version: 66.12
glider: 199
mission: 5
dive: 161
start: 8 18 114 2 2 45
data:
$ID,199
$MISSION,5
$DIVE,161
$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,-21797.764
$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,32
$R_STBD_OVSHOOT,18
$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
$GPS1,180814,015554,7250.657,-14553.968,35,0.7,55,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.2
$GPS2,180814,020226,7250.659,-14553.951,6,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.3,26645,-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,-175.1,169,2366,522,489,0.0,0.0,0,79,0.00,0.00,-62.10,0.000,16386,0.000,0.000,167,2367,2041,2055,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,166,2368,2057,2029,3.8,-3.2,6,135,11.15,2.53,-36.88,0.000,18692,0.473,0.135,2175,3770,3945,4001,3889,0,0,0,0,0,0,14.01,14.27,14.59
$GC,359,-0.72,-175.1,2179,3771,3998,3894,91.4,-25.3,62,365,0.00,2.45,0.00,0.000,1030,0.000,0.079,2177,2335,3948,4003,3893,0,0,0,0,0,0,28.83,14.44,28.83
$GC,669,-0.72,-175.1,2176,2335,4000,3895,159.2,-20.3,94,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2334,3945,3998,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.72,-175.1,2177,2335,4000,3894,216.0,-17.8,124,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2334,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1279,-0.72,-175.1,2179,2335,3998,3894,265.0,-15.3,149,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2337,3948,3998,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-0.72,-175.1,2179,2334,3998,3894,308.9,-14.5,159,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2333,3946,3998,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1879,-0.72,-175.1,2177,2334,3999,3894,351.9,-14.2,169,1884,0.00,2.58,0.00,0.000,260,0.000,0.125,2167,3772,3948,4003,3893,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1924,-0.72,-175.1,2168,3772,3998,3894,359.0,-15.6,178,1930,0.10,2.42,0.00,0.000,3078,0.280,0.080,2192,2363,3948,4003,3893,0,0,0,0,0,0,14.42,14.59,28.83
$GC,2240,-0.72,-175.1,2192,2363,4000,3894,399.6,-12.7,191,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2362,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2539,-0.72,-175.1,2192,2363,4000,3894,437.7,-12.7,201,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2362,3945,3998,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,-0.72,-175.1,2193,2361,3998,3894,475.5,-12.5,211,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2359,3945,3998,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3139,-0.72,-175.1,2192,2362,3999,3894,513.3,-12.6,221,3144,0.00,2.50,0.00,0.000,260,0.000,0.123,2183,3767,3945,3997,3893,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3174,-0.72,-175.1,2182,3768,3999,3894,518.0,-14.0,228,3179,0.00,2.40,0.00,0.000,1030,0.000,0.079,2183,2361,3946,3998,3894,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3500,-0.72,-175.1,2183,2362,3998,3893,561.0,-13.2,243,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2361,3946,3998,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3799,-0.72,-175.1,2183,2362,3998,3894,600.3,-13.0,253,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2361,3946,3999,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-0.72,-175.1,2184,2362,3998,3894,638.9,-12.9,263,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2361,3946,3998,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4399,-0.72,-175.1,2184,2362,3998,3894,677.4,-12.8,273,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2361,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4699,-0.72,-175.1,2182,2362,4000,3894,715.6,-12.7,283,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2361,3946,3998,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4998,begin apogee
$GC,5002,-0.14,0.0,2182,2601,3994,3895,752.9,-12.4,293,5223,0.77,0.00,218.18,1.776,10246,0.271,0.000,2380,2600,3229,3281,3178,0,0,0,0,0,0,14.51,28.83,12.95
$STATE,5224,end apogee,CONTROL_FINISHED_OK
$STATE,5224,begin climb
$GC,5226,0.72,175.1,2382,2601,3279,3176,760.6,0.0,300,5392,0.98,2.42,157.85,2.093,10500,0.154,0.116,2661,3770,2508,2570,2447,0,0,0,0,0,0,13.57,12.97,12.28
$GC,5452,0.72,175.1,2661,3771,2566,2441,742.7,15.3,348,5457,0.00,2.15,0.00,0.000,1030,0.000,0.073,2670,2596,2502,2565,2439,0,0,0,0,0,0,28.83,13.41,28.83
$GC,5782,0.72,175.1,2670,2596,2565,2437,697.2,13.7,364,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2595,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6081,0.72,175.1,2669,2596,2566,2437,656.4,13.6,374,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2600,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6381,0.72,175.1,2670,2596,2566,2436,615.8,13.5,384,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2595,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6681,0.72,175.1,2669,2596,2566,2435,576.0,13.1,394,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2595,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6993,0.72,175.1,2670,2596,2566,2436,536.6,13.0,404,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2593,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7281,0.72,175.1,2670,2595,2565,2434,497.4,13.1,414,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2595,2499,2564,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7581,0.72,175.1,2670,2596,2566,2436,458.5,12.9,424,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2595,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7881,0.72,175.1,2671,2596,2565,2436,419.6,12.9,434,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2600,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8181,0.72,175.1,2671,2596,2564,2436,380.8,12.8,444,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2595,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,0.72,175.1,2669,2597,2566,2436,342.1,12.9,454,8486,0.00,2.40,0.00,0.000,516,0.000,0.086,2680,1190,2499,2565,2434,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8513,0.72,175.1,2680,1191,2566,2436,338.3,12.7,460,8518,0.00,2.42,0.00,0.000,1030,0.000,0.099,2680,2607,2500,2565,2435,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8843,0.72,175.1,2681,2608,2565,2436,295.5,12.5,476,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2607,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9142,0.72,175.1,2681,2607,2564,2436,260.0,11.5,486,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2604,2499,2564,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9443,0.72,175.1,2680,2608,2566,2436,225.1,11.2,510,9448,0.00,2.03,0.00,0.000,260,0.000,0.122,2681,3766,2500,2566,2435,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9482,0.72,175.1,2680,3767,2566,2436,219.9,12.7,518,9488,0.00,2.00,0.00,0.000,1030,0.000,0.079,2689,2595,2500,2565,2435,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9792,0.79,244.5,2689,2596,2566,2435,190.6,8.5,550,9858,0.00,2.47,58.38,1.397,8708,0.000,0.084,2699,1205,2223,2293,2153,0,0,0,0,0,0,28.83,14.21,13.62
$GC,9893,0.84,244.5,2699,1206,2293,2146,181.3,10.5,570,9898,0.00,2.50,0.00,0.000,1030,0.000,0.098,2699,2605,2218,2291,2146,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10204,0.91,244.5,2699,2601,2291,2141,147.9,9.7,602,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2601,2215,2291,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10503,0.97,295.6,2700,2601,2291,2140,119.4,9.4,632,10549,0.15,0.00,43.60,1.330,10758,0.143,0.000,2753,2601,2023,2104,1943,0,0,0,0,0,0,14.50,28.83,13.66
$GC,10853,0.97,295.6,2752,2603,2092,1920,76.9,11.9,671,10859,0.00,2.45,0.00,0.000,516,0.000,0.086,2763,1190,2005,2091,1920,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10949,1.03,364.1,2763,1191,2093,1920,67.6,8.6,690,10986,0.00,2.50,31.75,0.366,9222,0.000,0.099,2763,2595,1745,1831,1660,0,0,0,0,0,0,28.83,14.40,14.16
$GC,11283,1.12,446.2,2763,2596,1846,1671,39.8,8.0,727,11335,0.00,2.50,42.47,0.290,8708,0.000,0.086,2773,1198,1411,1502,1320,0,0,0,0,0,0,28.83,14.42,14.24
$GC,11374,1.17,446.2,2773,1198,1510,1326,31.3,10.2,745,11380,0.12,2.50,0.00,0.000,3078,0.155,0.100,2817,2602,1415,1508,1322,0,0,0,0,0,0,14.42,14.38,28.83
$FREEZE,8.83,0.587,-1.434,2,1,0
$FREEZE,8.21,0.615,-1.431,2,1,0
$GC,11686,1.39,664.6,2817,2603,1510,1328,15.7,1.9,777,11798,0.17,0.00,107.68,0.218,10502,0.131,0.000,2883,2602,518,542,495,0,0,0,0,0,0,14.47,28.83,14.27
$FREEZE,6.02,0.617,-1.430,2,1,0
$FREEZE,4.83,0.617,-1.429,2,1,0
$FREEZE,3.81,0.617,-1.428,2,1,0
$FREEZE,2.64,0.617,-1.427,2,1,0
$FREEZE,1.51,0.612,-1.427,2,1,0
$STATE,11843,end climb,SURFACE_DEPTH_REACHED
$STATE,11843,begin surface coast
$FREEZE,1.30,0.458,-1.434,2,1,0
$FINISH,1.3,1.021107
$STATE,11853,end surface coast,CONTROL_FINISHED_OK
$STATE,11853,begin surface
$SM_CCo,11869,2.85,0.217,0,0,499,669.67
$SM_GC,2.90,8.27,0.43,2.85,0.103,0.103,0.217,194,2369,499,-6.95,1.10,669.67,0,0,0,0,0,0,14.40,14.42,14.29
$RAFOS_CLK,217
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7214.16,-14602.46,170814,223731
$TT8_MAMPS,0.049434,0.049434
$HUMID,50.07
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3998696
$24V_AH,12.28,115.262
$10V_AH,12.48,0.000
$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,21.725,44.100,659.900,2.850,0.000,0.000,0.000,225.350,0.000,0.000,27.416,0.000,9559.742,688.664,1869.286,147.775,0.000,1582.104,0.000,1195.747,1496.000,0.536,0.000
$DEVICE_MAMPS,472.770,135.405,2093.040,217.260,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11890.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.020,0.000,0.000,0.000
$MEM,265988
$DATA_FILE_SIZE,26780,802
$CAP_FILE_SIZE,125939,0
$CFSIZE,2097872896,2052456448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12068.34,0x2378b6,7,5
$SOUNDSPEED,1449.8
$GPS,180814,052224,7252.361,-14553.508,53,0.7,73,22.3