version: 66.12
glider: 199
mission: 5
dive: 300
start: 9 6 114 1 46 6
data:
$ID,199
$MISSION,5
$DIVE,300
$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,-25248.832
$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,30
$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
$GPS1,060914,013742,7433.208,-14724.364,39,0.8,59,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-72.4
$GPS2,060914,014547,7433.211,-14724.345,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,353.9,225116,-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,-175.1,199,2361,499,498,0.0,0.0,0,70,0.00,0.00,-51.53,0.000,16386,0.000,0.000,198,2360,1758,1773,1744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.72,-175.1,198,2361,1773,1745,3.1,-2.0,5,141,11.23,2.53,-51.45,0.000,18948,0.470,0.105,2192,955,3946,4001,3892,0,0,0,0,0,0,13.87,14.23,14.49
$GC,287,-0.72,-175.1,2194,954,4001,3896,66.4,-25.0,48,293,0.00,2.53,0.00,0.000,1030,0.000,0.093,2184,2365,3948,4001,3896,0,0,0,0,0,0,28.83,14.22,28.83
$GC,591,-0.72,-175.1,2184,2366,4001,3897,136.0,-20.7,79,596,0.00,2.45,0.00,0.000,516,0.000,0.080,2184,954,3949,4001,3897,0,0,0,0,0,0,28.83,14.25,28.83
$GC,626,-0.72,-175.1,2185,955,4001,3897,143.1,-19.5,86,632,0.00,2.50,0.00,0.000,1030,0.000,0.095,2174,2361,3948,4001,3896,0,0,0,0,0,0,28.83,14.28,28.83
$GC,931,-0.72,-175.1,2174,2362,4003,3897,205.1,-19.1,117,936,0.00,2.42,0.00,0.000,516,0.000,0.081,2174,955,3947,4001,3893,0,0,0,0,0,0,28.83,14.30,28.83
$GC,971,-0.72,-175.1,2175,955,4001,3897,212.6,-18.0,125,976,0.15,2.50,0.00,0.000,3078,0.303,0.096,2192,2363,3948,4001,3896,0,0,0,0,0,0,14.03,14.26,28.83
$GC,1301,-0.72,-175.1,2193,2363,4001,3896,263.5,-14.4,153,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2362,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1601,-0.72,-175.1,2193,2363,4001,3897,305.5,-13.9,163,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2367,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.72,-175.1,2193,2363,4002,3897,345.0,-12.9,173,1906,0.00,2.45,0.00,0.000,516,0.000,0.084,2192,951,3948,4001,3896,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1966,-0.72,-175.1,2192,951,4002,3897,353.3,-12.8,186,1971,0.00,2.53,0.00,0.000,1030,0.000,0.100,2184,2367,3949,4002,3896,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2292,-0.72,-175.1,2185,2367,4001,3897,396.7,-13.2,201,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2367,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.72,-175.1,2185,2367,4001,3896,435.7,-12.9,211,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2367,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.72,-175.1,2183,2368,4002,3897,474.8,-13.1,221,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2367,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.72,-175.1,2183,2368,4003,3897,513.4,-12.8,231,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2371,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3491,-0.72,-175.1,2185,2365,4001,3897,551.7,-12.6,241,3496,0.00,2.42,0.00,0.000,516,0.000,0.083,2183,952,3948,4001,3896,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3546,-0.72,-175.1,2183,953,4001,3897,558.7,-12.0,252,3552,0.00,2.50,0.00,0.000,1030,0.000,0.099,2174,2364,3949,4001,3897,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3851,-0.72,-175.1,2175,2365,4001,3898,598.8,-13.2,263,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2364,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-0.72,-175.1,2175,2365,4001,3898,637.7,-12.8,273,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2364,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4451,-0.72,-175.1,2174,2366,4003,3899,676.4,-12.9,283,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2364,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4751,-0.72,-175.1,2174,2365,4003,3899,714.7,-12.7,293,4756,0.00,2.42,0.00,0.000,516,0.000,0.085,2179,956,3949,4001,3898,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4796,-0.72,-175.1,2175,957,4001,3899,720.3,-12.1,302,4801,0.15,2.50,0.00,0.000,3078,0.285,0.099,2193,2366,3950,4001,3899,0,0,0,0,0,0,14.16,14.42,28.83
$STATE,5080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5080,begin apogee
$GC,5085,-0.14,0.0,2192,2610,4003,3900,752.8,-11.4,314,5243,0.75,0.00,155.07,1.893,10246,0.264,0.000,2383,2609,3230,3281,3180,0,0,0,0,0,0,14.19,28.83,12.97
$STATE,5244,end apogee,CONTROL_FINISHED_OK
$STATE,5244,begin climb
$GC,5246,0.72,175.1,2384,2610,3274,3174,758.4,0.0,319,5407,0.95,2.28,153.30,1.890,10500,0.148,0.113,2662,3764,2508,2574,2442,0,0,0,0,0,0,13.66,13.21,12.52
$GC,5527,0.72,175.1,2663,3765,2568,2432,734.4,15.4,378,5533,0.00,2.12,0.00,0.000,1030,0.000,0.070,2671,2600,2500,2569,2431,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5832,0.72,175.1,2673,2600,2574,2430,693.8,13.3,389,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2499,2569,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6132,0.72,175.1,2671,2601,2570,2431,654.6,13.0,399,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6432,0.72,175.1,2671,2601,2570,2431,615.3,13.1,409,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6732,0.72,175.1,2671,2601,2569,2430,576.4,13.0,419,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2497,2568,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7032,0.72,175.1,2673,2600,2568,2430,537.8,12.8,429,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2499,2569,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7332,0.72,175.1,2671,2601,2570,2430,499.2,12.8,439,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,0.72,175.1,2672,2600,2568,2430,460.9,12.7,449,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7932,0.72,175.1,2671,2601,2570,2430,423.7,12.3,459,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,0.72,175.1,2671,2601,2570,2430,387.6,12.0,469,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8532,0.72,175.1,2671,2600,2569,2432,351.8,11.8,479,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8832,0.72,175.1,2671,2600,2570,2430,316.5,11.6,489,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2600,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9132,0.72,175.1,2672,2601,2570,2431,281.6,11.5,499,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2499,2569,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9432,0.80,175.1,2671,2597,2570,2431,250.9,9.7,509,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2598,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b82da6c8e;,*5A
$MODEM_MSG,CACST,6,0,20140906040039.898905,3,486,20,0110,0150,100,00,00,01,03,1,004,000,0,5,1,0,150,11.9,6.7,-100,-3.7,-01,-0.1,24,900,0025*08
$GC,9733,0.89,265.6,2670,2601,2570,2430,225.5,7.6,537,9818,0.15,2.25,77.62,1.475,10500,0.135,0.117,2725,3769,2137,2213,2062,0,0,0,0,0,0,14.47,14.04,13.43
$GC,9834,0.89,265.6,2726,3769,2209,2059,214.8,13.0,552,9839,0.00,2.05,0.00,0.000,1030,0.000,0.072,2734,2593,2133,2209,2057,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10144,0.89,265.6,2735,2592,2209,2049,174.8,12.3,584,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2592,2128,2209,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10445,0.92,265.6,2735,2592,2209,2047,140.2,11.0,614,10450,0.00,2.15,0.00,0.000,260,0.000,0.116,2734,3770,2128,2209,2047,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10475,0.92,265.6,2734,3770,2211,2047,136.4,12.7,620,10480,0.00,2.00,0.00,0.000,1030,0.000,0.073,2743,2590,2128,2209,2047,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10786,0.98,265.6,2743,2591,2211,2046,104.5,10.1,652,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2590,2129,2209,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11085,1.07,362.5,2743,2591,2209,2046,77.1,7.3,682,11137,0.12,2.47,46.47,0.395,10756,0.157,0.080,2795,1201,1752,1836,1669,0,0,0,0,0,0,14.29,14.26,14.00
$GC,11177,1.07,362.5,2797,1201,1842,1681,67.3,12.0,700,11182,0.00,2.53,0.00,0.000,1030,0.000,0.095,2795,2603,1761,1842,1680,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11487,1.29,582.2,2795,2603,1844,1682,46.6,1.9,732,11610,0.17,2.12,114.47,0.304,10500,0.127,0.116,2856,3770,854,908,800,0,0,0,0,0,0,14.28,14.10,13.96
$GC,11655,1.29,582.2,2856,3769,916,802,28.2,17.3,765,11661,0.00,2.08,0.00,0.000,1030,0.000,0.075,2865,2601,858,915,801,0,0,0,0,0,0,28.83,14.16,28.83
$FREEZE,7.89,-1.215,-1.445,2,1,0
$FREEZE,7.00,-1.225,-1.444,2,1,0
$FREEZE,6.00,-1.226,-1.443,2,1,0
$FREEZE,5.00,-1.226,-1.442,2,1,0
$FREEZE,4.05,-1.228,-1.442,2,1,0
$FREEZE,3.27,-1.233,-1.441,2,1,0
$FREEZE,2.36,-1.231,-1.440,2,1,0
$FREEZE,1.53,-1.240,-1.440,2,1,0
$STATE,11898,end climb,SURFACE_DEPTH_REACHED
$STATE,11898,begin surface coast
$FREEZE,1.50,-1.246,-1.440,2,1,0
$FREEZE,1.43,-1.237,-1.439,2,1,0
$FINISH,1.4,1.021221
$STATE,11920,end surface coast,CONTROL_FINISHED_OK
$STATE,11920,begin surface
$SM_CCo,11936,44.40,0.192,0,0,499,669.67
$SM_GC,2.59,8.35,0.40,44.40,0.112,0.094,0.192,200,2360,499,-6.95,1.07,669.67,0,0,0,0,0,0,14.31,14.35,14.16
$RAFOS_CLK,178
$MODEM,4,1409976039,74.96580,-146.17039,38.899,56401.8
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7350.26,-14725.56,050914,220825
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.92
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3981160
$24V_AH,12.52,161.086
$10V_AH,12.56,0.000
$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,22.025,52.650,546.950,44.400,0.000,0.000,0.000,280.350,0.000,0.000,25.298,0.000,9686.889,645.721,1914.136,216.647,0.000,1582.976,0.000,1184.872,1484.000,0.536,0.000
$DEVICE_MAMPS,469.710,126.225,1892.610,192.015,0.000,0.000,0.000,170.595,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11971.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.426,0.000,0.000,0.000
$MEM,189732
$DATA_FILE_SIZE,26665,792
$CAP_FILE_SIZE,128837,0
$CFSIZE,2097872896,2026504192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12716.00,0x2378b6,7,5
$SOUNDSPEED,1449.9
$GPS,060914,050718,7434.874,-14723.691,36,0.8,56,22.2