version: 66.12
glider: 199
mission: 5
dive: 311
start: 9 7 114 16 36 34
data:
$ID,199
$MISSION,5
$DIVE,311
$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,-25628.049
$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,33
$R_STBD_OVSHOOT,16
$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
$GPS1,070914,125822,7449.460,-14716.181,181,99.0,181,22.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-69.5
$GPS2,070914,125822,7449.460,-14716.181,181,99.0,181,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,355.2,195286,-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,15,begin dive
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b74ba739f;,*06
$MODEM_MSG,CACST,6,0,20140907160038.072749,3,550,21,0148,0150,100,00,00,01,03,1,004,000,0,5,1,0,150,8.2,4.6,-100,-1.6,-01,0.7,29,900,0025*12
$GC,18,-0.72,-175.1,197,2360,535,480,0.0,0.0,0,42,0.00,0.00,-22.75,0.000,16386,0.000,0.000,198,2359,1101,1131,1071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-0.72,-175.1,198,2360,1133,1072,3.0,-0.9,2,157,11.23,2.50,-92.20,0.000,19204,0.474,0.108,2191,934,3946,4002,3891,0,0,0,0,0,0,13.94,14.30,14.59
$GC,381,-0.72,-175.1,2191,935,4004,3896,79.1,-23.6,70,386,0.00,2.55,0.00,0.000,1030,0.000,0.093,2182,2361,3948,4002,3894,0,0,0,0,0,0,28.83,14.18,28.83
$GC,691,-0.72,-175.1,2183,2362,4001,3895,149.7,-21.0,102,696,0.00,2.53,0.00,0.000,260,0.000,0.116,2171,3769,3946,3997,3895,0,0,0,0,0,0,28.83,14.20,28.83
$GC,741,-0.72,-175.1,2171,3773,4004,3896,160.8,-21.8,112,747,0.12,2.42,0.00,0.000,3078,0.301,0.072,2194,2353,3948,4002,3894,0,0,0,0,0,0,14.03,14.31,28.83
$GC,1053,-0.72,-175.1,2195,2351,4001,3895,216.2,-17.4,144,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2350,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1372,-0.72,-175.1,2194,2350,4004,3896,263.9,-14.0,170,1376,0.00,2.40,0.00,0.000,516,0.000,0.083,2194,957,3946,3998,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1426,-0.72,-175.1,2194,957,4010,3895,271.2,-12.6,181,1433,0.00,2.50,0.00,0.000,1030,0.000,0.096,2185,2367,3948,4002,3895,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1732,-0.72,-175.1,2186,2368,4002,3895,313.5,-13.7,192,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2367,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,-0.72,-175.1,2185,2367,4004,3896,353.3,-13.1,202,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2367,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2331,-0.72,-175.1,2187,2367,4002,3895,392.3,-13.0,212,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2367,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2631,-0.72,-175.1,2185,2368,4003,3896,431.3,-12.9,222,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2367,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2931,-0.72,-175.1,2187,2367,4002,3895,469.0,-12.5,232,2936,0.00,2.45,0.00,0.000,516,0.000,0.082,2185,955,3948,4002,3894,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2981,-0.72,-175.1,2187,955,4002,3895,475.1,-12.0,242,2986,0.00,2.47,0.00,0.000,1030,0.000,0.094,2175,2362,3948,4002,3895,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3291,-0.72,-175.1,2175,2363,4002,3895,515.4,-13.0,254,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.72,-175.1,2176,2363,4002,3895,554.4,-13.0,264,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2362,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3891,-0.72,-175.1,2175,2363,4004,3896,592.9,-12.7,274,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4191,-0.72,-175.1,2175,2363,4004,3896,631.3,-12.8,284,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4491,-0.72,-175.1,2175,2363,4004,3896,669.6,-12.7,294,4496,0.00,2.45,0.00,0.000,516,0.000,0.080,2175,947,3949,4002,3896,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4536,-0.72,-175.1,2176,948,4001,3897,675.3,-12.5,303,4542,0.15,2.50,0.00,0.000,3078,0.286,0.093,2195,2363,3949,4002,3896,0,0,0,0,0,0,14.15,14.45,28.83
$GC,4853,-0.72,-175.1,2195,2364,4004,3897,710.8,-11.2,316,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2363,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5152,-0.72,-175.1,2196,2363,4000,3898,743.7,-10.9,326,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2363,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5210,begin apogee
$GC,5215,-0.14,0.0,2194,2601,4004,3898,750.2,-10.9,328,5441,0.73,0.00,222.50,1.620,10246,0.263,0.000,2379,2600,3228,3281,3175,0,0,0,0,0,0,14.17,28.83,12.94
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5444,0.72,175.1,2379,2600,3280,3173,758.5,0.0,335,5610,0.98,2.33,155.32,1.919,10500,0.148,0.112,2661,3754,2507,2574,2440,0,0,0,0,0,0,13.55,13.17,12.47
$GC,5639,0.72,175.1,2661,3755,2573,2439,747.2,14.6,378,5644,0.00,2.12,0.00,0.000,1030,0.000,0.069,2670,2590,2504,2571,2437,0,0,0,0,0,0,28.83,13.46,28.83
$GC,5966,0.72,175.1,2671,2591,2571,2431,703.8,13.2,393,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2590,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,0.72,175.1,2670,2591,2574,2432,664.4,13.1,403,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2590,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6565,0.72,175.1,2669,2591,2573,2432,626.1,12.7,413,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2591,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,0.72,175.1,2669,2591,2573,2432,588.5,12.5,423,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2592,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,0.72,175.1,2671,2591,2571,2432,551.2,12.4,433,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2592,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,0.72,175.1,2670,2591,2572,2432,513.7,12.5,443,7469,0.00,2.12,0.00,0.000,260,0.000,0.115,2670,3767,2501,2571,2431,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7479,0.72,175.1,2670,3768,2572,2432,511.6,12.8,446,7484,0.00,2.00,0.00,0.000,1030,0.000,0.072,2678,2606,2501,2571,2431,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7794,0.72,175.1,2679,2605,2573,2432,471.1,12.7,459,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8095,0.72,175.1,2680,2605,2571,2432,432.6,12.9,469,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8394,0.72,175.1,2680,2605,2571,2432,393.8,12.9,479,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8694,0.72,175.1,2679,2605,2571,2432,356.4,12.3,489,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2604,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,0.72,175.1,2680,2605,2571,2431,320.9,11.7,499,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,0.75,175.1,2679,2605,2572,2432,287.8,10.9,509,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9595,0.80,175.1,2679,2606,2573,2432,256.5,10.4,519,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9895,0.89,261.8,2685,2605,2573,2432,228.0,7.8,543,9976,0.12,2.47,75.10,1.422,10756,0.153,0.078,2733,1197,2150,2227,2074,0,0,0,0,0,0,14.54,14.16,13.51
$GC,9996,0.93,261.8,2734,1198,2224,2069,218.2,10.7,556,10001,0.00,2.55,0.00,0.000,1030,0.000,0.093,2734,2598,2144,2222,2067,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10306,0.93,261.8,2734,2599,2224,2062,179.9,11.7,588,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2598,2142,2222,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10607,0.99,261.8,2735,2599,2223,2061,146.4,10.2,618,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2598,2141,2222,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10906,1.07,341.7,2734,2599,2224,2060,118.5,8.1,648,10982,0.15,2.15,69.75,1.355,10500,0.143,0.112,2784,3767,1827,1911,1744,0,0,0,0,0,0,14.38,14.09,13.52
$GC,11203,1.07,341.7,2784,3768,1897,1732,78.3,14.4,707,11210,0.00,2.05,0.00,0.000,1030,0.000,0.074,2793,2586,1813,1896,1730,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11509,1.13,400.2,2795,2586,1896,1727,45.9,9.0,738,11540,0.00,2.50,26.35,0.307,8708,0.000,0.081,2804,1194,1598,1687,1510,0,0,0,0,0,0,28.83,14.19,14.03
$GC,11765,1.30,572.0,2804,1195,1697,1522,30.1,4.0,789,11863,0.15,2.55,88.78,0.258,11270,0.142,0.093,2855,2603,896,959,833,0,0,0,0,0,0,14.19,14.17,14.00
$FREEZE,8.84,-1.227,-1.445,2,2,0
$FREEZE,7.81,-1.227,-1.444,2,2,0
$FREEZE,7.02,-1.225,-1.425,2,2,0
$FREEZE,6.11,-1.224,-1.442,2,2,0
$FREEZE,5.33,-1.226,-1.442,2,2,0
$FREEZE,4.42,-1.225,-1.441,2,2,0
$FREEZE,3.34,-1.226,-1.440,2,2,0
$FREEZE,2.59,-1.224,-1.440,2,2,0
$FREEZE,1.47,-1.218,-1.439,2,2,0
$STATE,12078,end climb,SURFACE_DEPTH_REACHED
$STATE,12078,begin surface coast
$FREEZE,1.55,-1.217,-0.162,2,2,0
$FINISH,1.6,1.002131
$STATE,12089,end surface coast,FINISH_DEPTH_REACHED
$STATE,12089,begin surface
$SM_CCo,12105,49.40,0.192,0,0,498,669.67
$SM_GC,2.50,8.18,0.45,49.40,0.096,0.090,0.192,193,2357,498,-6.95,0.79,669.67,0,0,0,0,0,0,14.33,14.35,14.16
$RAFOS_CLK,559
$MODEM,4,1410105638,74.92060,-145.44679,37.073,53711.7
$RAFOS_FIX,7447.420410,-14714.666992,070914,121221,3,255,0.13
$IRIDIUM_FIX,7405.88,-14722.29,070914,125037
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.44
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.00
$XPDR_PINGS,2
$SC_FREEKB,3979692
$24V_AH,12.47,165.111
$10V_AH,12.42,0.000
$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,21.800,48.500,637.800,49.400,0.000,0.000,0.000,122.175,0.500,0.000,182.479,0.000,9847.681,730.358,1977.120,228.224,0.000,1543.138,0.000,1237.748,0.000,0.536,0.000
$DEVICE_MAMPS,473.535,122.400,1919.385,192.015,0.000,0.000,0.000,49.725,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12140.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.571,0.000,0.000,0.000
$MEM,183640
$DATA_FILE_SIZE,30059,831
$CAP_FILE_SIZE,128017,0
$CFSIZE,2097872896,2024374272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13074.21,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,070914,200042,7452.818,-14714.925,36,0.8,56,22.3