version: 66.12
glider: 199
mission: 5
dive: 198
start: 8 23 114 8 46 48
data:
$ID,199
$MISSION,5
$DIVE,198
$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,-22209.262
$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,28
$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
$GPS1,230814,083624,7335.896,-14628.074,35,0.7,55,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.6
$GPS2,230814,084628,7335.934,-14628.041,5,0.7,25,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.6,20283,-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,15,-0.72,-175.1,198,2360,484,508,0.0,0.0,0,79,0.00,0.00,-62.38,0.000,16386,0.000,0.000,194,2360,2000,2010,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,197,2360,2012,1991,3.2,-1.8,6,144,10.90,2.50,-43.65,0.000,18948,0.464,0.110,2194,953,3947,4002,3893,0,0,0,0,0,0,13.95,14.31,14.57
$GC,368,-0.72,-175.1,2195,954,4001,3898,81.6,-21.9,64,374,0.00,2.50,0.00,0.000,1030,0.000,0.100,2185,2362,3949,4002,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,678,-0.72,-175.1,2185,2363,4004,3898,148.4,-20.8,96,684,0.00,2.45,0.00,0.000,516,0.000,0.087,2186,945,3949,4002,3897,0,0,0,0,0,0,28.83,14.46,28.83
$GC,833,-0.72,-175.1,2185,945,4004,3898,177.9,-18.4,127,840,0.00,2.53,0.00,0.000,1030,0.000,0.101,2175,2370,3949,4002,3897,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1138,-0.72,-175.1,2176,2370,4002,3897,234.2,-17.6,158,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2369,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,-0.72,-175.1,2176,2370,4002,3898,284.3,-15.8,175,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2370,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1748,-0.72,-175.1,2175,2370,4004,3898,329.9,-15.1,185,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2370,3953,4010,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-0.72,-175.1,2177,2371,4001,3898,373.6,-14.3,195,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2370,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2348,-0.72,-175.1,2176,2370,4002,3898,415.7,-13.9,205,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2370,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2648,-0.72,-175.1,2177,2370,4002,3898,456.7,-13.5,215,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2370,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2948,-0.72,-175.1,2175,2371,4004,3898,497.3,-13.6,225,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2370,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.72,-175.1,2177,2370,4002,3898,538.5,-13.7,235,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2370,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.72,-175.1,2174,2371,4004,3899,578.7,-13.2,245,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2370,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3848,-0.72,-175.1,2175,2370,4004,3899,618.3,-13.2,255,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2370,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4148,-0.72,-175.1,2177,2370,4002,3899,657.4,-12.9,265,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2370,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4448,-0.72,-175.1,2175,2371,4003,3899,696.1,-12.8,275,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2370,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.72,-175.1,2175,2371,4004,3900,734.4,-12.8,285,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2370,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4867,begin apogee
$GC,4871,-0.14,0.0,2173,2604,4004,3900,750.0,-13.0,289,5055,0.80,0.00,181.15,1.870,10246,0.272,0.000,2379,2604,3229,3282,3177,0,0,0,0,0,0,14.42,28.83,13.08
$STATE,5056,end apogee,CONTROL_FINISHED_OK
$STATE,5057,begin climb
$GC,5058,0.72,175.1,2380,2604,3279,3174,756.3,0.0,295,5224,0.98,2.38,154.93,1.946,10500,0.153,0.116,2663,3764,2506,2570,2443,0,0,0,0,0,0,13.65,13.10,12.43
$GC,5413,0.72,175.1,2663,3765,2566,2438,718.7,15.7,368,5419,0.00,2.12,0.00,0.000,1030,0.000,0.073,2671,2595,2501,2566,2436,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5739,0.72,175.1,2670,2596,2568,2436,674.3,13.4,383,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2595,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6038,0.72,175.1,2671,2595,2568,2435,634.2,13.3,393,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2595,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6338,0.72,175.1,2670,2596,2568,2435,594.4,13.1,403,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2595,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6638,0.72,175.1,2670,2595,2568,2435,555.4,13.1,413,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2595,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,0.72,175.1,2672,2596,2567,2435,516.8,12.8,423,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2595,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7238,0.72,175.1,2670,2596,2568,2435,478.2,12.8,433,7244,0.00,2.38,0.00,0.000,516,0.000,0.083,2681,1193,2500,2566,2435,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7258,0.72,175.1,2681,1193,2568,2435,475.5,13.0,437,7264,0.00,2.47,0.00,0.000,1030,0.000,0.098,2681,2606,2500,2567,2434,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7568,0.72,175.1,2681,2608,2568,2435,433.9,13.5,449,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7868,0.72,175.1,2681,2608,2568,2435,393.9,13.3,459,7874,0.00,2.42,0.00,0.000,516,0.000,0.084,2691,1187,2500,2566,2434,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7898,0.72,175.1,2693,1187,2566,2435,389.9,12.9,465,7904,0.00,2.47,0.00,0.000,1030,0.000,0.098,2691,2601,2500,2566,2434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8229,0.72,175.1,2693,2601,2566,2434,345.1,13.5,481,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2601,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8528,0.72,175.1,2692,2601,2568,2435,305.4,13.2,491,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2601,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8828,0.72,175.1,2693,2601,2566,2435,267.8,12.1,501,8834,0.00,2.40,0.00,0.000,516,0.000,0.083,2701,1190,2500,2566,2434,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8848,0.72,175.1,2702,1191,2568,2436,265.4,11.5,505,8854,0.12,2.47,0.00,0.000,5126,0.297,0.096,2677,2607,2500,2566,2434,0,0,0,0,0,0,14.45,14.60,28.83
$GC,9159,0.79,175.1,2679,2608,2566,2435,232.2,10.1,527,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2608,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9459,0.88,264.4,2679,2608,2566,2435,206.4,7.7,557,9541,0.12,2.50,75.57,1.396,10756,0.153,0.082,2729,1190,2142,2218,2067,0,0,0,0,0,0,14.62,14.14,13.59
$GC,9622,0.88,264.4,2730,1193,2213,2058,188.0,12.1,589,9627,0.00,2.53,0.00,0.000,1030,0.000,0.098,2730,2600,2134,2212,2057,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9932,0.88,264.4,2730,2600,2213,2055,148.7,11.9,621,9937,0.00,2.45,0.00,0.000,516,0.000,0.083,2740,1196,2132,2212,2052,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9956,0.88,264.4,2741,1196,2211,2055,145.9,11.5,626,9963,0.00,2.50,0.00,0.000,1030,0.000,0.098,2740,2604,2133,2212,2054,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10262,0.92,264.4,2740,2605,2213,2054,110.6,10.6,657,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2604,2132,2212,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10562,0.97,317.2,2740,2605,2213,2054,80.3,9.3,687,10593,0.00,2.12,23.90,0.403,8452,0.000,0.124,2740,3767,1938,2022,1855,0,0,0,0,0,0,28.83,14.38,14.18
$GC,10627,0.97,317.2,2740,3767,2030,1868,73.3,11.5,699,10634,0.00,2.03,1.48,0.241,9222,0.000,0.079,2749,2601,1936,2019,1853,0,0,0,0,0,0,28.83,14.47,14.31
$GC,10934,1.15,497.2,2750,2601,2035,1867,50.0,3.6,730,11036,0.15,2.17,91.15,0.316,10500,0.140,0.122,2805,3766,1203,1289,1118,0,0,0,0,0,0,14.46,14.30,14.16
$GC,11180,1.15,497.2,2806,3766,1291,1125,22.6,12.3,779,11187,0.00,2.05,0.00,0.000,1030,0.000,0.080,2815,2595,1207,1290,1124,0,0,0,0,0,0,28.83,14.40,28.83
$FREEZE,8.63,-1.213,-1.469,2,1,0
$FREEZE,8.07,-1.213,-1.469,2,1,0
$FREEZE,7.53,-1.215,-1.468,2,1,0
$FREEZE,6.84,-1.217,-1.468,2,1,0
$FREEZE,6.31,-1.217,-1.467,2,1,0
$FREEZE,5.75,-1.216,-1.467,2,1,0
$FREEZE,5.20,-1.216,-1.466,2,1,0
$FREEZE,4.49,-1.217,-1.466,2,1,0
$FREEZE,3.87,-1.219,-1.465,2,1,0
$FREEZE,3.28,-1.220,-1.465,2,1,0
$FREEZE,2.71,-1.222,-1.464,2,1,0
$FREEZE,2.40,-1.222,-1.464,2,1,0
$FREEZE,2.11,-1.228,-1.464,2,1,0
$FREEZE,1.59,-1.228,-1.463,2,1,0
$GC,11486,1.27,619.8,2816,2596,1289,1123,2.7,6.2,810,11506,0.00,0.00,19.15,0.200,8706,0.000,0.000,2814,2595,1045,1130,960,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11507,end climb,SURFACE_DEPTH_REACHED
$STATE,11507,begin surface coast
$FREEZE,1.45,-1.232,-1.462,2,1,0
$FREEZE,1.51,-1.230,-1.462,2,1,0
$FREEZE,1.46,-1.230,-1.462,2,1,0
$FREEZE,1.38,-1.231,-1.462,2,1,0
$FINISH,1.4,1.021555
$STATE,11554,end surface coast,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$SM_CCo,11570,66.68,0.190,0,0,499,669.67
$SM_GC,2.36,8.30,0.40,66.68,0.129,0.099,0.190,189,2361,499,-6.94,0.88,669.67,0,0,0,0,0,0,14.48,14.47,14.27
$RAFOS_CLK,10
$RAFOS_FIX,7335.017578,-14621.856445,230814,080805,2,255,0.17
$IRIDIUM_FIX,7257.42,-14616.49,230814,015301
$TT8_MAMPS,0.083139,0.083139
$HUMID,48.85
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3994476
$24V_AH,12.43,127.806
$10V_AH,12.62,0.000
$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,21.375,48.275,547.325,66.675,0.000,0.000,0.000,403.800,0.000,0.000,27.151,0.000,9300.665,680.107,2055.987,202.115,0.000,1750.714,0.000,1213.499,1493.000,0.537,0.000
$DEVICE_MAMPS,463.590,129.285,1946.160,190.485,0.000,0.000,0.000,182.070,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11590.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.801,0.000,0.000,0.000
$MEM,245556
$DATA_FILE_SIZE,26720,817
$CAP_FILE_SIZE,129302,0
$CFSIZE,2097872896,2045345792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12598.82,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,230814,120150,7337.180,-14631.259,14,0.8,34,22.3