version: 66.12
glider: 199
mission: 5
dive: 170
start: 8 19 114 8 36 51
data:
$ID,199
$MISSION,5
$DIVE,170
$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,-21810.197
$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,27
$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
$GPS1,190814,082924,7302.806,-14550.841,22,0.7,42,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-74.4
$GPS2,190814,083632,7302.845,-14550.921,6,0.8,26,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.9,22516,-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,-175.1,196,2361,508,480,0.0,0.0,0,80,0.00,0.00,-62.92,0.000,16386,0.000,0.000,196,2361,2030,2049,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-175.1,197,2362,2049,2013,3.4,-2.4,6,141,10.95,2.58,-40.17,0.000,18692,0.470,0.142,2180,3767,3946,4002,3891,0,0,0,0,0,0,14.01,14.31,14.57
$GC,365,-0.72,-175.1,2181,3768,4002,3895,89.7,-25.3,63,372,0.00,2.47,0.00,0.000,1030,0.000,0.080,2180,2354,3944,3995,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,671,-0.72,-175.1,2181,2353,4002,3896,156.0,-19.7,94,676,0.00,2.53,0.00,0.000,260,0.000,0.121,2168,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,845,-0.72,-175.1,2170,3767,4002,3895,193.1,-20.2,129,852,0.12,2.45,0.00,0.000,3078,0.295,0.079,2198,2356,3945,3995,3895,0,0,0,0,0,0,14.28,14.47,28.83
$GC,1150,-0.72,-175.1,2200,2357,4002,3891,241.6,-14.3,160,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2356,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.72,-175.1,2199,2357,4004,3895,283.8,-13.8,174,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2357,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.72,-175.1,2200,2356,4001,3895,323.1,-13.0,184,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2356,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.72,-175.1,2199,2356,4004,3895,361.7,-12.9,194,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2356,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.72,-175.1,2199,2357,4003,3895,399.7,-12.6,204,2356,0.00,2.53,0.00,0.000,260,0.000,0.122,2189,3767,3948,4002,3894,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2395,-0.72,-175.1,2191,3764,4002,3895,405.8,-13.8,213,2401,0.00,2.42,0.00,0.000,1030,0.000,0.076,2190,2353,3948,4002,3894,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2710,-0.72,-175.1,2189,2353,4004,3895,446.6,-12.9,226,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2352,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-0.72,-175.1,2189,2353,4004,3895,485.5,-12.9,236,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2350,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.72,-175.1,2190,2353,4002,3897,523.8,-12.6,246,3316,0.00,2.50,0.00,0.000,260,0.000,0.121,2179,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3380,-0.72,-175.1,2180,3768,4002,3895,533.4,-14.0,260,3386,0.00,2.40,0.00,0.000,1030,0.000,0.076,2179,2361,3948,4002,3894,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3701,-0.72,-175.1,2180,2361,4002,3895,575.8,-13.2,274,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2361,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.72,-175.1,2179,2362,4004,3896,615.5,-13.2,284,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2361,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.72,-175.1,2180,2362,4002,3895,655.0,-13.2,294,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2361,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-0.72,-175.1,2178,2361,4004,3895,694.1,-12.9,304,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2361,3950,4005,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.72,-175.1,2180,2361,4002,3895,732.4,-12.8,314,4906,0.00,2.50,0.00,0.000,260,0.000,0.119,2167,3772,3951,4008,3895,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4950,-0.72,-175.1,2169,3772,4002,3895,739.5,-14.8,324,4956,0.08,2.40,0.00,0.000,3078,0.274,0.076,2206,2364,3948,4002,3895,0,0,0,0,0,0,14.45,14.64,28.83
$STATE,5049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5049,begin apogee
$GC,5053,-0.14,0.0,2196,2605,4004,3896,751.4,-11.8,329,5262,0.70,0.00,202.38,1.762,10246,0.269,0.000,2378,2605,3225,3277,3174,0,0,0,0,0,0,14.47,28.83,13.08
$STATE,5263,end apogee,CONTROL_FINISHED_OK
$STATE,5263,begin climb
$GC,5265,0.72,175.1,2379,2604,3278,3174,759.2,0.0,336,5431,0.98,2.33,157.27,2.101,10500,0.160,0.116,2660,3762,2509,2569,2449,0,0,0,0,0,0,13.64,13.00,12.31
$GC,5591,0.72,175.1,2660,3764,2565,2441,726.5,15.2,402,5596,0.00,2.12,0.00,0.000,1030,0.000,0.075,2668,2602,2501,2562,2440,0,0,0,0,0,0,28.83,13.73,28.83
$GC,5922,0.72,175.1,2669,2602,2565,2440,681.4,13.6,418,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2501,2563,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6221,0.72,175.1,2670,2602,2563,2439,640.7,13.6,428,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2602,2501,2564,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6521,0.72,175.1,2669,2603,2565,2439,600.1,13.5,438,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6821,0.72,175.1,2670,2602,2563,2439,559.4,13.7,448,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7121,0.72,175.1,2668,2602,2565,2439,519.0,13.4,458,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7421,0.72,175.1,2669,2603,2564,2439,479.4,13.2,468,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,0.72,175.1,2670,2602,2563,2440,440.8,12.9,478,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2498,2563,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8021,0.72,175.1,2668,2603,2565,2439,402.3,12.8,488,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8321,0.72,175.1,2670,2602,2563,2439,363.9,12.9,498,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2498,2563,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,0.72,175.1,2670,2602,2562,2438,325.9,12.5,508,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,0.72,175.1,2669,2603,2563,2439,290.0,11.8,518,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9221,0.72,175.1,2669,2602,2565,2439,254.8,11.3,528,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2602,2500,2563,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,0.78,226.9,2669,2602,2563,2439,223.2,9.3,554,9572,0.00,2.47,43.67,1.423,8708,0.000,0.085,2679,1198,2293,2359,2228,0,0,0,0,0,0,28.83,14.33,13.75
$GC,9598,0.83,226.9,2679,1198,2358,2223,215.7,10.2,569,9604,0.00,2.50,0.00,0.000,1030,0.000,0.096,2679,2602,2287,2352,2222,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9902,0.88,226.9,2679,2603,2356,2219,184.0,10.4,600,9907,0.12,2.42,0.00,0.000,2564,0.152,0.083,2733,1197,2286,2355,2218,0,0,0,0,0,0,14.48,14.45,28.83
$GC,9967,0.88,226.9,2733,1193,2357,2219,176.8,11.3,613,9973,0.00,2.53,0.00,0.000,1030,0.000,0.097,2733,2622,2285,2355,2216,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10273,0.90,226.9,2733,2623,2356,2219,141.8,11.1,644,10278,0.00,2.03,0.00,0.000,260,0.000,0.122,2733,3771,2286,2355,2218,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10342,0.90,226.9,2735,3772,2354,2218,133.6,11.9,658,10347,0.00,2.03,0.00,0.000,1030,0.000,0.079,2743,2597,2286,2354,2218,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10653,0.96,289.9,2743,2597,2356,2219,104.3,8.8,690,10713,0.00,0.00,55.03,1.317,8198,0.000,0.000,2743,2597,2037,2117,1958,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11012,1.02,348.6,2742,2597,2111,1944,66.7,9.0,726,11044,0.00,2.15,26.62,0.363,8452,0.000,0.120,2743,3773,1808,1891,1726,0,0,0,0,0,0,28.83,14.30,14.14
$GC,11264,1.13,459.7,2742,3773,1902,1740,45.4,6.7,776,11326,0.15,2.00,57.45,0.304,11270,0.142,0.080,2801,2599,1358,1452,1264,0,0,0,0,0,0,14.45,14.46,14.19
$FREEZE,8.89,0.235,-1.447,2,1,0
$FREEZE,8.21,0.235,-1.447,2,1,0
$FREEZE,7.59,0.336,-1.440,2,1,0
$FREEZE,6.92,0.336,-1.439,2,1,0
$GC,11624,1.34,664.2,2802,2599,1449,1273,14.3,2.6,818,11733,0.20,2.42,100.80,0.220,10756,0.125,0.086,2881,1197,520,546,494,0,0,0,0,0,0,14.47,14.33,14.23
$FREEZE,5.44,0.294,-1.436,2,1,0
$FREEZE,4.84,0.269,-1.435,2,1,0
$FREEZE,4.29,0.269,-1.434,2,1,0
$FREEZE,3.67,0.223,-1.433,2,1,0
$FREEZE,3.09,0.223,-1.432,2,1,0
$FREEZE,2.56,0.184,-1.430,2,1,0
$FREEZE,1.84,0.184,-1.429,2,1,0
$STATE,11766,end climb,SURFACE_DEPTH_REACHED
$STATE,11766,begin surface coast
$FREEZE,1.39,0.190,-1.429,2,1,0
$FREEZE,1.41,0.190,-1.429,2,1,0
$FINISH,1.4,1.021044
$STATE,11776,end surface coast,CONTROL_FINISHED_OK
$STATE,11776,begin surface
$SM_CCo,11793,2.97,0.220,0,0,500,669.91
$SM_GC,3.13,8.15,2.15,2.97,0.090,0.108,0.220,201,2365,500,-6.95,-0.51,669.91,0,0,0,0,0,0,14.38,14.34,14.30
$RAFOS_CLK,516
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7228.39,-14543.89,190814,050525
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.52
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3997676
$24V_AH,12.31,118.249
$10V_AH,12.57,0.000
$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,21.450,52.375,643.225,2.975,0.000,0.000,0.000,259.025,0.000,0.000,27.552,0.000,9405.607,704.062,1962.139,154.572,0.000,1656.228,0.000,1256.842,0.000,0.537,0.000
$DEVICE_MAMPS,470.475,142.290,2101.455,219.555,0.000,0.000,0.000,162.180,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11813.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.902,0.000,0.000,0.000
$MEM,260824
$DATA_FILE_SIZE,30089,847
$CAP_FILE_SIZE,128438,0
$CFSIZE,2097872896,2050752512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12427.38,0x2378b6,7,5
$SOUNDSPEED,1449.9
$GPS,190814,115455,7304.531,-14550.805,34,0.8,54,22.4