version: 66.12
glider: 199
mission: 5
dive: 163
start: 8 18 114 8 49 45
data:
$ID,199
$MISSION,5
$DIVE,163
$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,-21800.287
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,180814,084242,7250.948,-14553.827,36,0.9,56,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-71.6
$GPS2,180814,084926,7250.990,-14553.898,6,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.3,26032,-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,-175.1,171,2373,501,494,0.0,0.0,0,70,0.00,0.00,-52.60,0.000,16386,0.000,0.000,170,2372,1779,1794,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.72,-175.1,171,2374,1795,1767,3.1,-2.3,5,140,11.07,2.53,-49.50,0.000,18692,0.472,0.140,2179,3763,3947,4002,3892,0,0,0,0,0,0,14.02,14.32,14.57
$GC,364,-0.72,-175.1,2181,3764,4001,3897,90.6,-26.0,64,371,0.00,2.42,0.00,0.000,1030,0.000,0.078,2179,2363,3949,4002,3896,0,0,0,0,0,0,28.83,14.43,28.83
$GC,670,-0.72,-175.1,2179,2363,4004,3898,156.9,-20.5,95,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.72,-175.1,2180,2363,4002,3898,214.0,-17.4,125,975,0.00,2.40,0.00,0.000,516,0.000,0.090,2179,951,3949,4002,3897,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1000,-0.72,-175.1,2179,951,4004,3897,219.2,-17.1,131,1005,0.15,2.47,0.00,0.000,3078,0.321,0.100,2197,2362,3950,4002,3898,0,0,0,0,0,0,14.33,14.50,28.83
$GC,1320,-0.72,-175.1,2197,2355,4003,3899,266.9,-14.0,156,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2357,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.72,-175.1,2197,2358,4004,3899,306.8,-13.3,166,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2357,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1920,-0.72,-175.1,2198,2358,4002,3898,346.1,-13.2,176,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2357,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.72,-175.1,2198,2358,4002,3898,384.5,-12.8,186,2225,0.00,2.53,0.00,0.000,260,0.000,0.123,2186,3766,3949,4002,3897,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2270,-0.72,-175.1,2188,3766,4004,3898,391.3,-14.0,196,2275,0.00,2.38,0.00,0.000,1030,0.000,0.078,2189,2353,3947,3998,3897,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2580,-0.72,-175.1,2189,2352,4002,3898,432.5,-13.2,208,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2351,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2880,-0.72,-175.1,2188,2352,4003,3898,471.8,-13.1,218,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2351,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3180,-0.72,-175.1,2189,2352,4002,3898,511.1,-13.0,228,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2351,3947,3998,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3480,-0.72,-175.1,2189,2352,4002,3898,550.0,-13.0,238,3485,0.00,2.55,0.00,0.000,260,0.000,0.123,2178,3757,3947,4002,3893,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3505,-0.72,-175.1,2178,3757,4003,3898,553.4,-14.2,243,3511,0.00,2.40,0.00,0.000,1030,0.000,0.077,2178,2354,3950,4002,3898,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3810,-0.72,-175.1,2178,2353,4003,3898,594.2,-13.3,254,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2353,3952,4002,3903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4110,-0.72,-175.1,2178,2353,4004,3898,633.9,-13.3,264,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2353,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.72,-175.1,2179,2355,4001,3898,673.4,-13.2,274,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2353,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.72,-175.1,2179,2354,4002,3898,712.5,-13.0,284,4715,0.00,2.53,0.00,0.000,260,0.000,0.124,2165,3770,3950,4002,3898,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4760,-0.72,-175.1,2167,3771,4003,3899,719.5,-14.5,294,4765,0.08,2.42,0.00,0.000,3078,0.275,0.079,2198,2355,3950,4002,3898,0,0,0,0,0,0,14.49,14.66,28.83
$STATE,5038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5038,begin apogee
$GC,5043,-0.14,0.0,2197,2597,4004,3898,752.3,-11.6,305,5258,0.70,0.00,211.32,1.629,10246,0.264,0.000,2379,2596,3229,3280,3178,0,0,0,0,0,0,14.47,28.83,13.11
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5259,begin climb
$GC,5261,0.72,175.1,2380,2597,3280,3175,760.6,0.0,312,5421,0.95,2.35,152.70,1.896,10500,0.154,0.116,2657,3767,2508,2568,2448,0,0,0,0,0,0,13.66,13.09,12.44
$GC,5525,0.72,175.1,2658,3773,2564,2440,737.4,15.2,367,5531,0.00,2.15,0.00,0.000,1030,0.000,0.073,2665,2602,2504,2563,2445,0,0,0,0,0,0,28.83,13.63,28.83
$GC,5852,0.72,175.1,2665,2603,2567,2439,694.0,13.3,382,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2602,2500,2562,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6151,0.72,175.1,2667,2603,2565,2438,653.8,13.4,392,6156,0.00,2.45,0.00,0.000,516,0.000,0.086,2679,1184,2500,2565,2435,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6170,0.72,175.1,2676,1185,2565,2438,651.1,13.2,396,6176,0.00,2.55,0.00,0.000,1030,0.000,0.099,2676,2616,2501,2566,2437,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6481,0.72,175.1,2676,2616,2566,2438,607.4,14.1,408,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2616,2496,2560,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,0.72,175.1,2676,2616,2565,2438,565.1,14.0,418,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2616,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7081,0.72,175.1,2676,2617,2567,2437,523.4,13.9,428,7086,0.00,2.45,0.00,0.000,516,0.000,0.085,2686,1181,2501,2565,2437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7105,0.72,175.1,2686,1184,2567,2436,519.9,12.9,433,7112,0.00,2.53,0.00,0.000,1030,0.000,0.099,2686,2595,2501,2565,2437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7411,0.72,175.1,2686,2596,2567,2437,476.8,14.2,444,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2596,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,0.72,175.1,2688,2596,2566,2437,434.7,13.9,454,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2596,2499,2562,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8011,0.72,175.1,2686,2596,2567,2437,393.3,13.8,464,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2600,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8311,0.72,175.1,2687,2596,2567,2437,351.6,13.8,474,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2596,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8611,0.72,175.1,2687,2597,2565,2437,311.0,13.4,484,8616,0.00,2.40,0.00,0.000,516,0.000,0.084,2696,1187,2499,2565,2433,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8645,0.72,175.1,2696,1185,2567,2437,306.5,12.6,491,8652,0.08,2.53,0.00,0.000,5126,0.278,0.098,2677,2607,2498,2565,2432,0,0,0,0,0,0,14.47,14.61,28.83
$GC,8971,0.72,175.1,2678,2607,2572,2437,267.3,11.7,506,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2606,2498,2561,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9271,0.72,175.1,2678,2607,2565,2436,233.7,11.2,524,9276,0.00,2.40,0.00,0.000,516,0.000,0.084,2692,1190,2500,2564,2437,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9372,0.78,227.4,2686,1191,2565,2437,223.8,9.3,544,9423,0.00,2.45,42.92,1.405,9222,0.000,0.099,2682,2601,2297,2364,2231,0,0,0,0,0,0,28.83,14.60,13.75
$GC,9721,0.80,227.4,2686,2601,2362,2222,185.8,10.9,584,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2600,2291,2361,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10021,0.86,283.3,2687,2601,2360,2221,156.6,9.1,614,10077,0.00,2.53,48.50,1.356,8708,0.000,0.085,2696,1194,2064,2144,1984,0,0,0,0,0,0,28.83,14.23,13.62
$GC,10107,0.92,283.3,2697,1194,2139,1978,148.4,10.1,631,10114,0.12,2.53,0.00,0.000,3078,0.150,0.099,2742,2596,2059,2137,1982,0,0,0,0,0,0,14.26,14.22,28.83
$GC,10413,0.92,283.3,2742,2599,2142,1975,110.7,11.6,662,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2598,2057,2140,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10712,0.97,283.3,2744,2599,2140,1973,77.5,10.5,692,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2598,2055,2140,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11012,1.16,477.8,2743,2599,2140,1971,57.1,3.0,722,11115,0.20,2.47,94.07,0.340,10756,0.127,0.088,2818,1191,1282,1371,1194,0,0,0,0,0,0,14.54,14.31,14.17
$GC,11215,1.16,477.8,2821,1192,1378,1198,33.9,13.8,762,11220,0.00,2.53,0.00,0.000,1030,0.000,0.099,2822,2606,1287,1377,1197,0,0,0,0,0,0,28.83,14.38,28.83
$FREEZE,8.74,0.615,-1.453,2,1,0
$FREEZE,8.47,0.760,-1.427,2,1,0
$FREEZE,8.01,0.760,-1.427,2,1,0
$FREEZE,7.64,0.761,-1.424,2,1,0
$FREEZE,7.15,0.761,-1.423,2,1,0
$GC,11529,1.31,625.0,2822,2607,1384,1194,11.4,5.1,794,11609,0.10,2.47,72.97,0.216,10756,0.170,0.085,2868,1190,679,739,619,0,0,0,0,0,0,14.42,14.28,14.22
$FREEZE,6.17,0.761,-1.421,2,1,0
$FREEZE,5.72,0.760,-1.421,2,1,0
$FREEZE,5.22,0.760,-1.420,2,1,0
$FREEZE,4.80,0.759,-1.420,2,1,0
$FREEZE,4.30,0.759,-1.420,2,1,0
$FREEZE,3.79,0.760,-1.419,2,1,0
$FREEZE,2.93,0.760,-1.418,2,1,0
$FREEZE,2.06,0.759,-1.418,2,1,0
$FREEZE,1.57,0.759,-1.417,2,1,0
$GC,11634,1.36,677.3,2868,1188,741,620,4.3,9.3,813,11661,0.00,2.53,21.80,0.200,9220,0.000,0.099,2869,2604,501,518,484,0,0,0,0,0,0,28.83,14.27,14.22
$STATE,11662,end climb,SURFACE_DEPTH_REACHED
$STATE,11662,begin surface coast
$FREEZE,1.81,0.755,-1.415,2,1,0
$FREEZE,1.28,0.755,-1.414,2,1,0
$FINISH,1.3,1.020815
$STATE,11669,end surface coast,CONTROL_FINISHED_OK
$STATE,11670,begin surface
$SM_CCo,11745,0.00,0.000,0,0,500,669.67
$SM_GC,2.31,7.97,0.45,0.00,0.073,0.096,0.000,193,2359,500,-6.96,0.76,669.67,0,0,0,0,0,0,14.33,14.35,28.83
$RAFOS_CLK,21
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7214.16,-14552.35,180814,052502
$TT8_MAMPS,0.078645,0.078645
$HUMID,49.17
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3998472
$24V_AH,12.44,115.948
$10V_AH,12.65,0.000
$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,21.425,64.825,644.300,0.000,0.000,0.000,0.000,237.100,0.000,0.000,27.377,0.000,9381.086,702.276,1911.877,153.270,0.000,1628.307,0.000,1222.358,1493.000,0.538,0.000
$DEVICE_MAMPS,472.005,139.995,1895.670,0.000,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11706.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.897,0.000,0.000,0.000
$MEM,264848
$DATA_FILE_SIZE,26698,819
$CAP_FILE_SIZE,129735,0
$CFSIZE,2097872896,2052063232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12035.07,0x2378b6,7,5
$SOUNDSPEED,1450.2
$GPS,180814,120654,7252.757,-14553.092,32,1.0,52,22.3