version: 66.12
glider: 199
mission: 5
dive: 274
start: 9 3 114 1 38 19
data:
$ID,199
$MISSION,5
$DIVE,274
$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,-24484.561
$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,29
$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
$GPS1,030914,012713,7445.020,-14700.560,40,0.8,60,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-72.7
$GPS2,030914,013752,7445.006,-14700.299,5,0.8,25,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.4,283427,-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,16,-0.72,-175.1,196,2365,498,499,0.0,0.0,0,80,0.00,0.00,-62.25,0.000,16386,0.000,0.000,194,2364,1959,1974,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,196,2365,1974,1949,3.1,-2.1,6,145,11.25,2.62,-43.78,0.000,18692,0.470,0.141,2183,3766,3947,4005,3889,0,0,0,0,0,0,13.91,14.18,14.50
$GC,310,-0.72,-175.1,2183,3767,4006,3894,77.9,-27.2,52,315,0.00,2.42,0.00,0.000,1030,0.000,0.076,2183,2359,3949,4005,3893,0,0,0,0,0,0,28.83,14.28,28.83
$GC,620,-0.72,-175.1,2184,2359,4004,3894,148.0,-20.7,84,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2358,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,920,-0.72,-175.1,2184,2359,4004,3894,205.9,-18.5,114,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2363,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-0.72,-175.1,2182,2359,4006,3894,259.7,-15.5,142,1245,0.00,2.55,0.00,0.000,260,0.000,0.120,2172,3769,3949,4004,3894,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1305,-0.72,-175.1,2172,3769,4007,3894,270.9,-16.9,155,1310,0.00,2.40,0.00,0.000,1030,0.000,0.076,2172,2358,3949,4005,3893,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1631,-0.72,-175.1,2173,2357,4000,3894,320.7,-14.9,170,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2356,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1930,-0.72,-175.1,2173,2357,4005,3894,364.5,-14.5,180,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2356,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-0.72,-175.1,2173,2357,4004,3894,407.1,-14.1,190,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2356,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2530,-0.72,-175.1,2173,2356,4004,3894,448.6,-13.7,200,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2356,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.72,-175.1,2171,2357,4006,3894,489.1,-13.4,210,2835,0.00,2.55,0.00,0.000,260,0.000,0.122,2161,3772,3947,4005,3890,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2880,-0.72,-175.1,2161,3768,4004,3894,496.4,-14.7,220,2885,0.15,2.40,0.00,0.000,3078,0.274,0.076,2193,2352,3949,4005,3894,0,0,0,0,0,0,14.28,14.54,28.83
$GC,3191,-0.72,-175.1,2193,2352,4006,3894,532.9,-11.5,232,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2351,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3490,-0.72,-175.1,2193,2352,4006,3894,567.3,-11.4,242,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3952,4011,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3790,-0.72,-175.1,2194,2352,4005,3894,601.3,-11.3,252,3795,0.00,2.55,0.00,0.000,260,0.000,0.121,2185,3767,3949,4005,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3835,-0.72,-175.1,2185,3769,4006,3895,606.9,-12.4,261,3840,0.00,2.38,0.00,0.000,1030,0.000,0.075,2185,2359,3949,4005,3894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4150,-0.72,-175.1,2188,2360,4006,3894,644.7,-12.0,274,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3948,4005,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.72,-175.1,2184,2356,4006,3896,680.9,-12.0,284,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3949,4005,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.72,-175.1,2185,2359,4006,3896,717.1,-12.1,294,4755,0.00,2.55,0.00,0.000,260,0.000,0.122,2174,3770,3950,4005,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4780,-0.72,-175.1,2176,3770,4004,3895,721.0,-13.5,300,4786,0.00,2.42,0.00,0.000,1030,0.000,0.075,2174,2348,3950,4005,3895,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5023,-0.14,0.0,2172,2610,4006,3896,751.4,-12.6,313,5249,0.82,0.00,222.23,1.633,10246,0.269,0.000,2381,2609,3228,3279,3178,0,0,0,0,0,0,14.26,28.83,12.97
$STATE,5250,end apogee,CONTROL_FINISHED_OK
$STATE,5250,begin climb
$GC,5252,0.72,175.1,2382,2609,3276,3174,760.0,0.0,320,5413,0.95,0.00,155.38,1.891,10502,0.144,0.000,2658,2609,2512,2573,2452,0,0,0,0,0,0,13.57,28.83,12.51
$GC,5710,0.72,175.1,2658,2609,2567,2434,716.3,12.7,351,5715,0.00,2.53,0.00,0.000,516,0.000,0.083,2669,1201,2500,2567,2433,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5745,0.72,175.1,2669,1202,2568,2433,712.0,12.3,358,5750,0.00,2.55,0.00,0.000,1030,0.000,0.096,2669,2599,2499,2566,2433,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6072,0.72,175.1,2668,2600,2568,2433,669.5,13.1,373,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,0.72,175.1,2670,2599,2566,2433,630.3,13.1,383,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,0.72,175.1,2670,2599,2566,2432,590.9,13.1,393,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,0.72,175.1,2670,2600,2566,2432,551.9,13.1,403,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2600,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,0.72,175.1,2669,2600,2568,2433,513.2,12.8,413,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,0.72,175.1,2669,2600,2567,2433,474.9,12.8,423,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,0.72,175.1,2670,2599,2566,2432,437.0,12.6,433,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8170,0.72,175.1,2670,2600,2566,2432,399.8,12.5,443,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8484,0.72,175.1,2670,2600,2566,2432,363.3,12.2,453,8489,0.00,2.42,0.00,0.000,516,0.000,0.082,2679,1200,2500,2569,2432,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8523,0.72,175.1,2680,1199,2566,2432,357.0,11.9,461,8529,0.00,2.53,0.00,0.000,1030,0.000,0.096,2679,2607,2499,2566,2432,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8845,0.72,175.1,2680,2607,2566,2432,317.4,12.4,475,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2607,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9143,0.72,175.1,2679,2605,2568,2433,282.0,11.6,485,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2607,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,0.80,175.1,2681,2610,2566,2433,249.7,9.7,495,9448,0.00,2.10,0.00,0.000,260,0.000,0.120,2679,3773,2499,2566,2432,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9608,0.85,175.1,2679,3773,2566,2433,232.0,10.5,528,9614,0.00,2.00,0.00,0.000,1030,0.000,0.074,2689,2598,2499,2567,2432,0,0,0,0,0,0,28.83,14.42,28.83
$MODEM_MSG,CARDP,6,0,1,0,0,1;5;5c89b9f4c3;,*04
$MODEM_MSG,CACST,6,0,20140903042000.690089,3,634,09,0162,0150,100,00,00,03,05,1,006,000,0,5,1,0,150,2.5,3.1,-100,-0.1,-01,0.1,18,900,0025*15
$MODEM_MSG,CACST,6,1,20140903042240.503483,3,710,16,0302,0150,100,00,00,02,05,1,006,000,2,5,1,0,150,31.3,-7.1,-100,10.1,-01,-0.0,19,900,0025*30
$GC,9914,0.95,281.2,2689,2599,2566,2433,209.3,6.9,559,10007,0.17,0.00,91.50,1.432,10246,0.126,0.000,2751,2598,2083,2159,2007,0,0,0,0,0,0,14.40,28.83,13.40
$GC,10303,0.95,281.2,2750,2599,2146,1980,159.0,13.4,598,10308,0.00,2.15,0.00,0.000,260,0.000,0.118,2750,3772,2062,2145,1980,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10343,0.95,281.2,2752,3772,2145,1980,153.1,15.2,606,10348,0.00,2.05,0.00,0.000,1030,0.000,0.075,2760,2575,2062,2145,1979,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10653,0.95,281.2,2761,2575,2144,1979,114.1,11.8,638,10658,0.00,2.17,0.00,0.000,260,0.000,0.117,2760,3767,2061,2145,1978,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10768,0.95,281.2,2760,3767,2146,1979,98.9,12.8,661,10775,0.00,2.05,0.00,0.000,1030,0.000,0.075,2769,2600,2059,2144,1974,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11074,1.02,349.1,2768,2599,2145,1978,67.2,8.6,692,11109,0.00,2.42,31.12,0.366,8708,0.000,0.078,2779,1197,1805,1886,1725,0,0,0,0,0,0,28.83,14.28,14.03
$GC,11259,1.11,436.5,2778,1198,1906,1736,51.4,7.8,729,11310,0.00,2.53,46.33,0.320,9222,0.000,0.096,2780,2600,1449,1538,1361,0,0,0,0,0,0,28.83,14.23,14.03
$GC,11615,1.27,599.4,2779,2600,1544,1371,27.4,4.4,770,11708,0.20,2.47,83.72,0.251,10756,0.118,0.082,2858,1200,785,846,724,0,0,0,0,0,0,14.31,14.22,14.07
$FREEZE,8.98,-1.166,-1.442,2,1,0
$FREEZE,8.36,-1.166,-1.441,2,1,0
$GC,11803,1.33,656.5,2858,1200,856,724,10.9,9.1,807,11837,0.00,2.55,29.52,0.213,9222,0.000,0.096,2858,2605,554,590,518,0,0,0,0,0,0,28.83,14.21,14.09
$FREEZE,6.93,-1.166,-1.440,2,1,0
$FREEZE,5.78,-1.167,-1.439,2,1,0
$FREEZE,4.63,-1.171,-1.438,2,1,0
$FREEZE,3.49,-1.169,-1.437,2,1,0
$FREEZE,2.28,-1.169,-1.436,2,1,0
$FREEZE,1.41,-1.157,-1.435,2,1,0
$STATE,11890,end climb,SURFACE_DEPTH_REACHED
$STATE,11890,begin surface coast
$FREEZE,1.33,-1.164,-1.315,2,1,0
$FINISH,1.3,1.019411
$STATE,11900,end surface coast,CONTROL_FINISHED_OK
$STATE,11900,begin surface
$SM_CCo,11916,7.40,0.204,0,0,498,669.67
$SM_GC,3.35,8.12,0.45,7.40,0.087,0.087,0.204,192,2354,498,-6.94,0.88,669.67,0,0,0,0,0,0,14.34,14.35,14.16
$RAFOS_CLK,151
$MODEM,6,1409718000,75.80700,-158.43719,239.690,347525.5
$RAFOS_FIX,7453.529785,-14648.820312,020914,080829,2,255,0.00
$IRIDIUM_FIX,7405.88,-14704.07,020914,183625
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.09
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3984620
$24V_AH,12.51,154.723
$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,21.675,58.325,659.800,7.400,0.000,0.000,0.000,407.100,0.000,0.000,26.543,0.000,9497.814,736.593,2085.650,250.867,0.000,1815.650,0.000,1220.746,1473.000,0.537,0.000
$DEVICE_MAMPS,470.475,140.760,1891.080,204.255,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11948.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.289,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,26668,820
$CAP_FILE_SIZE,132144,0
$CFSIZE,2097872896,2030665728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12734.74,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,030914,045825,7443.347,-14700.642,26,0.8,46,22.4