version: 66.12
glider: 199
mission: 5
dive: 160
start: 8 17 114 22 41 36
data:
$ID,199
$MISSION,5
$DIVE,160
$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,-21796.504
$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,23
$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
$GPS1,170814,223455,7248.993,-14554.674,30,0.9,50,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-70.3
$GPS2,170814,224117,7249.025,-14554.648,5,0.9,25,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.5,29691,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.1,169,2355,515,474,0.0,0.0,0,80,0.00,0.00,-62.72,0.000,16386,0.000,0.000,167,2355,2043,2058,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-175.1,168,2361,2058,2031,3.8,-3.3,6,136,11.12,2.55,-36.85,0.000,18692,0.471,0.136,2181,3767,3944,4000,3889,0,0,0,0,0,0,14.03,14.27,14.59
$GC,360,-0.72,-175.1,2182,3768,4000,3894,91.9,-24.5,62,365,0.00,2.45,0.00,0.000,1030,0.000,0.079,2181,2357,3946,4001,3892,0,0,0,0,0,0,28.83,14.42,28.83
$GC,670,-0.72,-175.1,2181,2357,4002,3894,159.2,-20.5,94,675,0.00,2.53,0.00,0.000,260,0.000,0.122,2170,3766,3947,4001,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,745,-0.72,-175.1,2171,3766,4000,3894,175.5,-21.2,109,752,0.10,2.42,0.00,0.000,3078,0.288,0.078,2194,2359,3946,4000,3893,0,0,0,0,0,0,14.31,14.50,28.83
$GC,1050,-0.72,-175.1,2194,2359,4002,3890,227.8,-15.6,140,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2358,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1350,-0.72,-175.1,2194,2359,4002,3894,271.7,-14.5,160,1355,0.00,2.40,0.00,0.000,516,0.000,0.090,2194,946,3947,4001,3894,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1420,-0.72,-175.1,2194,946,4002,3894,281.4,-13.1,174,1425,0.00,2.53,0.00,0.000,1030,0.000,0.103,2185,2358,3946,4000,3893,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1741,-0.72,-175.1,2185,2359,4002,3894,326.6,-14.1,188,1746,0.00,2.50,0.00,0.000,260,0.000,0.124,2175,3773,3948,4000,3897,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1795,-0.72,-175.1,2176,3773,4000,3894,334.9,-15.0,199,1802,0.00,2.42,0.00,0.000,1030,0.000,0.079,2174,2359,3947,4000,3894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2100,-0.72,-175.1,2174,2360,4002,3894,379.3,-14.4,210,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2355,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2400,-0.72,-175.1,2174,2360,4002,3894,421.8,-14.0,220,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2359,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2700,-0.72,-175.1,2174,2361,4002,3894,463.3,-13.8,230,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,-0.72,-175.1,2174,2360,4002,3894,504.6,-13.8,240,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3944,4000,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3300,-0.72,-175.1,2174,2361,4002,3901,545.6,-13.7,250,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3600,-0.72,-175.1,2174,2360,4002,3895,586.3,-13.5,260,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,-0.72,-175.1,2176,2360,4000,3894,625.8,-13.0,270,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2359,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-0.72,-175.1,2174,2360,4002,3894,665.1,-13.1,280,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2356,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4500,-0.72,-175.1,2174,2360,4002,3895,704.2,-12.9,290,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2360,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-0.72,-175.1,2176,2360,4000,3894,743.1,-12.8,300,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4859,begin apogee
$GC,4863,-0.14,0.0,2174,2610,3999,3894,750.9,-13.0,302,5033,0.82,0.00,167.32,2.032,10246,0.278,0.000,2382,2610,3229,3280,3179,0,0,0,0,0,0,14.45,28.83,13.01
$STATE,5034,end apogee,CONTROL_FINISHED_OK
$STATE,5034,begin climb
$GC,5036,0.72,175.1,2383,2611,3278,3174,756.0,0.0,307,5202,0.95,2.33,157.62,2.087,10500,0.158,0.119,2656,3762,2505,2568,2443,0,0,0,0,0,0,13.60,12.97,12.31
$GC,5336,0.72,175.1,2657,3763,2562,2438,727.0,15.0,372,5343,0.00,2.15,0.00,0.000,1030,0.000,0.074,2665,2592,2498,2563,2433,0,0,0,0,0,0,28.83,13.62,28.83
$GC,5642,0.72,175.1,2666,2593,2562,2434,685.6,13.5,383,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2593,2502,2563,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,0.72,175.1,2667,2593,2563,2435,645.2,13.4,393,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2593,2499,2563,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6242,0.72,175.1,2665,2594,2564,2435,605.1,13.3,403,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2593,2498,2563,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,0.72,175.1,2665,2594,2571,2434,565.3,13.2,413,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2593,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6842,0.72,175.1,2665,2594,2564,2435,525.9,13.1,423,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2596,2498,2562,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7142,0.72,175.1,2665,2593,2564,2435,486.9,13.0,433,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2498,2563,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7442,0.72,175.1,2665,2593,2564,2435,447.9,13.0,443,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2592,2498,2563,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7742,0.72,175.1,2666,2593,2562,2435,409.3,12.9,453,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2592,2498,2562,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8042,0.72,175.1,2665,2593,2564,2435,371.0,12.6,463,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2593,2498,2563,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8342,0.72,175.1,2665,2593,2564,2435,333.1,12.7,473,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2593,2498,2563,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,0.72,175.1,2666,2593,2562,2435,295.5,12.5,483,8647,0.00,2.38,0.00,0.000,516,0.000,0.086,2677,1189,2498,2563,2434,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8666,0.72,175.1,2677,1189,2562,2435,292.5,12.1,488,8673,0.00,2.50,0.00,0.000,1030,0.000,0.099,2675,2596,2498,2562,2434,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8972,0.72,175.1,2676,2597,2564,2435,254.4,12.2,499,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2594,2499,2563,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9272,0.79,175.1,2677,2597,2563,2435,221.1,9.9,525,9277,0.00,2.40,0.00,0.000,516,0.000,0.084,2686,1187,2496,2562,2431,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9326,0.84,224.2,2687,1185,2562,2435,215.8,9.4,536,9374,0.00,2.50,41.42,1.427,9222,0.000,0.099,2686,2621,2309,2375,2244,0,0,0,0,0,0,28.83,14.60,13.70
$GC,9672,0.89,224.2,2688,2615,2367,2227,179.5,10.4,575,9673,0.12,0.00,0.00,0.000,2054,0.155,0.000,2729,2614,2295,2366,2225,0,0,0,0,0,0,14.43,28.83,28.83
$GC,9972,0.93,224.2,2728,2615,2368,2227,145.9,10.7,605,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2614,2296,2366,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10272,0.98,277.0,2729,2615,2368,2226,115.5,9.3,635,10324,0.00,2.50,44.97,1.355,8708,0.000,0.088,2740,1197,2090,2168,2013,0,0,0,0,0,0,28.83,14.24,13.69
$GC,10373,1.01,277.0,2740,1197,2164,2005,105.2,11.1,655,10379,0.00,2.53,0.00,0.000,1030,0.000,0.100,2740,2605,2082,2162,2003,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10684,1.08,351.7,2741,2605,2162,2001,73.5,8.3,687,10725,0.12,0.00,35.10,0.385,10758,0.155,0.000,2783,2605,1796,1878,1714,0,0,0,0,0,0,14.45,28.83,14.13
$GC,11023,1.14,411.1,2782,2605,1895,1724,41.4,9.0,724,11060,0.00,2.47,31.23,0.294,8708,0.000,0.088,2794,1185,1553,1644,1462,0,0,0,0,0,0,28.83,14.41,14.25
$GC,11069,1.19,459.8,2790,1186,1648,1467,37.1,9.5,730,11100,0.00,2.53,24.92,0.285,9222,0.000,0.100,2794,2603,1356,1447,1265,0,0,0,0,0,0,28.83,14.35,14.22
$FREEZE,8.51,0.648,-1.418,2,1,0
$FREEZE,8.04,0.663,-1.417,2,1,0
$FREEZE,7.29,0.663,-1.417,2,1,0
$FREEZE,6.55,0.665,-1.416,2,1,0
$GC,11404,1.40,667.2,2795,2603,1453,1274,12.8,2.4,767,11518,0.28,2.55,101.85,0.212,10756,0.114,0.090,2905,1192,511,534,488,0,0,0,0,0,0,14.48,14.28,14.27
$FREEZE,4.84,0.662,-1.415,2,1,0
$FREEZE,4.24,0.662,-1.414,2,1,0
$FREEZE,3.58,0.672,-1.414,2,1,0
$FREEZE,2.61,0.672,-1.413,2,1,0
$FREEZE,1.92,0.670,-1.412,2,1,0
$STATE,11541,end climb,SURFACE_DEPTH_REACHED
$STATE,11541,begin surface coast
$FREEZE,1.38,0.670,-1.412,2,1,0
$FREEZE,1.32,0.674,-0.942,2,1,0
$FINISH,1.3,1.013904
$STATE,11552,end surface coast,CONTROL_FINISHED_OK
$STATE,11552,begin surface
$SM_CCo,11569,1.67,0.229,0,0,498,669.67
$SM_GC,2.58,8.25,2.15,1.67,0.096,0.106,0.229,197,2360,498,-6.95,-0.57,669.67,0,0,0,0,0,0,14.39,14.35,14.28
$RAFOS_CLK,305
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7214.16,-14556.43,170814,191050
$TT8_MAMPS,0.050183,0.050183
$HUMID,49.76
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3998812
$24V_AH,12.31,114.905
$10V_AH,12.54,0.000
$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,21.775,49.250,604.450,1.675,0.000,0.000,0.000,216.275,0.000,0.000,26.918,0.000,9315.603,650.101,1843.857,143.158,0.000,1527.998,0.000,1187.154,1436.000,0.537,0.000
$DEVICE_MAMPS,471.240,136.170,2086.920,228.735,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11588.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.118,0.000,0.000,0.000
$MEM,266584
$DATA_FILE_SIZE,26715,795
$CAP_FILE_SIZE,125248,0
$CFSIZE,2097872896,2052653056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12371.24,0x2378b6,7,5
$SOUNDSPEED,1449.8
$GPS,180814,015554,7250.657,-14553.968,35,0.7,55,22.3