version: 66.12
glider: 199
mission: 5
dive: 206
start: 8 24 114 11 32 47
data:
$ID,199
$MISSION,5
$DIVE,206
$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,-22220.273
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,240814,112554,7343.163,-14650.917,36,0.8,56,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-72.9
$GPS2,240814,113227,7343.168,-14650.862,5,0.8,25,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.6,168844,-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,-175.1,200,2358,491,499,0.0,0.0,0,69,0.00,0.00,-51.90,0.000,16386,0.000,0.000,199,2358,1749,1773,1726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,198,2358,1774,1728,3.0,-1.7,5,149,10.88,2.65,-58.20,0.000,18692,0.464,0.142,2179,3767,3948,4003,3893,0,0,0,0,0,0,13.98,14.24,14.54
$GC,274,-0.72,-175.1,2181,3768,4002,3896,64.7,-30.4,46,281,0.00,2.45,0.00,0.000,1030,0.000,0.080,2179,2356,3949,4003,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,579,-0.72,-175.1,2181,2354,4002,3897,136.5,-21.2,77,584,0.00,2.40,0.00,0.000,516,0.000,0.090,2179,955,3949,4003,3896,0,0,0,0,0,0,28.83,14.42,28.83
$GC,614,-0.72,-175.1,2181,955,4002,3898,143.8,-20.2,84,621,0.12,2.50,0.00,0.000,3078,0.323,0.102,2192,2359,3950,4003,3897,0,0,0,0,0,0,14.22,14.40,28.83
$GC,919,-0.72,-175.1,2192,2360,4004,3898,200.1,-17.5,115,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2359,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1219,-0.72,-175.1,2193,2360,4004,3898,248.2,-15.0,145,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2363,3950,4004,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1539,-0.72,-175.1,2193,2360,4002,3898,294.3,-14.0,157,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.72,-175.1,2192,2361,4004,3898,334.3,-13.4,167,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2139,-0.72,-175.1,2193,2360,4002,3898,373.1,-12.8,177,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3947,3998,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2439,-0.72,-175.1,2194,2360,4002,3898,411.0,-12.7,187,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2360,3950,4004,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2739,-0.72,-175.1,2194,2360,4002,3898,448.7,-12.5,197,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2359,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3039,-0.72,-175.1,2192,2360,4004,3898,486.1,-12.5,207,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3339,-0.72,-175.1,2192,2360,4004,3898,522.8,-12.3,217,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3639,-0.72,-175.1,2193,2360,4002,3898,559.8,-12.3,227,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-0.72,-175.1,2192,2360,4004,3898,596.4,-12.2,237,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2360,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.72,-175.1,2192,2361,4004,3899,632.6,-12.1,247,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4539,-0.72,-175.1,2193,2360,4003,3899,668.7,-12.1,257,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.72,-175.1,2192,2360,4004,3900,704.5,-11.9,267,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2359,3951,4003,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5139,-0.72,-175.1,2194,2360,4002,3900,739.9,-11.7,277,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3951,4003,3900,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5228,begin apogee
$GC,5233,-0.14,0.0,2192,2604,4004,3900,750.3,-11.6,280,5391,0.73,0.00,156.05,1.990,10246,0.255,0.000,2381,2603,3231,3282,3180,0,0,0,0,0,0,14.42,28.83,13.07
$STATE,5392,end apogee,CONTROL_FINISHED_OK
$STATE,5392,begin climb
$GC,5394,0.72,175.1,2380,2604,3279,3177,755.8,0.0,285,5555,0.95,2.35,152.90,1.901,10500,0.149,0.119,2658,3770,2508,2570,2446,0,0,0,0,0,0,13.68,13.15,12.51
$GC,5725,0.72,175.1,2659,3771,2565,2440,723.1,15.2,354,5730,0.00,2.15,0.00,0.000,1030,0.000,0.076,2667,2596,2502,2566,2439,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6041,0.72,175.1,2669,2597,2565,2438,680.8,13.3,367,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2596,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6340,0.72,175.1,2669,2597,2565,2438,640.5,13.4,377,6345,0.00,2.42,0.00,0.000,516,0.000,0.086,2678,1192,2502,2566,2438,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6380,0.72,175.1,2678,1192,2571,2437,635.3,12.6,385,6385,0.00,2.53,0.00,0.000,1030,0.000,0.099,2678,2606,2501,2566,2437,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6701,0.72,175.1,2679,2606,2565,2437,590.7,14.0,399,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2606,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7000,0.72,175.1,2678,2607,2568,2437,548.7,14.1,409,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2606,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,0.72,175.1,2678,2607,2567,2438,507.0,13.8,419,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2608,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,0.72,175.1,2678,2606,2567,2437,465.8,13.7,429,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2606,2500,2566,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,0.72,175.1,2678,2607,2567,2437,425.0,13.5,439,7905,0.00,2.42,0.00,0.000,516,0.000,0.086,2688,1195,2501,2566,2437,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7940,0.72,175.1,2689,1195,2565,2437,419.7,12.9,447,7945,0.00,2.47,0.00,0.000,1030,0.000,0.099,2688,2602,2501,2566,2436,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8261,0.72,175.1,2687,2603,2567,2437,375.5,13.8,461,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2605,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,0.72,175.1,2690,2602,2566,2437,334.7,13.4,471,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2602,2499,2563,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,0.72,175.1,2688,2603,2567,2437,296.1,12.8,481,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2602,2501,2566,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,0.72,175.1,2689,2602,2565,2437,259.5,12.0,491,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2602,2501,2566,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,0.80,175.1,2690,2602,2565,2440,227.3,9.6,515,9465,0.00,2.42,0.00,0.000,516,0.000,0.086,2698,1187,2500,2565,2436,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9525,0.87,238.3,2698,1188,2567,2437,221.5,8.8,528,9582,0.00,2.50,52.90,1.413,9222,0.000,0.099,2698,2608,2259,2329,2190,0,0,0,0,0,0,28.83,14.59,13.69
$GC,9880,0.90,238.3,2698,2608,2320,2169,182.7,10.7,569,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2608,2243,2318,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10181,0.98,238.3,2699,2608,2318,2169,152.3,9.7,599,10186,0.15,2.45,0.00,0.000,2564,0.135,0.086,2765,1194,2246,2325,2168,0,0,0,0,0,0,14.54,14.50,28.83
$GC,10210,1.02,238.3,2767,1195,2318,2169,149.1,10.6,605,10215,0.00,2.50,0.00,0.000,1030,0.000,0.099,2765,2607,2243,2318,2168,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10521,1.07,238.3,2765,2608,2320,2169,113.4,10.5,637,10526,0.00,2.45,0.00,0.000,516,0.000,0.086,2774,1194,2243,2318,2168,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10586,1.12,238.3,2777,1195,2318,2168,106.6,10.3,650,10592,0.00,2.50,0.00,0.000,1030,0.000,0.099,2776,2598,2243,2318,2168,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10891,1.21,329.6,2776,2599,2320,2168,78.7,7.6,681,10937,0.15,0.00,43.62,0.401,10758,0.142,0.000,2830,2598,1883,1966,1801,0,0,0,0,0,0,14.43,28.83,14.07
$GC,11241,1.35,470.7,2831,2599,1977,1813,43.2,5.4,721,11318,0.12,2.55,71.53,0.295,10756,0.154,0.088,2883,1195,1309,1393,1225,0,0,0,0,0,0,14.37,14.26,14.09
$GC,11539,1.47,585.0,2883,1196,1401,1229,14.7,6.6,780,11605,0.00,2.53,57.30,0.219,9222,0.000,0.099,2883,2600,844,908,781,0,0,0,0,0,0,28.83,14.29,14.12
$FREEZE,7.84,-1.017,-1.471,2,1,0
$FREEZE,6.64,-0.761,-1.465,2,1,0
$FREEZE,5.50,-0.593,-1.461,2,1,0
$FREEZE,4.37,-0.554,-1.460,2,1,0
$FREEZE,3.23,-0.547,-1.460,2,1,0
$FREEZE,1.99,-0.550,-1.459,2,1,0
$STATE,11662,end climb,SURFACE_DEPTH_REACHED
$STATE,11662,begin surface coast
$FREEZE,1.39,-0.709,-0.666,2,1,0
$FINISH,1.4,1.009775
$STATE,11672,end surface coast,FINISH_DEPTH_REACHED
$STATE,11672,begin surface
$SM_CCo,11688,42.05,0.193,0,0,500,669.67
$SM_GC,2.39,8.25,0.45,42.05,0.098,0.093,0.193,197,2351,500,-6.95,0.74,669.67,0,0,0,0,0,0,14.34,14.37,14.23
$RAFOS_CLK,450
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14650.52,240814,080537
$TT8_MAMPS,0.047187,0.047187
$HUMID,48.89
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3993476
$24V_AH,12.51,130.569
$10V_AH,12.66,0.000
$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,21.350,45.150,534.300,42.050,0.000,0.000,0.000,212.375,0.000,0.000,26.305,0.000,9479.078,627.132,1855.473,162.762,0.000,1496.946,0.000,1192.242,1476.000,0.537,0.000
$DEVICE_MAMPS,463.590,142.290,1989.765,192.780,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11718.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.262,0.000,0.000,0.000
$MEM,241100
$DATA_FILE_SIZE,26740,800
$CAP_FILE_SIZE,125610,0
$CFSIZE,2097872896,2043838464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12138.18,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,240814,144948,7341.627,-14651.302,37,0.8,57,22.2