895,404.6,-13.0,209,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b753a6ef6;,*09
$MODEM_MSG,CACST,6,0,20140906160036.149820,3,723,22,0132,0150,100,00,00,01,03,1,004,000,0,5,1,0,150,12.3,5.5,-100,-2.5,-01,-0.2,25,900,0025*07
$GC,2658,-0.72,-175.1,2184,2362,4001,3896,444.0,-13.1,219,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.72,-175.1,2184,2362,3999,3895,482.8,-13.0,229,2963,0.00,2.45,0.00,0.000,516,0.000,0.080,2184,952,3947,3999,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3007,-0.72,-175.1,2185,952,3999,3896,489.0,-12.0,239,3013,0.00,2.50,0.00,0.000,1030,0.000,0.095,2174,2360,3947,3999,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3318,-0.72,-175.1,2174,2361,4000,3896,530.3,-13.4,251,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,-0.72,-175.1,2175,2361,3998,3895,570.2,-13.4,261,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3918,-0.72,-175.1,2174,2362,4001,3896,609.6,-13.1,271,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2360,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4218,-0.72,-175.1,2176,2361,3999,3897,648.8,-12.9,281,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2361,3947,3999,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4518,-0.72,-175.1,2174,2361,4001,3897,687.4,-12.8,291,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4818,-0.72,-175.1,2173,2361,4001,3898,725.6,-12.8,301,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2360,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5026,begin apogee
$GC,5031,-0.14,0.0,2173,2607,4001,3896,752.4,-12.6,308,5258,0.82,0.00,224.62,1.730,10246,0.272,0.000,2379,2606,3231,3283,3179,0,0,0,0,0,0,14.19,28.83,12.87
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5259,begin climb
$GC,5261,0.72,175.1,2379,2607,3281,3175,761.0,0.0,315,5424,0.98,0.00,156.00,1.909,10502,0.146,0.000,2660,2606,2511,2575,2448,0,0,0,0,0,0,13.48,28.83,12.48
$GC,5718,0.72,175.1,2660,2608,2572,2429,718.4,12.6,351,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2606,2500,2570,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6018,0.72,175.1,2661,2607,2570,2430,680.7,12.6,361,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2606,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6318,0.72,175.1,2662,2607,2570,2430,642.9,12.5,371,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2606,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6618,0.72,175.1,2660,2607,2571,2430,605.5,12.5,381,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2607,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6918,0.72,175.1,2660,2607,2571,2430,568.3,12.4,391,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2606,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7218,0.72,175.1,2660,2607,2571,2430,531.2,12.3,401,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2606,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,0.72,175.1,2661,2607,2569,2430,494.5,12.3,411,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2606,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7818,0.72,175.1,2661,2606,2570,2430,457.9,12.2,421,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2606,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8118,0.72,175.1,2662,2606,2570,2430,422.0,11.9,431,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2606,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8418,0.72,175.1,2660,2606,2571,2431,386.4,12.0,441,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2606,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8718,0.72,175.1,2659,2606,2572,2430,350.7,11.9,451,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2606,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9018,0.72,175.1,2660,2606,2571,2430,316.3,11.4,461,9023,0.00,2.45,0.00,0.000,516,0.000,0.079,2667,1196,2500,2570,2430,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9042,0.72,175.1,2671,1197,2571,2430,313.5,11.1,466,9049,0.00,2.47,0.00,0.000,1030,0.000,0.093,2671,2602,2500,2570,2430,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9348,0.74,175.1,2671,2601,2571,2430,278.7,11.1,477,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2601,2499,2569,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9648,0.82,175.1,2671,2601,2571,2430,249.0,9.8,487,9653,0.00,2.42,0.00,0.000,516,0.000,0.077,2681,1194,2499,2570,2429,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9673,0.89,247.0,2683,1194,2570,2430,246.8,8.4,492,9739,0.15,2.47,60.67,1.303,11270,0.135,0.093,2736,2600,2218,2291,2146,0,0,0,0,0,0,14.53,14.47,13.68
$GC,10038,0.89,247.0,2737,2600,2284,2128,200.0,12.6,535,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2600,2205,2282,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10338,0.89,247.0,2737,2600,2282,2127,165.4,11.2,565,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2599,2204,2282,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10638,0.95,247.0,2737,2600,2282,2127,133.9,10.1,595,10643,0.00,2.45,0.00,0.000,516,0.000,0.078,2747,1193,2204,2282,2126,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10673,1.00,296.5,2747,1196,2283,2127,130.6,9.4,602,10719,0.00,2.50,42.00,1.317,9222,0.000,0.093,2747,2605,2021,2106,1937,0,0,0,0,0,0,28.83,14.40,13.66
$GC,11018,1.06,296.5,2746,2607,2096,1915,92.0,10.1,641,11023,0.00,2.47,0.00,0.000,516,0.000,0.080,2755,1196,2004,2095,1914,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11068,1.10,296.5,2757,1197,2096,1914,86.9,10.6,651,11073,0.00,2.53,0.00,0.000,1030,0.000,0.093,2757,2600,2003,2094,1913,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11378,1.20,396.3,2758,2601,2094,1912,59.7,7.2,683,11434,0.20,2.15,47.88,0.346,10500,0.125,0.114,2826,3764,1615,1703,1527,0,0,0,0,0,0,14.30,14.19,14.00
$GC,11659,1.35,540.1,2827,3765,1704,1542,36.8,5.2,739,11740,0.00,2.00,74.95,0.279,9222,0.000,0.073,2835,2597,1027,1097,957,0,0,0,0,0,0,28.83,14.26,14.01
$FREEZE,8.30,-1.202,-1.443,2,1,0
$FREEZE,7.58,-1.201,-1.442,2,1,0
$FREEZE,6.88,-1.202,-1.441,2,1,0
$FREEZE,6.15,-1.201,-1.441,2,1,0
$FREEZE,5.38,-1.200,-1.440,2,1,0
$FREEZE,4.67,-1.201,-1.440,2,1,0
$FREEZE,4.32,-1.201,-1.439,2,1,0
$FREEZE,3.79,-1.199,-1.439,2,1,0
$FREEZE,3.25,-1.199,-1.438,2,1,0
$FREEZE,2.55,-1.200,-1.438,2,1,0
$FREEZE,1.70,-1.200,-1.437,2,1,0
$GC,12039,1.45,637.0,2835,2598,1105,958,4.7,7.3,785,12073,0.17,0.00,31.35,0.197,10498,0.125,0.000,2899,2594,775,842,709,0,0,0,0,0,0,14.25,28.83,28.83
$STATE,12073,end climb,SURFACE_DEPTH_REACHED
$STATE,12073,begin surface coast
$FREEZE,1.54,-1.191,-0.769,2,1,0
$FINISH,1.5,1.011310
$STATE,12077,end surface coast,FINISH_DEPTH_REACHED
$STATE,12077,begin surface
$SM_CCo,12094,34.33,0.194,0,0,498,669.67
$SM_GC,2.74,8.27,0.40,34.33,0.093,0.106,0.194,192,2376,498,-6.94,1.22,669.67,0,0,0,0,0,0,14.33,14.29,14.15
$RAFOS_CLK,497
$MODEM,4,1410019236,74.92220,-145.92400,35.150,50946.0
$RAFOS_FIX,7435.711426,-14718.006836,060914,121222,2,255,0.24
$IRIDIUM_FIX,7350.26,-14719.30,060914,084127
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.66
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3980628
$24V_AH,12.48,162.569
$10V_AH,12.40,0.000
$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,21.950,44.675,637.475,34.325,0.000,0.000,0.000,468.200,0.000,0.000,25.795,0.000,9768.768,718.052,2087.033,265.016,0.000,1835.440,0.000,1186.967,1498.000,0.537,0.000
$DEVICE_MAMPS,468.180,121.635,1908.675,193.545,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12126.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.115,0.000,0.000,0.000
$MEM,187512
$DATA_FILE_SIZE,26707,791
$CAP_FILE_SIZE,130202,0
$CFSIZE,2097872896,2025750528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12816.57,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,060914,190713,7441.407,-14719.985,36,0.8,56,22.2