version: 66.12
glider: 199
mission: 5
dive: 129
start: 8 13 114 9 32 10
data:
$ID,199
$MISSION,5
$DIVE,129
$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,-21757.428
$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,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,3
$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
$GPS1,130814,091954,7156.177,-14605.213,24,0.8,44,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.6
$GPS2,130814,093152,7156.298,-14605.505,5,0.8,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,354.8,30376,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-175.1,175,2367,528,470,0.0,0.0,0,74,0.00,0.00,-51.15,0.000,16386,0.000,0.000,174,2368,1800,1808,1792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,176,2372,1811,1794,3.3,-2.9,5,136,11.20,2.62,-42.28,0.000,18692,0.471,0.139,2178,3775,3946,4003,3889,0,0,0,0,0,0,14.00,14.19,14.47
$GC,356,-0.72,-175.1,2180,3775,4003,3896,76.1,-22.6,61,362,0.00,2.42,0.00,0.000,1030,0.000,0.079,2180,2361,3947,4003,3891,0,0,0,0,0,0,28.83,14.34,28.83
$GC,667,-0.72,-175.1,2179,2359,4005,3897,140.6,-20.1,93,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2362,3947,3999,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,966,-0.72,-175.1,2180,2363,4006,3897,196.7,-16.9,123,973,0.00,2.58,0.00,0.000,260,0.000,0.123,2171,3775,3953,4003,3903,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1132,-0.72,-175.1,2171,3776,4003,3897,226.7,-17.6,156,1140,0.12,2.42,0.00,0.000,3078,0.310,0.080,2193,2361,3949,4003,3896,0,0,0,0,0,0,14.26,14.42,28.83
$GC,1447,-0.72,-175.1,2195,2364,4004,3896,270.4,-12.9,178,1453,0.00,2.42,0.00,0.000,516,0.000,0.090,2193,953,3949,4003,3895,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1517,-0.72,-175.1,2193,954,4005,3896,278.9,-12.0,192,1524,0.00,2.50,0.00,0.000,1030,0.000,0.103,2185,2365,3949,4003,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1839,-0.72,-175.1,2185,2371,4004,3894,321.6,-13.5,206,1846,0.00,2.50,0.00,0.000,260,0.000,0.125,2175,3767,3948,4003,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1880,-0.72,-175.1,2175,3768,4002,3893,327.6,-15.1,214,1886,0.00,2.40,0.00,0.000,1030,0.000,0.080,2174,2359,3948,4003,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2201,-0.72,-175.1,2174,2359,4003,3893,371.2,-13.4,228,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.72,-175.1,2174,2359,4004,3892,411.0,-13.2,238,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3947,4003,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.72,-175.1,2174,2358,4008,3892,450.2,-13.1,248,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.72,-175.1,2174,2359,4005,3888,488.6,-12.8,258,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2358,3946,4003,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-0.72,-175.1,2174,2359,4004,3890,526.9,-12.8,268,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2359,3941,4000,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3700,-0.72,-175.1,2174,2359,4001,3890,565.2,-12.9,278,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.72,-175.1,2176,2359,4003,3889,602.9,-12.5,288,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3943,4003,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.72,-175.1,2175,2359,4002,3889,640.3,-12.4,298,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-0.72,-175.1,2175,2359,4004,3883,677.2,-12.3,308,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3943,3998,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.72,-175.1,2172,2359,4000,3889,713.7,-12.1,318,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,-0.72,-175.1,2175,2359,4002,3889,749.8,-12.0,328,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2358,3945,4003,3888,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5229,begin apogee
$GC,5233,-0.14,0.0,2172,2605,4004,3888,753.4,-12.0,329,5432,0.82,0.00,193.93,1.744,10246,0.280,0.000,2379,2604,3230,3282,3179,0,0,0,0,0,0,14.31,28.83,13.07
$STATE,5433,end apogee,CONTROL_FINISHED_OK
$STATE,5433,begin climb
$GC,5435,0.72,175.1,2379,2605,3275,3174,758.3,0.0,335,5605,0.98,2.35,153.52,1.882,10500,0.170,0.122,2655,3763,2506,2570,2442,0,0,0,0,0,0,13.62,13.02,12.40
$GC,5645,0.72,175.1,2655,3761,2567,2436,740.3,14.4,379,5651,0.00,2.17,0.00,0.000,1030,0.000,0.076,2664,2593,2500,2566,2434,0,0,0,0,0,0,28.83,13.34,28.83
$GC,5966,0.72,175.1,2665,2593,2565,2431,697.5,13.2,393,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,0.72,175.1,2665,2593,2567,2431,658.1,13.1,403,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6565,0.72,175.1,2666,2592,2565,2430,618.1,13.4,413,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2592,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,0.72,175.1,2666,2593,2565,2430,578.5,13.1,423,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7165,0.72,175.1,2666,2593,2566,2433,539.4,13.0,433,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2592,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,0.72,175.1,2665,2590,2563,2430,500.7,12.8,443,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7765,0.72,175.1,2663,2593,2567,2429,461.8,12.9,453,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,0.72,175.1,2666,2593,2565,2430,424.0,12.5,463,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2592,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8365,0.72,175.1,2665,2593,2565,2429,386.8,12.3,473,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2592,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8665,0.72,175.1,2665,2593,2565,2430,349.5,12.4,483,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2590,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8966,0.72,175.1,2664,2598,2567,2428,312.2,12.4,493,8972,0.00,2.15,0.00,0.000,260,0.000,0.125,2665,3770,2497,2566,2428,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9006,0.72,175.1,2664,3771,2567,2429,306.3,14.5,501,9013,0.00,2.00,0.00,0.000,1030,0.000,0.081,2673,2598,2496,2565,2428,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9328,0.72,175.1,2673,2599,2567,2430,265.8,12.5,515,9335,0.00,2.12,0.00,0.000,260,0.000,0.124,2673,3766,2497,2565,2429,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9399,0.72,175.1,2674,3771,2565,2433,255.1,15.4,529,9407,0.00,1.98,0.00,0.000,1030,0.000,0.081,2682,2600,2497,2566,2428,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9711,0.72,175.1,2680,2600,2565,2429,218.0,11.2,560,9718,0.00,2.42,0.00,0.000,516,0.000,0.086,2693,1194,2497,2566,2429,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9842,0.79,239.2,2694,1195,2565,2429,205.2,8.8,586,9905,0.00,2.53,54.22,1.395,9222,0.000,0.101,2692,2599,2246,2319,2174,0,0,0,0,0,0,28.83,14.28,13.47
$GC,10202,0.86,239.2,2692,2600,2309,2157,167.1,9.8,628,10209,0.00,2.12,0.00,0.000,260,0.000,0.125,2692,3772,2233,2311,2156,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10314,0.89,239.2,2694,3768,2310,2157,154.4,10.9,650,10320,0.00,2.03,0.00,0.000,1030,0.000,0.082,2701,2596,2233,2310,2156,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10625,0.94,294.3,2702,2596,2310,2156,124.8,9.2,682,10677,0.12,0.00,47.40,1.332,10246,0.151,0.000,2747,2596,2025,2110,1940,0,0,0,0,0,0,14.34,28.83,13.52
$GC,10974,0.94,294.3,2747,2597,2102,1918,80.3,13.1,717,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2596,2008,2099,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11274,1.03,380.4,2747,2597,2101,1917,45.9,7.8,747,11321,0.00,2.17,39.60,0.306,8452,0.000,0.129,2747,3771,1679,1770,1588,0,0,0,0,0,0,28.83,14.26,14.09
$GC,11365,1.03,380.4,2748,3772,1772,1600,36.7,11.8,765,11372,0.00,2.03,0.00,0.000,1030,0.000,0.084,2757,2597,1687,1773,1601,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11677,1.29,642.8,2756,2597,1777,1599,12.2,-0.0,797,11815,0.28,2.45,128.75,0.214,10756,0.110,0.087,2868,1194,607,645,569,0,0,0,0,0,0,14.37,14.23,14.14
$FREEZE,8.82,5.146,-1.288,2,1,0
$FREEZE,8.67,5.150,-1.296,2,1,0
$FREEZE,8.32,5.150,-1.296,2,1,0
$FREEZE,8.04,5.153,-1.303,2,1,0
$FREEZE,7.78,5.153,-1.303,2,1,0
$FREEZE,7.44,5.152,-1.308,2,1,0
$FREEZE,7.05,5.152,-1.307,2,1,0
$FREEZE,6.92,5.153,-1.308,2,1,0
$FREEZE,6.49,5.153,-1.308,2,1,0
$FREEZE,6.03,5.154,-1.310,2,1,0
$FREEZE,5.85,5.154,-1.309,2,1,0
$FREEZE,5.49,5.152,-1.310,2,1,0
$FREEZE,5.22,5.152,-1.309,2,1,0
$FREEZE,4.78,5.151,-1.310,2,1,0
$FREEZE,4.40,5.151,-1.309,2,1,0
$FREEZE,3.91,5.151,-1.310,2,1,0
$FREEZE,3.51,5.151,-1.309,2,1,0
$FREEZE,3.09,5.150,-1.309,2,1,0
$FREEZE,2.68,5.150,-1.309,2,1,0
$FREEZE,2.18,5.151,-1.309,2,1,0
$FREEZE,1.73,5.151,-1.308,2,1,0
$STATE,11953,end climb,SURFACE_DEPTH_REACHED
$STATE,11953,begin surface coast
$FREEZE,1.29,5.007,-1.314,2,1,0
$FREEZE,1.31,5.007,-1.314,2,1,0
$FREEZE,1.37,5.110,-0.758,2,1,0
$FREEZE,1.24,5.110,-0.758,2,1,0
$FINISH,1.2,1.011057
$STATE,11973,end surface coast,CONTROL_FINISHED_OK
$STATE,11973,begin surface
$SM_CCo,11996,13.85,0.200,0,0,498,669.67
$SM_GC,3.38,8.15,2.17,13.85,0.089,0.117,0.200,190,2361,498,-6.97,-0.57,669.67,0,0,0,0,0,0,14.33,14.31,14.24
$RAFOS_CLK,137
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7118.99,-14624.35,130814,054638
$TT8_MAMPS,0.044191,0.044191
$HUMID,52.04
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4002384
$TM_FREEKB,5784128
$24V_AH,12.40,101.660
$10V_AH,12.62,0.000
$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,21.675,51.050,617.425,13.850,0.000,0.000,0.000,439.625,0.000,0.000,26.863,0.000,9532.643,656.849,2372.387,165.026,0.000,1891.317,0.000,1271.196,1497.000,0.537,0.000
$DEVICE_MAMPS,471.240,139.230,1881.900,199.665,0.000,0.000,0.000,187.425,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12004.000,12052.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.987,44.464,0.000,0.000
$MEM,283764
$DATA_FILE_SIZE,30014,856
$CAP_FILE_SIZE,141061,0
$CFSIZE,2097872896,2059862016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13068.55,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,130814,125412,7158.253,-14604.903,54,0.8,74,22.0