version: 66.12
glider: 199
mission: 5
dive: 312
start: 9 7 114 20 13 11
data:
$ID,199
$MISSION,5
$DIVE,312
$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,-25629.309
$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,25
$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
$GPS1,070914,200042,7452.818,-14714.925,36,0.8,56,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-68.6
$GPS2,070914,201252,7452.822,-14714.974,3,0.8,23,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,355.7,189198,-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,16,begin dive
$GC,18,-0.72,-175.1,190,2355,507,490,0.0,0.0,0,67,0.00,0.00,-47.78,0.000,16386,0.000,0.000,191,2355,1648,1677,1620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.72,-175.1,192,2354,1676,1620,3.1,-1.7,5,150,11.38,2.58,-59.35,0.000,18948,0.471,0.106,2193,946,3948,4003,3893,0,0,0,0,0,0,13.85,14.10,14.42
$GC,376,-0.72,-175.1,2195,945,4003,3897,81.7,-23.3,66,383,0.00,2.55,0.00,0.000,1030,0.000,0.095,2185,2363,3949,4002,3896,0,0,0,0,0,0,28.83,14.13,28.83
$MODEM_MSG,CARDP,8,0,1,0,0,1;5;5c1f4a253a;,*0B
$MODEM_MSG,CACST,6,0,20140907202212.192626,3,515,15,0182,0150,100,00,00,02,03,1,008,000,0,5,1,0,150,-2.1,2.7,-100,0.3,-01,0.1,31,900,0025*1E
$GC,682,-0.72,-175.1,2186,2363,4002,3897,150.1,-21.1,97,689,0.00,2.53,0.00,0.000,260,0.000,0.116,2174,3766,3949,4002,3896,0,0,0,0,0,0,28.83,14.10,28.83
$GC,834,-0.72,-175.1,2174,3766,4004,3897,182.6,-20.3,127,839,0.00,2.42,0.00,0.000,1030,0.000,0.071,2174,2354,3949,4003,3896,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1144,-0.72,-175.1,2175,2353,4002,3897,240.6,-16.9,159,1149,0.00,2.42,0.00,0.000,516,0.000,0.083,2174,950,3949,4003,3896,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1174,-0.72,-175.1,2175,951,4002,3897,245.7,-16.9,165,1179,0.15,2.53,0.00,0.000,3078,0.302,0.094,2192,2368,3949,4003,3896,0,0,0,0,0,0,14.13,14.35,28.83
$GC,1504,-0.72,-175.1,2194,2369,4002,3897,291.7,-13.6,179,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2368,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1804,-0.72,-175.1,2193,2369,4004,3898,332.5,-13.4,189,1809,0.00,2.45,0.00,0.000,516,0.000,0.082,2193,952,3949,4002,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1879,-0.72,-175.1,2192,953,4004,3898,342.1,-12.3,204,1884,0.00,2.50,0.00,0.000,1030,0.000,0.096,2184,2361,3946,3997,3896,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2194,-0.72,-175.1,2184,2361,4004,3897,383.0,-12.8,217,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2495,-0.72,-175.1,2190,2361,4002,3897,421.8,-13.0,227,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2794,-0.72,-175.1,2184,2361,4004,3897,460.4,-12.9,237,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,-0.72,-175.1,2185,2361,4002,3897,498.9,-12.8,247,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3394,-0.72,-175.1,2185,2362,4002,3897,536.9,-12.6,257,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,-0.72,-175.1,2184,2362,4003,3897,574.4,-12.3,267,3699,0.00,2.42,0.00,0.000,516,0.000,0.081,2184,952,3950,4003,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3749,-0.72,-175.1,2185,953,4002,3897,581.0,-11.7,278,3755,0.00,2.50,0.00,0.000,1030,0.000,0.094,2175,2366,3950,4003,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4054,-0.72,-175.1,2176,2369,4003,3896,619.9,-12.8,289,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2369,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.72,-175.1,2175,2369,4002,3898,657.9,-12.8,299,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2369,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4654,-0.72,-175.1,2175,2370,4004,3899,696.1,-12.7,309,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2369,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4954,-0.72,-175.1,2176,2370,4002,3899,734.1,-12.6,319,4959,0.00,2.45,0.00,0.000,516,0.000,0.081,2179,946,3951,4003,3899,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5009,-0.72,-175.1,2175,946,4003,3900,741.1,-12.6,330,5016,0.15,2.50,0.00,0.000,3078,0.287,0.094,2194,2367,3950,4002,3899,0,0,0,0,0,0,14.16,14.42,28.83
$STATE,5102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5102,begin apogee
$GC,5107,-0.14,0.0,2196,2601,4002,3899,752.0,-11.5,334,5331,0.75,0.00,220.95,1.628,10246,0.264,0.000,2383,2601,3231,3283,3179,0,0,0,0,0,0,14.16,28.83,12.93
$STATE,5332,end apogee,CONTROL_FINISHED_OK
$STATE,5332,begin climb
$GC,5334,0.72,175.1,2384,2601,3278,3174,761.1,0.0,341,5498,0.95,2.75,155.35,1.888,10756,0.140,0.077,2673,1192,2513,2578,2448,0,0,0,0,0,0,13.56,13.22,12.50
$GC,5503,0.81,256.3,2674,1193,2574,2444,754.8,8.0,363,5584,0.00,2.72,74.70,1.864,9222,0.000,0.090,2673,2600,2181,2259,2103,0,0,0,0,0,0,28.83,13.29,12.50
$GC,5888,0.81,256.3,2674,2600,2252,2084,698.2,15.0,390,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2599,2168,2253,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6188,0.81,256.3,2674,2600,2259,2084,653.2,15.1,400,6193,0.00,2.45,0.00,0.000,516,0.000,0.080,2683,1198,2169,2255,2083,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6213,0.81,256.3,2683,1197,2255,2084,649.5,14.6,405,6220,0.00,2.53,0.00,0.000,1030,0.000,0.093,2683,2602,2168,2253,2083,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6518,0.81,256.3,2683,2602,2255,2084,602.1,15.6,416,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2602,2168,2253,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,0.81,256.3,2684,2603,2253,2084,555.5,15.6,426,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2602,2168,2253,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7118,0.81,256.3,2683,2603,2255,2084,509.5,15.3,436,7123,0.00,2.45,0.00,0.000,516,0.000,0.081,2694,1190,2169,2253,2085,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7148,0.81,256.3,2695,1190,2253,2083,505.0,15.0,442,7153,0.00,2.50,0.00,0.000,1030,0.000,0.092,2694,2610,2167,2253,2082,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7480,0.81,256.3,2695,2611,2253,2083,452.5,16.0,458,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2610,2168,2253,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7778,0.81,256.3,2693,2611,2254,2084,404.5,15.7,468,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2610,2165,2253,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8078,0.81,256.3,2695,2611,2253,2083,357.9,15.3,478,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2610,2168,2253,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8378,0.81,256.3,2695,2611,2253,2083,312.8,15.0,488,8383,0.00,2.45,0.00,0.000,516,0.000,0.080,2704,1194,2168,2253,2083,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8393,0.81,256.3,2704,1195,2256,2083,310.6,15.1,491,8398,0.00,2.50,0.00,0.000,1030,0.000,0.092,2704,2607,2168,2253,2083,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8710,0.81,256.3,2704,2608,2253,2084,263.7,14.7,504,8715,0.00,2.45,0.00,0.000,516,0.000,0.080,2714,1195,2168,2253,2083,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8734,0.81,256.3,2714,1195,2262,2084,259.8,14.1,509,8741,0.00,2.47,0.00,0.000,1030,0.000,0.093,2713,2599,2168,2253,2083,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9040,0.81,256.3,2715,2599,2252,2083,217.5,11.9,534,9045,0.00,2.42,0.00,0.000,516,0.000,0.079,2724,1194,2168,2253,2083,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9070,0.81,256.3,2724,1195,2255,2084,214.1,11.1,540,9075,0.00,2.47,0.00,0.000,1030,0.000,0.092,2724,2599,2168,2253,2083,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9380,0.81,256.3,2725,2600,2253,2083,176.5,12.1,572,9385,0.00,2.08,0.00,0.000,260,0.000,0.115,2724,3764,2168,2253,2083,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9410,0.81,256.3,2725,3765,2253,2083,172.6,13.4,578,9415,0.15,1.98,0.00,0.000,5126,0.296,0.071,2701,2595,2168,2253,2083,0,0,0,0,0,0,14.19,14.51,28.83
$GC,9721,0.88,331.2,2700,2595,2255,2084,144.3,8.3,610,9791,0.00,0.00,65.75,1.343,8454,0.000,0.000,2700,2594,1871,1958,1784,0,0,0,0,0,0,28.83,28.83,13.54
$GC,10090,0.96,406.7,2700,2595,1949,1764,110.8,8.3,653,10162,0.15,2.25,67.47,1.311,10500,0.145,0.116,2751,3764,1563,1654,1473,0,0,0,0,0,0,14.29,14.02,13.51
$GC,10178,0.96,406.7,2752,3764,1642,1467,101.3,11.7,669,10184,0.00,2.08,0.00,0.000,1030,0.000,0.073,2759,2605,1553,1643,1463,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10484,0.98,406.7,2761,2605,1638,1453,63.4,11.0,700,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2602,1544,1637,1452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10784,1.08,504.8,2759,2605,1639,1450,36.1,7.3,730,10836,0.00,2.55,46.92,0.282,8708,0.000,0.082,2770,1194,1172,1259,1085,0,0,0,0,0,0,28.83,14.23,14.05
$GC,10946,1.19,618.7,2770,1195,1268,1096,24.6,6.6,762,11012,0.15,2.55,59.88,0.245,11270,0.126,0.093,2826,2600,705,760,651,0,0,0,0,0,0,14.20,14.15,14.02
$FREEZE,8.33,-1.196,-1.443,2,1,0
$FREEZE,7.40,-1.198,-1.442,2,1,0
$FREEZE,6.58,-1.198,-1.441,2,1,0
$FREEZE,6.07,-1.198,-1.441,2,1,0
$FREEZE,5.55,-1.198,-1.440,2,1,0
$FREEZE,5.03,-1.197,-1.440,2,1,0
$FREEZE,4.23,-1.196,-1.439,2,1,0
$FREEZE,3.52,-1.195,-1.439,2,1,0
$FREEZE,2.51,-1.194,-1.438,2,1,0
$FREEZE,1.51,-1.193,-1.437,2,1,0
$STATE,11216,end climb,SURFACE_DEPTH_REACHED
$STATE,11216,begin surface coast
$FREEZE,1.56,-1.135,-1.358,2,1,0
$FREEZE,1.51,-1.172,-0.234,2,1,0
$FINISH,1.5,1.003232
$STATE,11237,end surface coast,FINISH_DEPTH_REACHED
$STATE,11237,begin surface
$SM_CCo,11253,26.60,0.199,0,0,498,669.67
$SM_GC,2.36,8.10,0.43,26.60,0.098,0.092,0.199,195,2368,498,-6.94,1.07,669.67,0,0,0,0,0,0,14.34,14.37,14.19
$RAFOS_CLK,497
$MODEM,8,1410121332,75.46640,-153.47440,131.193,190147.9
$RAFOS_FIX,7447.420410,-14714.666992,070914,121221,3,255,0.13
$IRIDIUM_FIX,7405.88,-14722.29,070914,125037
$TT8_MAMPS,0.046438,0.046438
$HUMID,49.52
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.90
$XPDR_PINGS,1
$SC_FREEKB,3979564
$24V_AH,12.50,165.521
$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,21.925,74.350,691.025,26.600,0.000,0.000,0.000,485.875,0.250,0.000,25.685,0.000,8844.769,760.125,2125.281,278.255,0.000,1953.047,0.000,1187.873,618.000,0.538,0.000
$DEVICE_MAMPS,471.240,120.870,1888.020,198.900,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11287.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.647,0.000,0.000,0.000
$MEM,183020
$DATA_FILE_SIZE,26723,798
$CAP_FILE_SIZE,131757,0
$CFSIZE,2097872896,2024144896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12996.52,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,070914,232219,7454.589,-14713.930,12,0.8,32,22.3