version: 66.12
glider: 199
mission: 5
dive: 411
start: 9 22 114 10 35 53
data:
$ID,199
$MISSION,5
$DIVE,411
$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,190
$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,-26990.244
$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,35
$R_STBD_OVSHOOT,19
$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
$GPS1,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.99
$_SM_ANGLEo,-14.2
$GPS2,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,170.3,249459,-18.9,-11.628,-22.41,2446
$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,15,begin dive
$GC,17,-0.72,-184.8,2541,2368,1860,1754,0.0,0.0,0,30,0.00,0.00,-11.45,0.000,16386,0.000,0.000,2540,2367,2547,2589,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.72,-184.8,2540,2368,2591,2507,20.5,0.0,1,62,1.00,2.58,-20.12,0.000,20740,0.085,0.131,2192,3769,3964,4023,3906,0,0,0,0,0,0,14.21,14.13,14.54
$GC,287,-0.72,-184.8,2193,3768,4021,3909,92.6,-22.3,52,293,0.00,2.42,0.00,0.000,1030,0.000,0.069,2192,2357,3966,4023,3909,0,0,0,0,0,0,28.83,14.23,28.83
$GC,592,-0.72,-184.8,2193,2355,4024,3910,151.7,-18.2,83,597,0.00,2.58,0.00,0.000,260,0.000,0.112,2181,3773,3966,4023,3909,0,0,0,0,0,0,28.83,14.20,28.83
$GC,667,-0.72,-184.8,2182,3773,4023,3910,165.7,-18.7,98,673,0.00,2.42,0.00,0.000,1030,0.000,0.070,2182,2359,3966,4023,3909,0,0,0,0,0,0,28.83,14.24,28.83
$GC,972,-0.72,-184.8,2180,2359,4025,3910,218.2,-16.1,129,977,0.00,2.42,0.00,0.000,516,0.000,0.081,2181,953,3966,4023,3909,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1064,-0.72,-184.8,2182,954,4025,3910,231.3,-14.3,147,1069,0.12,2.50,0.00,0.000,3078,0.305,0.093,2194,2366,3964,4023,3906,0,0,0,0,0,0,13.95,14.26,28.83
$GC,1384,-0.72,-184.8,2196,2366,4024,3910,275.0,-13.0,168,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2366,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1684,-0.72,-184.8,2194,2367,4024,3910,312.1,-12.1,178,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2363,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,-0.72,-184.8,2195,2366,4025,3910,348.4,-12.1,188,1989,0.00,2.45,0.00,0.000,516,0.000,0.080,2195,947,3966,4024,3908,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2024,-0.72,-184.8,2195,948,4025,3910,353.2,-11.9,196,2029,0.00,2.50,0.00,0.000,1030,0.000,0.094,2186,2361,3966,4023,3909,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2346,-0.72,-184.8,2186,2362,4025,3910,392.5,-12.2,210,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2361,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2644,-0.72,-184.8,2186,2362,4025,3910,428.8,-12.0,220,2649,0.00,2.42,0.00,0.000,516,0.000,0.080,2186,952,3966,4023,3909,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2689,-0.72,-184.8,2186,952,4025,3910,434.2,-11.5,229,2694,0.00,2.50,0.00,0.000,1030,0.000,0.093,2177,2361,3966,4023,3909,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3004,-0.72,-184.8,2177,2361,4023,3910,473.3,-12.5,242,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2361,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3304,-0.72,-184.8,2177,2362,4023,3910,510.2,-12.3,252,3309,0.00,2.42,0.00,0.000,516,0.000,0.080,2176,949,3968,4027,3909,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3344,-0.72,-184.8,2177,952,4023,3910,515.1,-12.1,260,3349,0.15,2.50,0.00,0.000,3078,0.273,0.093,2196,2364,3964,4019,3909,0,0,0,0,0,0,13.95,14.26,28.83
$GC,3666,-0.72,-184.8,2195,2365,4025,3910,549.9,-10.8,274,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2364,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3964,-0.72,-184.8,2195,2365,4025,3910,581.9,-10.6,284,3969,0.00,2.42,0.00,0.000,516,0.000,0.079,2196,955,3966,4023,3909,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3994,-0.72,-184.8,2196,955,4025,3909,585.2,-10.6,290,3999,0.00,2.47,0.00,0.000,1030,0.000,0.092,2186,2361,3966,4023,3909,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4326,-0.72,-184.8,2187,2362,4025,3910,621.5,-11.0,306,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2361,3964,4020,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4624,-0.72,-184.8,2188,2361,4023,3911,654.8,-11.1,316,4629,0.00,2.42,0.00,0.000,516,0.000,0.080,2187,950,3969,4023,3915,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4654,-0.72,-184.8,2188,949,4023,3911,658.0,-11.6,322,4659,0.00,2.50,0.00,0.000,1030,0.000,0.093,2177,2361,3966,4023,3910,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4986,-0.72,-184.8,2177,2362,4025,3911,696.0,-11.6,338,5002,0.00,2.42,0.00,0.000,516,0.000,0.080,2178,951,3967,4024,3911,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5012,-0.72,-184.8,2176,952,4025,3912,699.1,-11.4,341,5017,0.15,2.50,0.00,0.000,3078,0.273,0.093,2196,2361,3967,4023,3911,0,0,0,0,0,0,13.90,14.19,28.83
$GC,5329,-0.72,-184.8,2198,2361,4023,3912,731.0,-10.1,354,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2361,3967,4024,3911,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5535,begin apogee
$GC,5541,-0.14,0.0,2196,2607,4025,3913,751.9,-9.9,361,5778,0.75,0.00,230.30,1.609,10246,0.255,0.000,2382,2606,3224,3275,3173,0,0,0,0,0,0,13.88,28.83,12.80
$STATE,5779,end apogee,CONTROL_FINISHED_OK
$STATE,5779,begin climb
$GC,5781,0.72,184.8,2383,2611,3273,3171,761.9,0.0,369,5958,0.93,2.30,165.82,1.912,10500,0.122,0.111,2659,3758,2465,2527,2404,0,0,0,0,0,0,13.49,13.14,12.39
$GC,6063,0.72,184.8,2659,3759,2523,2397,739.1,14.5,426,6068,0.00,2.08,0.00,0.000,1030,0.000,0.067,2668,2594,2458,2521,2395,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6380,0.72,184.8,2668,2596,2523,2392,698.5,12.8,439,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2457,2521,2394,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b485a6974;,*04
$MODEM_MSG,CACST,6,0,20140922120512.506420,3,604,15,0181,0150,100,00,00,02,04,1,005,000,0,5,1,0,150,11.0,5.5,-100,-2.5,-01,0.5,15,900,0025*2A
$GC,6678,0.72,184.8,2670,2596,2521,2394,660.5,12.6,449,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6978,0.72,184.8,2669,2596,2523,2394,622.9,12.5,459,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2458,2524,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7278,0.72,184.8,2669,2596,2523,2394,585.1,12.7,469,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7578,0.72,184.8,2668,2596,2523,2394,547.4,12.5,479,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2595,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7878,0.72,184.8,2670,2596,2522,2393,509.9,12.6,489,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8178,0.72,184.8,2668,2596,2523,2393,472.4,12.6,499,8183,0.00,2.10,0.00,0.000,260,0.000,0.115,2668,3764,2457,2521,2393,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8233,0.72,184.8,2668,3765,2523,2393,464.6,14.8,510,8239,0.00,1.98,0.00,0.000,1030,0.000,0.073,2677,2589,2457,2521,2393,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8538,0.72,184.8,2678,2590,2521,2394,425.9,12.5,521,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2595,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8838,0.72,184.8,2678,2590,2521,2393,388.0,12.6,531,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2590,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9138,0.72,184.8,2678,2590,2521,2393,351.1,12.2,541,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2590,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9438,0.72,184.8,2678,2590,2521,2393,316.1,11.5,551,9443,0.00,2.12,0.00,0.000,260,0.000,0.114,2677,3767,2457,2521,2393,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9478,0.72,184.8,2678,3767,2520,2393,311.0,12.5,559,9483,0.00,1.98,0.00,0.000,1030,0.000,0.072,2686,2599,2457,2521,2393,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9800,0.72,184.8,2686,2600,2522,2393,273.1,11.6,573,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2599,2457,2521,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10101,0.77,240.5,2686,2600,2523,2394,242.2,9.3,587,10150,0.00,0.00,48.17,1.398,8710,0.000,0.000,2686,2599,2248,2315,2181,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10448,0.84,302.3,2687,2599,2299,2155,206.4,9.0,624,10509,0.00,0.00,54.42,1.414,8198,0.000,0.000,2686,2599,1986,2065,1907,0,0,0,0,0,0,28.83,28.83,13.50
$GC,10809,0.90,302.3,2686,2599,2059,1891,170.5,10.1,660,10810,0.12,0.00,0.00,0.000,2054,0.153,0.000,2731,2599,1974,2058,1890,0,0,0,0,0,0,14.36,28.83,28.83
$GC,11109,0.92,302.3,2731,2599,2058,1891,135.9,11.0,690,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2599,1973,2057,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11409,0.98,353.4,2733,2599,2057,1890,105.4,9.5,720,11459,0.00,0.00,44.80,1.304,8198,0.000,0.000,2731,2599,1779,1861,1698,0,0,0,0,0,0,28.83,28.83,13.70
$GC,11760,1.04,353.4,2732,2599,1850,1683,69.5,10.1,755,11761,0.12,0.00,0.00,0.000,2054,0.148,0.000,2775,2599,1766,1851,1682,0,0,0,0,0,0,14.21,28.83,28.83
$GC,12059,1.23,541.2,2775,2600,1851,1682,49.9,3.7,785,12162,0.15,2.15,94.43,0.317,10500,0.135,0.116,2833,3763,1028,1097,959,0,0,0,0,0,0,14.21,14.15,13.95
$GC,12277,1.23,541.2,2837,3763,1100,961,26.7,12.8,828,12283,0.00,2.03,0.00,0.000,1030,0.000,0.073,2843,2593,1028,1099,958,0,0,0,0,0,0,28.83,14.21,28.83
$FREEZE,8.51,-1.421,-1.449,2,26,0
$STATE,12520,end climb,FINISH_DEPTH_REACHED
$STATE,12520,begin subsurface finish
$FINISH1,8.5,1.021289,347
$GC,12526,0.35,346.9,2844,2593,1099,960,8.5,5.2,853,12553,1.08,2.42,-19.98,0.000,20996,0.213,0.101,2551,1196,1818,1892,1744,0,0,0,0,0,0,14.02,14.21,14.49
$FINISH2,8.6
$STATE,12553,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12553,begin surface
$RAFOS_CLK,336
$MODEM,5,1411387512,74.77860,-146.48801,71.506,103682.4
$RAFOS_FIX,7440.831543,-14313.460938,210914,202035,2,255,0.12
$IRIDIUM_FIX,7358.04,-14409.74,180914,184525
$TT8_MAMPS,0.04494,0.04494
$HUMID,51.37
$INTERNAL_PRESSURE,8.55339
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3966524
$24V_AH,12.39,202.092
$10V_AH,12.27,0.000
$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,4.575,66.200,637.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10077.930,663.351,1739.250,201.015,0.000,1368.471,0.000,1284.016,1499.000,0.536,0.000
$DEVICE_MAMPS,305.235,130.815,1911.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12607.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.916,0.000,0.000,0.000
$MEM,130176
$DATA_FILE_SIZE,30070,858
$CAP_FILE_SIZE,129535,0
$CFSIZE,2097872896,2004811776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12522.99,0x2378b6,5,5
$SOUNDSPEED,1450.6
$GPS,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5