version: 66.12
glider: 199
mission: 5
dive: 200
start: 8 23 114 15 34 46
data:
$ID,199
$MISSION,5
$DIVE,200
$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,-22211.59
$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,33
$R_STBD_OVSHOOT,16
$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
$GPS1,230814,120833,7337.193,-14631.253,6,1.0,26,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.48
$_SM_ANGLEo,8.8
$GPS2,230814,120833,7337.193,-14631.253,6,1.0,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.8,17420,-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,-175.1,2552,2347,697,596,0.0,0.0,0,29,0.00,0.00,-12.15,0.000,16386,0.000,0.000,2552,2346,1007,1071,943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.72,-175.1,2552,2349,1073,944,3.5,0.0,1,119,1.15,2.38,-81.20,0.000,21252,0.166,0.106,2205,959,3946,4002,3891,0,0,0,0,0,0,14.33,14.45,14.70
$GC,190,-0.72,-175.1,2204,960,4004,3895,39.6,-29.5,31,195,0.00,2.47,0.00,0.000,1030,0.000,0.099,2195,2362,3948,4002,3895,0,0,0,0,0,0,28.83,14.36,28.83
$GC,500,-0.72,-175.1,2195,2363,4004,3896,115.2,-20.6,63,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.72,-175.1,2192,2363,4002,3895,173.3,-18.2,93,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2367,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1100,-0.72,-175.1,2196,2363,3998,3895,224.3,-15.9,123,1105,0.00,2.42,0.00,0.000,516,0.000,0.087,2194,950,3948,4002,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1145,-0.72,-175.1,2195,950,4004,3896,231.2,-15.2,132,1151,0.00,2.50,0.00,0.000,1030,0.000,0.100,2185,2368,3948,4002,3895,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1450,-0.72,-175.1,2186,2369,4002,3895,277.1,-14.6,151,1455,0.00,2.47,0.00,0.000,260,0.000,0.121,2174,3768,3948,4002,3894,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1493,-0.72,-175.1,2174,3769,4004,3896,283.9,-16.1,158,1498,0.00,2.42,0.00,0.000,1030,0.000,0.076,2174,2363,3948,4002,3895,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1819,-0.72,-175.1,2176,2366,4002,3895,331.6,-14.4,173,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.72,-175.1,2174,2363,4003,3896,373.4,-13.7,183,2123,0.00,2.40,0.00,0.000,516,0.000,0.086,2174,956,3948,4002,3895,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2163,-0.72,-175.1,2174,956,4004,3896,379.4,-13.3,192,2169,0.15,2.47,0.00,0.000,3078,0.297,0.098,2194,2365,3948,4002,3895,0,0,0,0,0,0,14.28,14.44,28.83
$GC,2480,-0.72,-175.1,2195,2362,4002,3896,418.1,-12.2,205,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2778,-0.72,-175.1,2193,2367,4004,3896,454.6,-12.1,215,2783,0.00,2.50,0.00,0.000,260,0.000,0.122,2182,3768,3948,4002,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2818,-0.72,-175.1,2184,3769,4004,3896,459.8,-13.5,223,2824,0.00,2.45,0.00,0.000,1030,0.000,0.076,2184,2359,3948,4001,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3139,-0.72,-175.1,2184,2353,4004,3896,500.5,-12.7,237,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2352,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.72,-175.1,2186,2353,4002,3896,538.6,-12.7,247,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2353,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3739,-0.72,-175.1,2184,2353,4002,3896,576.5,-12.6,257,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2352,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4038,-0.72,-175.1,2185,2353,4002,3896,613.9,-12.3,267,4044,0.00,2.53,0.00,0.000,260,0.000,0.121,2174,3763,3948,4002,3895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4078,-0.72,-175.1,2174,3764,4004,3896,619.2,-13.1,275,4084,0.00,2.42,0.00,0.000,1030,0.000,0.076,2173,2320,3948,4002,3895,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4399,-0.72,-175.1,2173,2320,4004,3896,661.0,-12.9,289,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2319,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.72,-175.1,2177,2320,4004,3897,699.5,-12.8,299,4704,0.00,2.60,0.00,0.000,260,0.000,0.120,2163,3770,3949,4002,3896,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4733,-0.72,-175.1,2163,3771,4003,3897,704.4,-14.4,306,4739,0.15,2.42,0.00,0.000,3078,0.279,0.076,2192,2358,3947,4002,3893,0,0,0,0,0,0,14.42,14.62,28.83
$GC,5058,-0.72,-175.1,2195,2358,4002,3897,741.7,-11.3,321,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2358,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5147,begin apogee
$GC,5151,-0.14,0.0,2194,2599,4004,3898,751.9,-11.3,324,5359,0.73,0.00,200.15,1.855,10246,0.260,0.000,2383,2598,3225,3277,3173,0,0,0,0,0,0,14.43,28.83,13.00
$STATE,5360,end apogee,CONTROL_FINISHED_OK
$STATE,5360,begin climb
$GC,5362,0.72,175.1,2384,2598,3277,3173,759.7,0.0,331,5531,0.95,2.40,156.77,2.033,10500,0.141,0.115,2661,3765,2505,2568,2442,0,0,0,0,0,0,13.59,13.05,12.38
$GC,5555,0.72,175.1,2661,3766,2564,2438,747.9,13.8,365,5560,0.00,2.20,0.00,0.000,1030,0.000,0.070,2670,2599,2500,2565,2436,0,0,0,0,0,0,28.83,13.33,28.83
$GC,5870,0.72,175.1,2671,2600,2565,2431,705.1,13.6,378,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,0.72,175.1,2671,2599,2565,2431,664.1,13.6,388,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6470,0.72,175.1,2670,2600,2567,2431,623.4,13.4,398,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2497,2561,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,0.72,175.1,2670,2600,2567,2431,582.8,13.6,408,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2596,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7070,0.72,175.1,2670,2600,2566,2431,542.7,13.4,418,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7370,0.72,175.1,2671,2600,2565,2429,502.6,13.3,428,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2603,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7670,0.72,175.1,2671,2599,2565,2431,462.9,13.3,438,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,0.72,175.1,2670,2600,2567,2432,423.3,13.2,448,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8270,0.72,175.1,2671,2600,2565,2431,384.0,13.1,458,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8570,0.72,175.1,2670,2600,2567,2431,345.7,12.6,468,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8870,0.72,175.1,2671,2600,2565,2430,308.6,12.3,478,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9170,0.72,175.1,2670,2600,2566,2431,273.0,11.6,488,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,0.77,175.1,2672,2600,2565,2431,240.8,10.5,504,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9770,0.84,249.8,2671,2600,2565,2430,214.3,8.3,534,9842,0.12,2.53,63.17,1.407,10756,0.147,0.084,2727,1188,2198,2271,2126,0,0,0,0,0,0,14.63,14.18,13.64
$GC,9898,0.84,249.8,2728,1189,2267,2117,200.3,11.9,559,9904,0.00,2.55,0.00,0.000,1030,0.000,0.097,2726,2606,2192,2268,2117,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10203,0.84,249.8,2726,2607,2269,2115,163.3,11.8,590,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2606,2191,2268,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10503,0.89,249.8,2726,2607,2269,2115,130.4,10.5,620,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2606,2189,2264,2114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10803,0.94,299.6,2726,2607,2269,2114,100.7,9.4,650,10855,0.00,2.55,42.05,1.282,8708,0.000,0.086,2737,1197,1995,2079,1911,0,0,0,0,0,0,28.83,14.28,13.71
$GC,10904,0.94,299.6,2737,1198,2078,1909,90.4,11.1,670,10909,0.00,2.50,0.00,0.000,1030,0.000,0.099,2737,2600,1991,2076,1906,0,0,1,0,0,0,28.83,14.26,28.83
$GC,11215,1.02,378.2,2738,2600,2076,1904,60.8,8.1,702,11256,0.00,2.53,36.67,0.347,8708,0.000,0.084,2747,1188,1687,1776,1599,0,0,0,0,0,0,28.83,14.38,14.16
$GC,11361,1.11,472.7,2747,1189,1791,1610,49.3,7.4,731,11418,0.15,2.53,49.42,0.313,11270,0.138,0.098,2801,2608,1302,1390,1215,0,0,0,0,0,0,14.43,14.39,14.16
$GC,11716,1.25,608.7,2802,2609,1397,1228,17.5,5.6,772,11792,0.00,2.12,68.80,0.226,8452,0.000,0.123,2802,3760,746,809,683,0,0,0,0,0,0,28.83,14.30,14.23
$FREEZE,8.61,-1.156,-1.480,2,2,0
$FREEZE,8.05,-1.156,-1.480,2,2,0
$FREEZE,7.51,-1.166,-1.479,2,2,0
$FREEZE,7.04,-1.166,-1.479,2,2,0
$FREEZE,6.44,-1.156,-1.476,2,2,0
$FREEZE,5.93,-1.156,-1.476,2,2,0
$FREEZE,5.51,-1.169,-1.471,2,2,0
$FREEZE,4.94,-1.169,-1.471,2,2,0
$FREEZE,4.45,-0.803,-1.467,2,2,0
$FREEZE,3.79,-0.803,-1.466,2,2,0
$GC,11872,1.29,608.7,2803,3760,814,687,3.8,10.7,803,11878,0.12,2.03,0.00,0.000,3078,0.145,0.080,2857,2572,750,814,686,0,0,0,0,0,0,14.42,14.40,28.83
$FREEZE,2.30,0.072,-1.446,2,2,0
$FREEZE,1.47,0.085,-1.446,2,2,0
$STATE,11895,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FREEZE,1.50,0.042,-0.688,2,2,0
$FREEZE,1.44,-0.173,-0.359,2,2,0
$FINISH,1.4,1.005174
$STATE,11916,end surface coast,CONTROL_FINISHED_OK
$STATE,11916,begin surface
$SM_CCo,11932,30.83,0.194,0,0,499,669.67
$SM_GC,2.77,8.20,0.38,30.83,0.107,0.099,0.194,196,2349,499,-6.94,0.74,669.67,0,0,0,0,0,0,14.43,14.45,14.29
$RAFOS_CLK,467
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7257.42,-14627.03,230814,083933
$TT8_MAMPS,0.047936,0.047936
$HUMID,49.01
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3994248
$24V_AH,12.38,128.475
$10V_AH,12.56,0.000
$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,11.725,59.675,617.050,30.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9602.920,703.770,1645.901,125.207,0.000,1372.418,0.000,1207.144,1496.000,0.535,0.000
$DEVICE_MAMPS,296.820,126.990,2032.605,194.310,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11957.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.667,0.000,0.000,0.000
$MEM,244496
$DATA_FILE_SIZE,26762,808
$CAP_FILE_SIZE,125248,0
$CFSIZE,2097872896,2044952576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1449.5
$GPS,230814,185548,7339.929,-14637.357,38,0.9,58,22.2