version: 66.12
glider: 199
mission: 5
dive: 155
start: 8 17 114 5 29 50
data:
$ID,199
$MISSION,5
$DIVE,155
$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,-21790.201
$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,22
$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
$GPS1,170814,052224,7240.180,-14556.409,83,0.7,103,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.3
$GPS2,170814,052931,7240.233,-14556.497,6,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.1,46002,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-175.1,160,2366,522,479,0.0,0.0,0,69,0.00,0.00,-51.88,0.000,16386,0.000,0.000,159,2366,1810,1821,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,160,2366,1822,1799,3.7,-3.9,5,130,11.07,2.60,-42.72,0.000,18692,0.468,0.138,2181,3771,3946,4003,3889,0,0,0,0,0,0,14.03,14.30,14.57
$GC,354,-0.72,-175.1,2181,3772,4005,3896,88.2,-25.7,62,361,0.00,2.45,0.00,0.000,1030,0.000,0.076,2183,2354,3951,4003,3900,0,0,0,0,0,0,28.83,14.43,28.83
$GC,660,-0.72,-175.1,2181,2354,4005,3896,155.4,-20.8,93,665,0.00,2.53,0.00,0.000,260,0.000,0.121,2175,3765,3949,4003,3896,0,0,0,0,0,0,28.83,14.44,28.83
$GC,755,-0.72,-175.1,2172,3764,4003,3896,176.3,-21.8,112,761,0.12,2.38,0.00,0.000,3078,0.323,0.076,2192,2356,3950,4004,3896,0,0,0,0,0,0,14.30,14.49,28.83
$GC,1059,-0.72,-175.1,2193,2356,4005,3896,227.8,-15.0,143,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2360,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1369,-0.72,-175.1,2192,2356,4005,3896,272.5,-14.1,164,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-0.72,-175.1,2194,2356,4002,3896,313.9,-13.7,174,1675,0.00,2.55,0.00,0.000,260,0.000,0.123,2183,3758,3949,4003,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1699,-0.72,-175.1,2183,3759,4005,3896,318.4,-15.4,180,1705,0.00,2.40,0.00,0.000,1030,0.000,0.078,2184,2360,3949,4003,3895,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2030,-0.72,-175.1,2183,2360,4005,3896,364.3,-13.8,196,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2359,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,-0.72,-175.1,2183,2360,4005,3896,404.9,-13.3,206,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2359,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2629,-0.72,-175.1,2183,2360,4004,3895,444.5,-13.2,216,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2929,-0.72,-175.1,2183,2360,4005,3896,484.4,-13.3,226,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3229,-0.72,-175.1,2183,2360,4004,3896,523.6,-12.9,236,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2359,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.72,-175.1,2181,2360,4003,3895,562.5,-12.9,246,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3829,-0.72,-175.1,2183,2360,4004,3895,601.2,-12.8,256,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,-0.72,-175.1,2183,2360,4005,3896,639.5,-12.8,266,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3952,4003,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.72,-175.1,2185,2360,4003,3895,676.8,-12.4,276,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2361,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4729,-0.72,-175.1,2183,2360,4005,3896,714.0,-12.3,286,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3953,4011,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5032,-0.14,0.0,2183,2601,4003,3895,750.9,-12.3,296,5245,0.77,0.00,210.50,1.753,10246,0.272,0.000,2381,2599,3229,3279,3180,0,0,0,0,0,0,14.45,28.83,13.06
$STATE,5246,end apogee,CONTROL_FINISHED_OK
$STATE,5247,begin climb
$GC,5248,0.72,175.1,2381,2600,3278,3175,758.6,0.0,303,5411,0.98,2.40,155.82,1.998,10500,0.159,0.117,2660,3764,2508,2570,2446,0,0,0,0,0,0,13.62,13.02,12.36
$GC,5610,0.72,175.1,2660,3765,2564,2436,718.8,15.5,377,5616,0.00,2.12,0.00,0.000,1030,0.000,0.073,2668,2596,2498,2562,2435,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5931,0.72,175.1,2666,2594,2562,2434,675.1,13.7,391,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2593,2497,2562,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6230,0.72,175.1,2669,2594,2564,2433,634.8,13.4,401,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2498,2563,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6531,0.72,175.1,2669,2599,2564,2433,595.2,13.2,411,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2593,2495,2563,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6831,0.72,175.1,2670,2594,2562,2433,556.1,13.0,421,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7131,0.72,175.1,2671,2594,2562,2432,517.0,13.0,431,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2497,2563,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7431,0.72,175.1,2669,2594,2564,2432,478.2,13.0,441,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2594,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7731,0.72,175.1,2669,2594,2565,2432,439.0,13.0,451,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2497,2562,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8031,0.72,175.1,2669,2594,2564,2432,400.2,12.8,461,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2594,2494,2557,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8331,0.72,175.1,2670,2594,2562,2432,361.7,12.8,471,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,0.72,175.1,2669,2594,2564,2432,323.8,12.6,481,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2590,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,0.72,175.1,2670,2594,2562,2432,287.2,11.9,491,8936,0.00,2.42,0.00,0.000,516,0.000,0.086,2677,1187,2494,2562,2427,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8970,0.75,175.1,2680,1188,2564,2431,282.8,11.0,497,8975,0.00,2.47,0.00,0.000,1030,0.000,0.099,2677,2601,2497,2563,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9280,0.75,175.1,2681,2602,2562,2432,244.7,11.8,515,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2602,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9580,0.79,221.8,2681,2602,2566,2432,212.1,9.6,545,9622,0.00,0.00,39.15,1.412,8198,0.000,0.000,2680,2601,2321,2388,2255,0,0,0,0,0,0,28.83,28.83,13.66
$GC,9921,0.86,221.8,2679,2602,2380,2238,177.5,9.9,579,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2598,2310,2378,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10220,0.95,307.0,2679,2602,2377,2238,151.8,7.8,609,10302,0.20,2.58,73.15,1.381,10756,0.124,0.086,2761,1198,1964,2047,1882,0,0,0,0,0,0,14.42,14.02,13.47
$GC,10347,0.95,307.0,2761,1193,2041,1875,135.8,13.7,634,10354,0.00,2.55,0.00,0.000,1030,0.000,0.099,2761,2598,1954,2039,1870,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10653,0.95,307.0,2762,2598,2038,1869,91.6,13.6,665,10658,0.00,2.10,0.00,0.000,260,0.000,0.122,2761,3770,1953,2038,1868,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10843,0.97,307.0,2761,3769,2039,1869,66.6,11.1,703,10848,0.00,2.05,0.00,0.000,1030,0.000,0.080,2770,2597,1953,2038,1868,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11153,1.09,427.1,2772,2597,2038,1868,43.8,6.3,735,11215,0.00,2.42,55.38,0.301,8708,0.000,0.084,2780,1189,1490,1582,1399,0,0,0,0,0,0,28.83,14.39,14.22
$GC,11394,1.15,488.6,2782,1189,1592,1405,20.9,8.9,783,11431,0.00,2.50,31.95,0.239,9222,0.000,0.099,2780,2605,1236,1329,1143,0,0,0,0,0,0,28.83,14.42,14.27
$FREEZE,8.84,3.279,-1.376,2,1,0
$FREEZE,8.22,3.278,-1.379,2,1,0
$FREEZE,7.58,3.278,-1.378,2,1,0
$GC,11735,1.38,714.5,2782,2601,1334,1153,11.0,1.6,821,11831,0.28,2.53,89.43,0.211,10756,0.108,0.088,2893,1191,497,527,467,0,0,0,0,0,0,14.50,14.35,14.28
$FREEZE,6.23,3.280,-1.380,2,1,0
$FREEZE,5.73,3.276,-1.380,2,1,0
$FREEZE,5.26,3.276,-1.380,2,1,0
$FREEZE,4.74,3.276,-1.380,2,1,0
$FREEZE,4.38,3.276,-1.379,2,1,0
$GC,11856,1.43,765.3,2894,1189,531,472,4.4,9.4,840,11863,0.00,2.50,0.03,2.751,9222,0.000,0.102,2893,2594,500,529,471,0,0,0,0,0,0,28.83,14.34,13.54
$FREEZE,2.31,3.281,-1.378,2,1,0
$FREEZE,1.22,3.268,-1.377,2,1,0
$STATE,11880,end climb,SURFACE_DEPTH_REACHED
$STATE,11880,begin surface coast
$FREEZE,1.27,3.232,-0.179,2,1,0
$FINISH,1.3,1.002570
$STATE,11890,end surface coast,CONTROL_FINISHED_OK
$STATE,11890,begin surface
$SM_CCo,11906,0.17,0.627,0,0,498,669.67
$SM_GC,2.75,8.12,0.43,0.17,0.086,0.095,0.627,198,2355,498,-6.94,0.88,669.67,0,0,0,0,0,0,14.42,14.42,14.32
$RAFOS_CLK,132
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7200.11,-14600.63,170814,015934
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.43
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3999388
$24V_AH,12.36,113.198
$10V_AH,12.60,0.000
$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,21.550,44.425,655.400,0.175,0.000,0.000,0.000,258.250,0.000,0.000,27.213,0.000,9526.275,687.006,1970.667,147.627,0.000,1631.558,0.000,1254.639,1497.000,0.537,0.000
$DEVICE_MAMPS,468.180,138.465,2750.940,626.535,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11926.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.060,0.000,0.000,0.000
$MEM,269432
$DATA_FILE_SIZE,30039,844
$CAP_FILE_SIZE,128020,0
$CFSIZE,2097872896,2053570560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12305.32,0x2378b6,7,5
$SOUNDSPEED,1450.1
$GPS,170814,084948,7242.043,-14556.391,39,0.9,59,22.3