version: 66.12
glider: 199
mission: 5
dive: 156
start: 8 17 114 8 56 49
data:
$ID,199
$MISSION,5
$DIVE,156
$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,-21791.461
$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,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
$GPS1,170814,084948,7242.043,-14556.391,39,0.9,59,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.3
$GPS2,170814,085630,7242.104,-14556.462,5,0.8,25,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.4,42547,-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,16,-0.72,-175.1,165,2354,523,472,0.0,0.0,0,79,0.00,0.00,-62.05,0.000,16386,0.000,0.000,161,2354,2057,2068,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,162,2354,2069,2048,3.8,-3.2,6,135,11.18,2.58,-35.95,0.000,18692,0.472,0.142,2181,3771,3944,4000,3889,0,0,0,0,0,0,14.00,14.32,14.57
$GC,359,-0.72,-175.1,2181,3773,4006,3895,89.8,-28.6,62,364,0.00,2.45,0.00,0.000,1030,0.000,0.077,2181,2367,3951,4004,3899,0,0,0,0,0,0,28.83,14.40,28.83
$GC,669,-0.72,-175.1,2182,2362,4010,3896,156.9,-20.2,94,674,0.00,2.53,0.00,0.000,260,0.000,0.119,2170,3773,3949,4004,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,834,-0.72,-175.1,2169,3774,4008,3896,192.0,-20.3,127,841,0.10,2.45,0.00,0.000,3078,0.292,0.078,2193,2356,3948,3999,3897,0,0,0,0,0,0,14.32,14.52,28.83
$GC,1139,-0.72,-175.1,2195,2356,4004,3896,241.2,-14.9,158,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1440,-0.72,-175.1,2195,2356,4004,3896,284.4,-14.1,172,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-0.72,-175.1,2195,2356,4003,3896,325.4,-13.4,182,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2355,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.72,-175.1,2195,2356,4004,3896,364.3,-12.8,192,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.72,-175.1,2193,2356,4005,3895,402.4,-12.8,202,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2355,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.72,-175.1,2195,2356,4004,3895,440.6,-12.7,212,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2355,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2939,-0.72,-175.1,2194,2356,4004,3895,477.7,-12.3,222,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2356,3952,4003,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3239,-0.72,-175.1,2193,2355,4006,3896,514.3,-12.1,232,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2354,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3539,-0.72,-175.1,2193,2356,4004,3895,550.5,-12.0,242,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2355,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,-0.72,-175.1,2195,2355,4003,3895,587.2,-12.3,252,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2356,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.72,-175.1,2196,2356,4003,3895,623.7,-12.1,262,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3950,4004,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4439,-0.72,-175.1,2195,2356,4003,3895,659.5,-11.8,272,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2354,3951,4004,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.72,-175.1,2195,2356,4004,3895,695.1,-11.9,282,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2359,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5039,-0.72,-175.1,2195,2356,4004,3895,730.3,-11.7,292,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5222,-0.14,0.0,2193,2609,4005,3895,751.2,-11.6,298,5447,0.73,0.00,222.93,1.783,10246,0.263,0.000,2381,2608,3231,3283,3180,0,0,0,0,0,0,14.51,28.83,12.96
$STATE,5448,end apogee,CONTROL_FINISHED_OK
$STATE,5448,begin climb
$GC,5450,0.72,175.1,2382,2608,3277,3174,759.0,0.0,305,5616,0.98,2.33,157.00,2.067,10500,0.159,0.117,2665,3763,2507,2570,2445,0,0,0,0,0,0,13.57,12.97,12.30
$GC,5715,0.72,175.1,2659,3764,2566,2433,735.0,15.2,362,5720,0.00,2.12,0.00,0.000,1030,0.000,0.073,2668,2601,2499,2564,2435,0,0,1,0,0,0,28.83,13.53,28.83
$GC,6031,0.72,175.1,2668,2602,2566,2434,692.0,13.7,375,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6330,0.72,175.1,2670,2601,2563,2433,651.7,13.4,385,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2499,2564,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,0.72,175.1,2668,2601,2566,2433,611.0,13.5,395,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2498,2564,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,0.72,175.1,2668,2601,2566,2432,571.3,13.2,405,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2601,2500,2569,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7230,0.72,175.1,2668,2601,2566,2432,532.2,13.1,415,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2599,2497,2564,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,0.72,175.1,2668,2601,2566,2432,492.9,13.1,425,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2600,2495,2559,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7830,0.72,175.1,2670,2601,2566,2432,453.6,13.0,435,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2597,2497,2564,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8130,0.72,175.1,2670,2601,2564,2431,414.9,12.8,445,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2602,2497,2564,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8430,0.72,175.1,2668,2601,2566,2432,376.6,12.8,455,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2600,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8730,0.72,175.1,2670,2601,2564,2432,338.6,12.5,465,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2600,2497,2564,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9030,0.72,175.1,2668,2601,2566,2432,301.5,12.2,475,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2601,2496,2561,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9330,0.72,175.1,2668,2601,2567,2432,265.6,11.6,485,9336,0.00,2.42,0.00,0.000,516,0.000,0.086,2679,1195,2497,2564,2431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9380,0.76,175.1,2680,1195,2563,2431,260.1,10.8,495,9386,0.00,2.50,0.00,0.000,1030,0.000,0.099,2681,2600,2497,2567,2427,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9690,0.82,175.1,2679,2601,2566,2432,225.3,10.1,521,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2599,2499,2565,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9990,0.88,231.4,2679,2601,2566,2432,196.6,9.1,551,10043,0.12,2.53,46.78,1.414,10756,0.155,0.085,2732,1194,2278,2345,2211,0,0,0,0,0,0,14.63,14.31,13.71
$GC,10087,0.88,231.4,2732,1195,2353,2198,185.6,12.3,570,10094,0.00,2.58,0.00,0.000,1030,0.000,0.099,2732,2606,2269,2338,2200,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10393,0.91,231.4,2732,2606,2340,2199,149.1,10.9,601,10398,0.00,2.45,0.00,0.000,516,0.000,0.086,2742,1189,2267,2338,2197,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10479,0.96,286.3,2743,1189,2338,2199,141.0,9.2,618,10534,0.00,2.50,47.10,1.377,9222,0.000,0.099,2738,2604,2052,2132,1972,0,0,0,0,0,0,28.83,14.45,13.59
$GC,10832,0.96,286.3,2742,2604,2128,1955,97.3,12.0,659,10838,0.00,2.12,0.00,0.000,260,0.000,0.124,2742,3769,2040,2126,1954,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10963,0.96,286.3,2743,3766,2126,1954,80.6,11.7,682,10969,0.00,2.03,0.00,0.000,1030,0.000,0.079,2751,2600,2039,2126,1953,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11268,1.10,425.9,2752,2600,2126,1953,57.2,5.4,713,11340,0.12,0.00,66.90,0.338,10502,0.158,0.000,2792,2599,1493,1585,1402,0,0,0,0,0,0,14.42,28.83,14.11
$GC,11638,1.16,481.8,2792,2600,1596,1412,16.5,9.1,751,11674,0.00,2.47,28.92,0.230,8964,0.000,0.084,2804,1193,1265,1357,1173,0,0,0,0,0,0,28.83,14.31,14.23
$FREEZE,8.86,3.087,-1.384,2,1,0
$FREEZE,8.27,3.087,-1.383,2,1,0
$GC,11899,1.45,772.5,2803,1194,1368,1181,13.3,-1.3,802,12004,0.30,2.50,93.78,0.215,11270,0.100,0.099,2911,2601,496,523,469,0,0,0,0,0,0,14.42,14.37,14.16
$FREEZE,7.27,3.084,-1.384,2,1,0
$FREEZE,5.86,3.083,-1.383,2,1,0
$FREEZE,4.59,3.080,-1.382,2,1,0
$FREEZE,3.00,3.075,-1.381,2,1,0
$FREEZE,1.74,3.074,-1.380,2,1,0
$STATE,12047,end climb,SURFACE_DEPTH_REACHED
$STATE,12047,begin surface coast
$FREEZE,1.30,2.999,-1.365,2,1,0
$FINISH,1.3,1.019999
$STATE,12057,end surface coast,CONTROL_FINISHED_OK
$STATE,12057,begin surface
$SM_CCo,12133,0.00,0.000,0,0,500,670.16
$SM_GC,2.50,8.20,0.43,0.00,0.083,0.100,0.000,199,2366,500,-6.94,1.10,670.16,0,0,0,0,0,0,14.33,14.33,28.83
$RAFOS_CLK,54
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7207.11,-14548.49,170814,052506
$TT8_MAMPS,0.087633,0.087633
$HUMID,50.00
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.80
$XPDR_PINGS,1
$SC_FREEKB,3999272
$24V_AH,12.30,113.556
$10V_AH,12.56,0.000
$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,21.725,39.450,663.400,0.000,0.000,0.000,0.000,233.200,0.250,0.000,27.008,0.000,9770.759,695.049,1922.894,144.359,0.000,1607.768,0.000,1231.823,1496.000,0.537,0.000
$DEVICE_MAMPS,472.005,141.525,2067.030,0.000,0.000,0.000,0.000,171.360,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12095.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.848,0.000,0.000,0.000
$MEM,268844
$DATA_FILE_SIZE,30044,828
$CAP_FILE_SIZE,126061,0
$CFSIZE,2097872896,2053373952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,12418.28,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,170814,122024,7243.855,-14555.901,31,0.8,51,22.3