version: 66.12
glider: 199
mission: 5
dive: 306
start: 9 6 114 22 44 50
data:
$ID,199
$MISSION,5
$DIVE,306
$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,-25258.229
$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,22
$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
$GPS1,060914,223642,7442.908,-14719.426,37,0.7,57,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-70.7
$GPS2,060914,224429,7442.931,-14719.417,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,354.7,207252,-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,17,-0.72,-175.1,201,2357,500,494,0.0,0.0,0,70,0.00,0.00,-51.60,0.000,16386,0.000,0.000,200,2357,1765,1787,1743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.72,-175.1,201,2357,1786,1744,3.3,-2.3,5,141,11.20,2.50,-51.00,0.000,18948,0.467,0.103,2195,937,3945,3997,3893,0,0,0,0,0,0,13.90,14.19,14.49
$GC,366,-0.72,-175.1,2195,938,4002,3898,85.5,-21.4,64,372,0.00,2.55,0.00,0.000,1030,0.000,0.092,2186,2362,3949,4001,3897,0,0,0,0,0,0,28.83,14.21,28.83
$GC,671,-0.72,-175.1,2186,2363,4002,3897,150.3,-20.4,95,676,0.00,2.47,0.00,0.000,516,0.000,0.081,2186,937,3949,4001,3897,0,0,0,0,0,0,28.83,14.28,28.83
$GC,825,-0.72,-175.1,2187,938,4000,3898,178.8,-18.0,126,832,0.00,2.53,0.00,0.000,1030,0.000,0.093,2176,2360,3948,4001,3896,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1131,-0.72,-175.1,2177,2360,4000,3897,235.2,-17.6,157,1136,0.00,2.45,0.00,0.000,516,0.000,0.080,2176,943,3949,4001,3897,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1191,-0.72,-175.1,2177,943,4000,3898,245.6,-16.8,169,1196,0.15,2.53,0.00,0.000,3078,0.295,0.093,2194,2364,3949,4001,3897,0,0,0,0,0,0,14.05,14.29,28.83
$GC,1521,-0.72,-175.1,2195,2364,4000,3897,293.2,-13.9,183,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2364,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1821,-0.72,-175.1,2194,2365,4001,3897,333.1,-13.1,193,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2364,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2121,-0.72,-175.1,2195,2365,4000,3898,371.4,-12.6,203,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2364,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2421,-0.72,-175.1,2195,2365,4006,3898,408.5,-12.4,213,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2364,3947,3998,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,-0.72,-175.1,2195,2365,4000,3898,445.2,-12.2,223,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2363,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3021,-0.72,-175.1,2194,2364,4002,3898,481.3,-12.0,233,3026,0.00,2.47,0.00,0.000,516,0.000,0.081,2194,937,3948,4000,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3076,-0.72,-175.1,2194,938,4002,3897,488.0,-12.2,244,3082,0.00,2.50,0.00,0.000,1030,0.000,0.093,2185,2361,3949,4001,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3381,-0.72,-175.1,2186,2359,4001,3898,526.0,-12.5,255,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3953,4008,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3681,-0.72,-175.1,2186,2359,4000,3898,563.6,-12.5,265,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.72,-175.1,2185,2360,4002,3898,601.3,-12.6,275,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-0.72,-175.1,2186,2360,4000,3898,638.7,-12.5,285,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4582,-0.72,-175.1,2185,2359,4002,3899,676.1,-12.4,295,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2359,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,-0.72,-175.1,2186,2359,4001,3899,713.0,-12.3,305,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3950,4001,3899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5179,begin apogee
$GC,5184,-0.14,0.0,2183,2602,4002,3900,750.1,-12.4,315,5409,0.77,0.00,221.77,1.627,10246,0.266,0.000,2379,2600,3231,3283,3179,0,0,0,0,0,0,14.08,28.83,12.88
$STATE,5409,end apogee,CONTROL_FINISHED_OK
$STATE,5410,begin climb
$GC,5412,0.72,175.1,2380,2601,3278,3174,759.4,0.0,322,5574,0.98,0.00,156.35,1.894,10502,0.145,0.000,2661,2600,2514,2580,2449,0,0,0,0,0,0,13.50,28.83,12.46
$GC,5871,0.72,175.1,2662,2601,2571,2432,717.7,12.5,358,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2600,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b70da703a;,*08
$MODEM_MSG,CACST,6,0,20140907000034.577325,3,68,18,0128,0150,100,00,00,00,02,1,004,000,0,5,1,0,150,8.0,4.0,-100,-1.0,-01,0.1,28,900,0025*22
$GC,6171,0.72,175.1,2660,2601,2573,2432,680.1,12.5,368,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2600,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6471,0.72,175.1,2662,2601,2570,2432,642.9,12.3,378,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2600,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6771,0.72,175.1,2660,2600,2573,2432,606.2,12.2,388,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2600,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,0.72,175.1,2661,2600,2573,2432,569.5,12.2,398,7076,0.00,2.10,0.00,0.000,260,0.000,0.114,2661,3771,2500,2570,2431,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7086,0.72,175.1,2661,3772,2572,2432,567.5,12.6,401,7091,0.00,2.05,0.00,0.000,1030,0.000,0.071,2670,2586,2501,2571,2432,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7402,0.72,175.1,2670,2586,2572,2432,527.2,12.7,414,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2586,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7701,0.72,175.1,2670,2587,2572,2432,489.3,12.6,424,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2586,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8001,0.72,175.1,2672,2587,2571,2432,452.0,12.3,434,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2586,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8301,0.72,175.1,2671,2587,2571,2432,414.6,12.4,444,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2586,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8601,0.72,175.1,2669,2587,2572,2431,377.9,12.1,454,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2586,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8901,0.72,175.1,2670,2586,2572,2432,341.9,11.9,464,8906,0.00,2.15,0.00,0.000,260,0.000,0.116,2670,3773,2501,2571,2431,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8941,0.72,175.1,2669,3774,2572,2432,336.6,13.8,472,8946,0.00,2.03,0.00,0.000,1030,0.000,0.072,2679,2600,2501,2571,2431,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9262,0.72,175.1,2680,2600,2571,2431,298.3,11.8,486,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2600,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9561,0.77,175.1,2680,2600,2571,2432,266.1,10.5,496,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2598,2500,2568,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9861,0.84,241.9,2678,2601,2572,2432,236.1,8.7,514,9923,0.00,2.53,57.03,1.462,8708,0.000,0.080,2689,1193,2236,2309,2163,0,0,0,0,0,0,28.83,14.25,13.59
$GC,9963,0.90,241.9,2689,1194,2307,2155,226.7,10.0,532,9968,0.12,2.53,0.00,0.000,3078,0.148,0.093,2741,2605,2229,2305,2153,0,0,0,0,0,0,14.20,14.26,28.83
$GC,10275,0.90,241.9,2735,2605,2307,2151,187.5,12.1,564,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2610,2223,2296,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10573,0.94,241.9,2736,2605,2306,2150,153.4,10.8,594,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2604,2227,2305,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10873,0.99,298.3,2737,2605,2304,2149,123.6,9.1,624,10929,0.00,2.50,49.30,1.378,8708,0.000,0.080,2747,1193,2003,2090,1917,0,0,0,0,0,0,28.83,14.20,13.61
$GC,10988,0.99,298.3,2746,1193,2084,1910,111.6,11.2,647,10995,0.00,2.55,0.00,0.000,1030,0.000,0.092,2747,2603,1993,2082,1905,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11294,1.07,298.3,2746,2604,2084,1906,78.2,9.8,678,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2603,1993,2082,1905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11594,1.21,446.0,2746,2604,2084,1904,57.6,5.1,708,11675,0.25,2.53,71.85,0.341,10756,0.114,0.080,2843,1202,1412,1498,1327,0,0,0,0,0,0,14.29,14.20,13.99
$GC,11837,1.28,446.0,2844,1204,1505,1331,36.1,9.9,756,11842,0.00,2.50,0.00,0.000,1030,0.000,0.092,2843,2599,1417,1505,1330,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12147,1.49,656.1,2843,2600,1506,1329,18.4,2.3,788,12261,0.22,2.20,106.00,0.227,10500,0.120,0.116,2918,3773,553,578,529,0,0,0,0,0,0,14.27,14.10,14.07
$FREEZE,7.70,-1.243,-1.448,2,1,0
$FREEZE,6.71,-1.245,-1.447,2,1,0
$FREEZE,5.90,-1.245,-1.446,2,1,0
$FREEZE,5.03,-1.246,-1.445,2,1,0
$FREEZE,4.01,-1.246,-1.444,2,1,0
$FREEZE,3.12,-1.246,-1.444,2,1,0
$FREEZE,2.25,-1.246,-1.443,2,1,0
$FREEZE,1.57,-1.244,-1.442,2,1,0
$STATE,12299,end climb,SURFACE_DEPTH_REACHED
$STATE,12299,begin surface coast
$FREEZE,1.52,-1.244,-1.442,2,1,0
$FREEZE,1.51,-1.208,-0.923,2,1,0
$FINISH,1.5,1.013609
$STATE,12309,end surface coast,FINISH_DEPTH_REACHED
$STATE,12309,begin surface
$SM_CCo,12328,7.15,0.202,0,0,497,669.67
$SM_GC,3.28,8.38,2.50,7.15,0.095,0.073,0.202,196,2362,497,-6.95,0.93,669.67,0,0,0,0,0,0,14.28,14.28,14.12
$RAFOS_CLK,345
$MODEM,4,1410048034,74.90820,-145.79440,33.577,48685.3
$RAFOS_FIX,7435.711426,-14718.006836,060914,121222,2,255,0.24
$IRIDIUM_FIX,7358.04,-14717.36,060914,191025
$TT8_MAMPS,0.04494,0.04494
$HUMID,48.85
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3980360
$24V_AH,12.46,163.285
$10V_AH,12.39,0.000
$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,22.075,48.600,662.300,7.150,0.000,0.000,0.000,265.900,0.000,0.000,26.863,0.000,9924.340,713.516,1944.727,219.602,0.000,1653.063,0.000,1226.428,1432.000,0.537,0.000
$DEVICE_MAMPS,467.415,123.165,1894.140,201.960,0.000,0.000,0.000,171.360,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12359.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.398,0.000,0.000,0.000
$MEM,186388
$DATA_FILE_SIZE,26767,820
$CAP_FILE_SIZE,129789,0
$CFSIZE,2097872896,2025357312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12561.35,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,070914,021154,7444.531,-14718.801,33,0.9,53,22.2