version: 66.12
glider: 199
mission: 5
dive: 264
start: 9 1 114 15 2 46
data:
$ID,199
$MISSION,5
$DIVE,264
$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,-24473.125
$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,14
$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
$GPS1,010914,145512,7501.487,-14651.237,34,0.8,54,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-73.3
$GPS2,010914,150230,7501.441,-14651.127,6,0.9,26,22.5
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.4,313806,-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,-175.1,197,2357,503,497,0.0,0.0,0,80,0.00,0.00,-61.97,0.000,16386,0.000,0.000,195,2356,1966,1982,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,195,2357,1984,1953,3.2,-2.2,6,141,11.18,2.53,-42.62,0.000,18948,0.469,0.104,2190,952,3946,4003,3889,0,0,0,0,0,0,13.92,14.27,14.55
$GC,206,-0.72,-175.1,2190,953,4004,3893,45.5,-33.3,31,213,0.00,2.58,0.00,0.000,1030,0.000,0.100,2188,2357,3948,4003,3893,0,0,0,0,0,0,28.83,14.20,28.83
$GC,511,-0.72,-175.1,2181,2358,4004,3894,122.9,-22.1,62,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.72,-175.1,2182,2358,4011,3893,183.6,-18.9,92,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2356,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1111,-0.72,-175.1,2183,2358,4002,3894,237.9,-17.0,122,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1432,-0.72,-175.1,2183,2358,4003,3890,288.4,-15.1,138,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1731,-0.72,-175.1,2182,2358,4004,3894,331.2,-14.1,148,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2357,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,-0.72,-175.1,2183,2358,4002,3894,372.6,-13.5,158,2036,0.00,2.55,0.00,0.000,260,0.000,0.122,2171,3774,3948,4003,3893,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2086,-0.72,-175.1,2171,3775,4004,3894,380.4,-14.6,169,2093,0.12,2.40,0.00,0.000,3078,0.282,0.076,2194,2358,3947,4002,3893,0,0,0,0,0,0,14.31,14.56,28.83
$GC,2392,-0.72,-175.1,2193,2359,4003,3894,417.6,-12.2,180,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2358,3951,4009,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.72,-175.1,2196,2359,4002,3893,454.0,-12.1,190,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2363,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.72,-175.1,2196,2359,4002,3894,489.7,-12.0,200,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2358,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3291,-0.72,-175.1,2196,2359,4003,3894,525.7,-12.0,210,3296,0.00,2.55,0.00,0.000,260,0.000,0.121,2186,3772,3948,4003,3893,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3316,-0.72,-175.1,2187,3772,4002,3894,528.9,-13.1,215,3323,0.00,2.42,0.00,0.000,1030,0.000,0.075,2186,2362,3948,4003,3893,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3621,-0.72,-175.1,2186,2362,4004,3894,567.4,-12.6,226,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2366,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3921,-0.72,-175.1,2187,2361,4002,3894,604.9,-12.4,236,3926,0.00,2.58,0.00,0.000,260,0.000,0.119,2174,3771,3946,3998,3894,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3961,-0.72,-175.1,2177,3772,4002,3892,610.3,-13.1,244,3966,0.00,2.42,0.00,0.000,1030,0.000,0.073,2176,2351,3948,4003,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4283,-0.72,-175.1,2177,2351,3998,3894,652.3,-13.1,258,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2350,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4581,-0.72,-175.1,2177,2351,4003,3894,690.8,-12.7,268,4586,0.00,2.60,0.00,0.000,260,0.000,0.119,2165,3775,3948,4003,3893,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4611,-0.72,-175.1,2165,3780,4003,3895,694.9,-14.6,274,4616,0.15,2.42,0.00,0.000,3078,0.266,0.073,2196,2355,3948,4003,3894,0,0,0,0,0,0,14.18,14.42,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5ba7da6a1d;,*0C
$MODEM_MSG,CACST,6,0,20140901160011.107838,3,340,25,0114,0150,100,00,00,00,02,1,004,000,0,5,1,0,150,15.8,4.1,-100,-1.1,-01,0.1,26,900,0025*20
$GC,4941,-0.72,-175.1,2197,2355,4003,3895,732.3,-11.0,290,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2355,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5119,begin apogee
$GC,5124,-0.14,0.0,2197,2603,4002,3895,752.3,-11.1,296,5290,0.73,0.00,162.48,1.996,10246,0.259,0.000,2380,2602,3229,3280,3179,0,0,0,0,0,0,14.23,28.83,12.96
$STATE,5291,end apogee,CONTROL_FINISHED_OK
$STATE,5291,begin climb
$GC,5293,0.72,175.1,2381,2603,3277,3176,757.8,0.0,301,5458,0.98,2.33,155.20,1.894,10500,0.150,0.114,2662,3760,2506,2568,2444,0,0,0,0,0,0,13.57,13.16,12.51
$GC,5598,0.72,175.1,2662,3761,2566,2441,729.8,15.4,366,5604,0.00,2.10,0.00,0.000,1030,0.000,0.070,2671,2605,2502,2565,2439,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5903,0.72,175.1,2671,2605,2566,2439,688.9,13.3,377,5908,0.00,2.45,0.00,0.000,516,0.000,0.080,2681,1194,2501,2565,2438,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5953,0.72,175.1,2683,1194,2564,2438,682.3,12.7,387,5958,0.00,2.53,0.00,0.000,1030,0.000,0.095,2681,2604,2501,2565,2437,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6263,0.72,175.1,2681,2605,2566,2438,639.2,13.9,399,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2605,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,0.72,175.1,2683,2605,2565,2438,597.8,13.8,409,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2604,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6863,0.72,175.1,2681,2605,2566,2438,556.7,13.8,419,6868,0.00,2.42,0.00,0.000,516,0.000,0.080,2692,1189,2501,2565,2438,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6918,0.72,175.1,2692,1189,2566,2438,549.2,13.3,430,6924,0.00,2.50,0.00,0.000,1030,0.000,0.095,2692,2609,2501,2565,2438,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7223,0.72,175.1,2691,2609,2566,2438,505.8,14.3,441,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2608,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7523,0.72,175.1,2693,2609,2565,2438,463.2,14.2,451,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2609,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7823,0.72,175.1,2691,2609,2566,2438,421.4,13.8,461,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2610,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8123,0.72,175.1,2692,2609,2567,2436,380.7,13.5,471,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2609,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8423,0.72,175.1,2693,2609,2565,2438,341.3,12.7,481,8428,0.00,2.42,0.00,0.000,516,0.000,0.080,2702,1188,2501,2565,2437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8493,0.72,175.1,2704,1188,2565,2438,332.6,12.1,495,8498,0.15,2.47,0.00,0.000,5126,0.295,0.094,2669,2604,2501,2565,2437,0,0,0,0,0,0,14.32,14.54,28.83
$GC,8814,0.72,175.1,2673,2605,2565,2438,296.3,11.2,509,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2610,2498,2560,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9113,0.77,175.1,2673,2605,2564,2438,263.5,10.5,519,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2604,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9413,0.86,267.6,2672,2610,2566,2437,235.9,7.5,539,9500,0.12,2.55,78.75,1.475,10756,0.148,0.081,2726,1170,2130,2204,2057,0,0,0,0,0,0,14.61,14.15,13.52
$GC,9600,0.86,267.6,2727,1170,2201,2046,213.7,12.7,576,9606,0.00,2.58,0.00,0.000,1030,0.000,0.095,2726,2602,2123,2201,2045,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9905,0.86,267.6,2727,2602,2201,2044,175.0,11.6,607,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2602,2122,2201,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10206,0.92,267.6,2725,2603,2203,2044,143.1,10.1,637,10210,0.00,2.42,0.00,0.000,516,0.000,0.080,2736,1196,2122,2201,2043,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10240,0.97,267.6,2737,1196,2201,2043,139.5,10.6,644,10247,0.00,2.50,0.00,0.000,1030,0.000,0.095,2736,2603,2120,2199,2042,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10547,1.02,267.6,2736,2603,2203,2043,109.3,10.2,675,10551,0.00,2.10,0.00,0.000,260,0.000,0.119,2736,3768,2121,2201,2042,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10777,1.10,346.0,2736,3770,2202,2043,87.4,8.2,721,10822,0.15,2.00,37.83,0.426,11270,0.133,0.076,2793,2594,1817,1899,1736,0,0,0,0,0,0,14.38,14.40,14.02
$GC,11127,1.18,346.0,2793,2595,1914,1747,47.7,9.7,761,11133,0.00,2.40,1.27,0.251,8708,0.000,0.077,2804,1201,1814,1899,1730,0,0,0,0,0,0,28.83,14.31,14.16
$GC,11357,1.39,559.1,2804,1201,1914,1745,41.5,2.2,807,11475,0.25,2.50,109.38,0.291,11270,0.116,0.094,2887,2601,950,1018,883,0,0,0,0,0,0,14.33,14.29,14.03
$FREEZE,8.60,-1.152,-1.444,2,1,0
$FREEZE,7.67,-1.154,-1.443,2,1,0
$FREEZE,6.55,-1.154,-1.442,2,1,0
$FREEZE,5.41,-1.165,-1.441,2,1,0
$FREEZE,4.34,-1.161,-1.440,2,1,0
$FREEZE,3.24,-1.171,-1.439,2,1,0
$FREEZE,2.18,-1.179,-1.437,2,1,0
$FREEZE,1.25,-1.182,-1.436,2,1,0
$STATE,11759,end climb,SURFACE_DEPTH_REACHED
$STATE,11759,begin surface coast
$FREEZE,1.29,-1.158,-1.399,2,1,0
$FINISH,1.3,1.020635
$STATE,11768,end surface coast,CONTROL_FINISHED_OK
$STATE,11768,begin surface
$SM_CCo,11785,55.53,0.197,0,0,498,669.67
$SM_GC,2.08,8.30,0.43,55.53,0.102,0.098,0.197,200,2363,498,-6.95,1.19,669.67,0,0,0,0,0,0,14.34,14.38,14.20
$RAFOS_CLK,371
$MODEM,4,1409587211,75.08420,-146.42039,10.108,14655.9
$RAFOS_FIX,7447.239746,-14654.475586,310814,080805,2,255,0.09
$IRIDIUM_FIX,7413.78,-14655.44,010914,113657
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.56
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3985924
$24V_AH,12.51,151.006
$10V_AH,12.50,0.000
$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,22.125,64.225,544.900,55.525,0.000,0.000,0.000,243.400,0.000,0.000,27.480,0.000,9415.518,667.354,1988.332,202.163,0.000,1616.017,0.000,1281.335,1495.000,0.537,0.000
$DEVICE_MAMPS,468.945,125.460,1995.885,196.605,0.000,0.000,0.000,171.360,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11814.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.346,0.000,0.000,0.000
$MEM,209304
$DATA_FILE_SIZE,29987,860
$CAP_FILE_SIZE,133101,0
$CFSIZE,2097872896,2032599040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12076.51,0x2378b6,7,5
$SOUNDSPEED,1450.2
$GPS,010914,182126,7459.767,-14651.584,24,1.1,44,22.5