version: 66.12
glider: 199
mission: 5
dive: 208
start: 8 24 114 18 26 34
data:
$ID,199
$MISSION,5
$DIVE,208
$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,-22222.795
$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,24
$R_STBD_OVSHOOT,11
$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
$GPS1,240814,181918,7339.972,-14651.846,39,0.8,59,22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-70.9
$GPS2,240814,182614,7339.957,-14651.868,5,0.8,25,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.5,162899,-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,-175.1,197,2368,491,501,0.0,0.0,0,69,0.00,0.00,-51.92,0.000,16386,0.000,0.000,196,2367,1753,1774,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,198,2367,1774,1734,3.1,-2.2,5,149,10.88,2.62,-57.72,0.000,18692,0.464,0.144,2182,3772,3947,4002,3892,0,0,0,0,0,0,13.98,14.23,14.54
$GC,374,-0.72,-175.1,2183,3772,4002,3895,90.0,-24.3,66,381,0.00,2.45,0.00,0.000,1030,0.000,0.080,2181,2349,3948,4002,3895,0,0,0,0,0,0,28.83,14.37,28.83
$GC,680,-0.72,-175.1,2181,2348,4004,3896,156.5,-20.6,97,685,0.00,2.58,0.00,0.000,260,0.000,0.121,2171,3774,3948,4002,3895,0,0,0,0,0,0,28.83,14.35,28.83
$GC,839,-0.72,-175.1,2170,3775,4004,3896,190.7,-20.8,129,845,0.12,2.42,0.00,0.000,3078,0.305,0.080,2194,2358,3948,4002,3895,0,0,0,0,0,0,14.24,14.48,28.83
$GC,1149,-0.72,-175.1,2195,2357,4002,3895,242.3,-15.3,161,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2357,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-0.72,-175.1,2194,2357,4004,3901,285.0,-13.6,175,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2357,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1749,-0.72,-175.1,2196,2357,4002,3896,325.3,-13.3,185,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2357,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-0.72,-175.1,2195,2357,4003,3896,364.4,-13.1,195,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2357,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-0.72,-175.1,2195,2357,4002,3896,402.4,-12.6,205,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2357,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2649,-0.72,-175.1,2194,2357,3999,3896,439.6,-12.3,215,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-0.72,-175.1,2195,2357,4002,3895,476.1,-12.1,225,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2356,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.72,-175.1,2194,2357,4001,3896,512.1,-12.0,235,3254,0.00,2.40,0.00,0.000,516,0.000,0.090,2194,951,3948,4002,3895,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3279,-0.72,-175.1,2195,952,4002,3896,515.6,-11.7,241,3285,0.00,2.53,0.00,0.000,1030,0.000,0.102,2186,2366,3948,4002,3895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3610,-0.72,-175.1,2185,2367,4003,3896,556.2,-12.4,257,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2366,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3909,-0.72,-175.1,2186,2367,4002,3896,593.8,-12.5,267,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2366,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4209,-0.72,-175.1,2186,2367,4002,3897,631.4,-12.6,277,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2366,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4509,-0.72,-175.1,2185,2367,4004,3898,668.6,-12.4,287,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2366,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4809,-0.72,-175.1,2185,2367,4004,3898,705.1,-12.1,297,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2367,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5109,-0.72,-175.1,2186,2367,4002,3898,741.6,-12.1,307,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2366,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5198,begin apogee
$GC,5202,-0.14,0.0,2183,2601,4004,3893,752.4,-12.1,310,5420,0.77,0.00,214.85,1.627,10246,0.269,0.000,2382,2600,3229,3281,3178,0,0,0,0,0,0,14.42,28.83,13.08
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5421,begin climb
$GC,5423,0.72,175.1,2382,2602,3278,3174,760.5,0.0,317,5586,0.95,0.00,157.25,2.050,10502,0.148,0.000,2661,2601,2516,2577,2455,0,0,0,0,0,0,13.64,28.83,12.36
$GC,5860,0.72,175.1,2661,2601,2567,2436,717.6,13.0,347,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2597,2502,2568,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,0.72,175.1,2660,2602,2570,2436,678.3,13.0,357,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2600,2501,2568,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,0.72,175.1,2660,2601,2570,2436,639.4,12.9,367,6466,0.00,2.47,0.00,0.000,516,0.000,0.086,2671,1187,2502,2569,2435,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6515,0.72,175.1,2670,1187,2570,2436,632.5,12.0,378,6522,0.00,2.53,0.00,0.000,1030,0.000,0.100,2670,2599,2500,2565,2435,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6820,0.72,175.1,2672,2599,2567,2440,592.1,13.2,389,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2600,2501,2568,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,0.72,175.1,2672,2600,2568,2436,552.2,13.4,399,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2599,2501,2568,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7420,0.72,175.1,2672,2599,2567,2435,512.4,13.2,409,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2599,2501,2568,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,0.72,175.1,2670,2604,2569,2436,472.8,13.2,419,7726,0.00,2.42,0.00,0.000,516,0.000,0.086,2681,1189,2501,2568,2435,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7755,0.72,175.1,2682,1190,2568,2435,468.2,13.2,426,7761,0.00,2.47,0.00,0.000,1030,0.000,0.099,2681,2602,2501,2568,2434,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8081,0.72,175.1,2682,2600,2568,2435,423.8,13.7,441,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2501,2568,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8380,0.72,175.1,2681,2600,2569,2436,382.9,13.6,451,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2599,2501,2568,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8681,0.72,175.1,2680,2600,2569,2435,342.2,13.5,461,8685,0.00,2.42,0.00,0.000,516,0.000,0.086,2691,1188,2501,2567,2435,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8715,0.72,175.1,2692,1188,2568,2435,337.5,13.1,468,8721,0.00,2.47,0.00,0.000,1030,0.000,0.099,2691,2603,2501,2568,2434,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9042,0.72,175.1,2691,2598,2565,2436,295.3,12.6,483,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2597,2501,2568,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9340,0.72,175.1,2691,2598,2569,2435,258.9,12.0,493,9345,0.00,2.42,0.00,0.000,516,0.000,0.085,2702,1186,2501,2568,2435,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9390,0.72,175.1,2702,1186,2568,2435,253.0,11.3,503,9396,0.15,2.47,0.00,0.000,5126,0.293,0.099,2670,2595,2501,2568,2435,0,0,0,0,0,0,14.42,14.59,28.83
$GC,9700,0.78,228.0,2672,2595,2567,2435,222.5,9.3,533,9752,0.00,0.00,45.00,1.413,8454,0.000,0.000,2670,2595,2295,2367,2224,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10050,0.83,277.1,2672,2595,2355,2213,189.5,9.4,572,10102,0.00,2.55,42.30,1.383,8708,0.000,0.086,2679,1194,2086,2162,2011,0,0,0,0,0,0,28.83,14.22,13.60
$GC,10141,0.89,277.1,2679,1195,2164,2005,180.7,10.1,590,10147,0.12,2.55,0.00,0.000,3078,0.148,0.100,2723,2600,2081,2163,2000,0,0,0,0,0,0,14.29,14.25,28.83
$GC,10452,0.89,277.1,2725,2601,2163,2002,142.9,11.7,622,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2600,2082,2163,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10751,0.91,277.1,2726,2601,2163,2000,109.1,11.1,652,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2600,2081,2163,2000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11052,0.98,352.5,2725,2601,2163,1999,79.7,8.3,682,11093,0.00,0.00,35.72,0.403,8198,0.000,0.000,2723,2600,1792,1875,1710,0,0,0,0,0,0,28.83,28.83,14.06
$GC,11393,1.10,473.3,2725,2600,1889,1718,50.5,6.3,716,11463,0.17,2.17,62.85,0.315,10500,0.125,0.124,2790,3787,1300,1386,1215,0,0,0,0,0,0,14.35,14.23,14.09
$GC,11519,1.10,473.3,2790,3789,1388,1224,36.7,13.2,741,11525,0.00,2.10,0.00,0.000,1030,0.000,0.080,2799,2603,1305,1387,1223,0,0,0,0,0,0,28.83,14.28,28.83
$FREEZE,8.97,-0.496,-1.462,2,1,0
$FREEZE,8.17,-0.496,-1.462,2,1,0
$FREEZE,7.80,-0.372,-1.460,2,1,0
$FREEZE,7.08,-0.372,-1.459,2,1,0
$GC,11824,1.27,638.4,2800,2602,1388,1221,12.8,4.3,772,11914,0.12,2.55,82.32,0.213,10756,0.148,0.090,2857,1193,624,671,578,0,0,0,0,0,0,14.37,14.26,14.16
$FREEZE,5.58,-0.355,-1.458,2,1,0
$FREEZE,5.09,-0.360,-1.459,2,1,0
$FREEZE,4.50,-0.360,-1.458,2,1,0
$FREEZE,3.95,-0.341,-1.458,2,1,0
$FREEZE,3.44,-0.341,-1.457,2,1,0
$FREEZE,2.75,-0.336,-1.457,2,1,0
$FREEZE,2.22,-0.336,-1.456,2,1,0
$FREEZE,1.64,-0.334,-1.456,2,1,0
$STATE,11952,end climb,SURFACE_DEPTH_REACHED
$STATE,11952,begin surface coast
$FREEZE,1.49,-0.334,-1.456,2,1,0
$FREEZE,1.47,-0.404,-1.160,2,1,0
$FINISH,1.5,1.017128
$STATE,11963,end surface coast,CONTROL_FINISHED_OK
$STATE,11963,begin surface
$SM_CCo,11980,15.98,0.199,0,0,499,669.67
$SM_GC,2.36,8.15,2.20,15.98,0.096,0.122,0.199,195,2357,499,-6.94,-0.59,669.67,0,0,0,0,0,0,14.38,14.28,14.23
$RAFOS_CLK,281
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14652.49,240814,145236
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.33
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3993212
$24V_AH,12.36,131.302
$10V_AH,12.60,0.000
$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,21.450,49.250,640.300,15.975,0.000,0.000,0.000,231.525,0.000,0.000,26.566,0.000,9641.027,712.167,1891.385,169.506,0.000,1620.737,0.000,1194.986,1487.000,0.537,0.000
$DEVICE_MAMPS,463.590,143.820,2050.200,198.900,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12010.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.175,0.000,0.000,0.000
$MEM,239996
$DATA_FILE_SIZE,26699,798
$CAP_FILE_SIZE,127661,0
$CFSIZE,2097872896,2043478016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12553.36,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,240814,214754,7338.335,-14652.483,29,0.9,49,22.1