version: 66.12
glider: 199
mission: 5
dive: 139
start: 8 14 114 21 2 30
data:
$ID,199
$MISSION,5
$DIVE,139
$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,-21770.035
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,140814,204449,7210.675,-14551.006,36,0.8,56,22.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.8
$GPS2,140814,210212,7210.745,-14551.219,3,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.2,100483,-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,-175.1,178,2357,514,474,0.0,0.0,0,74,0.00,0.00,-51.00,0.000,16386,0.000,0.000,176,2357,1777,1788,1767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,177,2357,1788,1770,3.1,-2.4,5,140,11.12,2.60,-44.88,0.000,18692,0.468,0.147,2180,3763,3945,4002,3889,0,0,0,0,0,0,14.01,14.22,14.47
$GC,365,-0.72,-175.1,2181,3764,4002,3896,84.4,-26.1,63,372,0.00,2.42,0.00,0.000,1030,0.000,0.080,2179,2355,3951,4008,3895,0,0,0,0,0,0,28.83,14.33,28.83
$GC,676,-0.72,-175.1,2180,2353,4004,3898,149.0,-19.5,95,683,0.00,2.55,0.00,0.000,260,0.000,0.122,2169,3761,3950,4003,3897,0,0,0,0,0,0,28.83,14.34,28.83
$GC,727,-0.72,-175.1,2169,3762,4004,3897,159.5,-20.9,105,735,0.12,2.40,0.00,0.000,3078,0.317,0.079,2192,2358,3950,4003,3897,0,0,0,0,0,0,14.22,14.40,28.83
$GC,1040,-0.72,-175.1,2193,2357,4002,3897,210.7,-14.5,137,1046,0.00,2.40,0.00,0.000,516,0.000,0.090,2194,956,3949,4002,3897,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1096,-0.72,-175.1,2193,957,4002,3897,218.9,-13.6,148,1103,0.00,2.47,0.00,0.000,1030,0.000,0.101,2184,2358,3949,4002,3897,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1401,-0.72,-175.1,2185,2355,4002,3896,263.6,-14.3,173,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1701,-0.72,-175.1,2185,2355,4002,3895,305.0,-13.6,183,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,-0.72,-175.1,2184,2355,4004,3894,344.7,-13.0,193,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2301,-0.72,-175.1,2185,2355,4002,3892,384.2,-13.2,203,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2355,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.72,-175.1,2185,2355,4002,3891,423.0,-12.9,213,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.72,-175.1,2184,2356,4004,3891,461.2,-12.6,223,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3944,4002,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3201,-0.72,-175.1,2185,2355,4002,3889,499.0,-12.7,233,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3501,-0.72,-175.1,2185,2355,4002,3889,536.3,-12.4,243,3507,0.00,2.53,0.00,0.000,260,0.000,0.124,2173,3764,3945,4002,3889,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3546,-0.72,-175.1,2174,3764,4001,3889,542.5,-13.8,252,3553,0.00,2.40,0.00,0.000,1030,0.000,0.080,2173,2357,3945,4002,3889,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3863,-0.72,-175.1,2173,2357,4004,3890,583.0,-12.7,265,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2356,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4162,-0.72,-175.1,2173,2357,4002,3889,621.1,-12.7,275,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2356,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4462,-0.72,-175.1,2174,2357,4002,3888,659.4,-12.8,285,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2357,3945,4003,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.72,-175.1,2175,2357,4002,3888,697.3,-12.6,295,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2356,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,-0.72,-175.1,2174,2357,4002,3888,735.4,-12.6,305,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2356,3944,4002,3887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5181,begin apogee
$GC,5185,-0.14,0.0,2173,2605,4007,3887,750.3,-12.5,309,5396,0.82,0.00,206.38,1.688,10246,0.279,0.000,2379,2604,3229,3280,3178,0,0,0,0,0,0,14.32,28.83,13.02
$STATE,5398,end apogee,CONTROL_FINISHED_OK
$STATE,5398,begin climb
$GC,5399,0.72,175.1,2379,2605,3278,3173,757.6,0.0,316,5569,1.00,2.35,156.30,2.068,10500,0.164,0.118,2663,3764,2509,2573,2446,0,0,0,0,0,0,13.60,12.96,12.26
$GC,5784,0.72,175.1,2663,3764,2567,2435,713.4,15.3,394,5791,0.00,2.10,0.00,0.000,1030,0.000,0.078,2671,2598,2500,2566,2434,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6116,0.72,175.1,2671,2597,2564,2433,668.2,13.4,410,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2602,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,0.72,175.1,2671,2604,2571,2432,627.5,13.5,420,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2598,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6715,0.72,175.1,2673,2598,2566,2432,586.8,13.5,430,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,0.72,175.1,2672,2599,2568,2431,546.3,13.5,440,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2598,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,0.72,175.1,2673,2598,2566,2425,506.2,13.3,450,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7615,0.72,175.1,2671,2598,2568,2431,465.9,13.4,460,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,0.72,175.1,2673,2598,2565,2431,426.0,13.3,470,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8215,0.72,175.1,2671,2599,2568,2429,386.6,13.1,480,8222,0.00,2.42,0.00,0.000,516,0.000,0.089,2682,1191,2498,2566,2430,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8251,0.72,175.1,2682,1192,2567,2431,381.9,12.5,487,8257,0.00,2.50,0.00,0.000,1030,0.000,0.100,2682,2601,2497,2566,2429,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8578,0.72,175.1,2682,2601,2567,2430,337.6,13.6,502,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2601,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8877,0.72,175.1,2682,2601,2569,2430,296.9,13.6,512,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2601,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9177,0.72,175.1,2682,2602,2567,2430,257.6,13.0,522,9183,0.00,2.42,0.00,0.000,516,0.000,0.086,2692,1196,2498,2567,2430,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9202,0.72,175.1,2693,1196,2566,2430,254.3,11.9,527,9210,0.00,2.50,0.00,0.000,1030,0.000,0.100,2693,2604,2498,2566,2430,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9507,0.72,175.1,2692,2605,2568,2431,216.4,11.6,556,9514,0.00,2.45,0.00,0.000,516,0.000,0.086,2702,1192,2498,2566,2430,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9528,0.72,175.1,2702,1192,2567,2430,214.0,11.3,560,9535,0.15,2.50,0.00,0.000,5126,0.288,0.099,2672,2603,2497,2566,2429,0,0,0,0,0,0,14.31,14.43,28.83
$GC,9841,0.79,239.5,2673,2604,2565,2430,183.8,8.8,592,9903,0.00,2.50,54.75,1.414,8708,0.000,0.085,2680,1198,2243,2317,2170,0,0,0,0,0,0,28.83,14.07,13.52
$GC,9922,0.84,292.8,2681,1198,2312,2164,176.3,9.3,608,9975,0.00,2.55,46.20,1.407,9222,0.000,0.100,2680,2600,2033,2119,1948,0,0,0,0,0,0,28.83,14.12,13.38
$GC,10272,0.88,292.8,2680,2600,2108,1924,137.6,10.7,648,10279,0.12,2.47,0.00,0.000,2564,0.158,0.085,2732,1195,2014,2106,1923,0,0,0,0,0,0,14.26,14.25,28.83
$GC,10308,0.88,292.8,2731,1193,2108,1929,133.2,12.3,655,10316,0.00,2.53,0.00,0.000,1030,0.000,0.100,2731,2599,2014,2106,1923,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10613,0.88,292.8,2732,2599,2106,1922,94.8,11.8,686,10620,0.00,2.45,0.00,0.000,516,0.000,0.088,2742,1196,2017,2113,1922,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10666,0.88,292.8,2741,1199,2107,1924,89.9,11.2,694,10673,0.00,2.53,0.00,0.000,1030,0.000,0.101,2742,2605,2013,2105,1922,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10978,0.95,366.4,2742,2606,2107,1921,55.2,8.4,726,11019,0.00,0.00,33.97,0.330,8710,0.000,0.000,2742,2605,1735,1826,1645,0,0,0,0,0,0,28.83,28.83,14.08
$GC,11318,1.02,428.6,2743,2605,1836,1659,26.0,8.9,761,11354,0.00,0.00,32.10,0.249,8710,0.000,0.000,2742,2604,1480,1575,1386,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11658,1.27,685.0,2743,2606,1584,1395,15.9,0.3,798,11792,0.30,2.58,120.62,0.223,10756,0.099,0.090,2863,1195,499,524,475,0,0,0,0,0,0,14.28,14.14,14.09
$FREEZE,8.59,4.279,-1.352,2,1,0
$FREEZE,8.20,4.270,-1.352,2,1,0
$FREEZE,7.75,4.270,-1.351,2,1,0
$FREEZE,7.33,4.278,-1.351,2,1,0
$FREEZE,6.91,4.278,-1.351,2,1,0
$FREEZE,6.47,4.278,-1.350,2,1,0
$FREEZE,6.11,4.278,-1.350,2,1,0
$FREEZE,5.80,4.281,-1.350,2,1,0
$FREEZE,5.42,4.281,-1.350,2,1,0
$FREEZE,5.12,4.281,-1.350,2,1,0
$FREEZE,4.62,4.281,-1.349,2,1,0
$FREEZE,4.10,4.281,-1.349,2,1,0
$FREEZE,3.69,4.281,-1.348,2,1,0
$FREEZE,3.16,4.283,-1.348,2,1,0
$FREEZE,2.64,4.283,-1.348,2,1,0
$FREEZE,2.10,4.279,-1.347,2,1,0
$FREEZE,1.40,4.279,-1.347,2,1,0
$STATE,11915,end climb,SURFACE_DEPTH_REACHED
$STATE,11916,begin surface coast
$FREEZE,1.16,4.264,-1.347,2,1,0
$FREEZE,1.42,4.264,-1.347,2,1,0
$FINISH,1.4,1.019647
$STATE,11926,end surface coast,CONTROL_FINISHED_OK
$STATE,11926,begin surface
$SM_CCo,11949,0.35,0.395,0,0,497,669.91
$SM_GC,2.62,8.15,2.17,0.35,0.090,0.109,0.395,200,2364,497,-6.94,-0.37,669.91,0,0,0,0,0,0,14.27,14.23,14.20
$RAFOS_CLK,60
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7132.53,-14559.13,140814,205127
$TT8_MAMPS,0.083139,0.083139
$HUMID,50.07
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4001228
$TM_FREEKB,5595136
$24V_AH,12.26,106.608
$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,21.800,59.275,650.325,0.350,0.000,0.000,0.000,641.225,0.000,0.000,26.092,0.000,9571.190,681.724,2551.847,184.983,0.000,2124.049,0.000,1264.956,1438.000,0.538,0.000
$DEVICE_MAMPS,468.180,146.880,2067.795,394.740,0.000,0.000,0.000,185.130,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11956.000,12004.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.353,43.915,0.000,0.000
$MEM,278292
$DATA_FILE_SIZE,30015,851
$CAP_FILE_SIZE,144062,0
$CFSIZE,2097872896,2057240576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13319.20,0x2378b6,7,5
$SOUNDSPEED,1451.3
$GPS,150814,002312,7212.398,-14551.273,36,0.8,56,22.2