version: 66.12
glider: 199
mission: 5
dive: 212
start: 8 25 114 8 9 31
data:
$ID,199
$MISSION,5
$DIVE,212
$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,-22226.578
$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,21
$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
$GPS1,250814,080137,7343.275,-14653.235,14,0.7,34,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-72.7
$GPS2,250814,080908,7343.254,-14653.323,4,0.9,25,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7415.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.4,58816,-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,16,-0.72,-175.1,201,2366,490,505,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,16386,0.000,0.000,199,2366,1517,1549,1485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.72,-175.1,199,2366,1558,1485,3.0,-2.2,4,150,10.93,2.55,-72.30,0.000,18948,0.463,0.111,2189,954,3945,4002,3889,0,0,0,0,0,0,13.95,14.22,14.45
$GC,374,-0.72,-175.1,2187,954,4002,3895,82.0,-22.1,67,381,0.00,2.53,0.00,0.000,1030,0.000,0.102,2181,2361,3947,3999,3895,0,0,0,0,0,0,28.83,14.21,28.83
$GC,680,-0.72,-175.1,2181,2362,4004,3896,147.5,-20.4,98,685,0.00,2.45,0.00,0.000,516,0.000,0.087,2181,955,3948,4002,3895,0,0,0,0,0,0,28.83,14.30,28.83
$GC,824,-0.72,-175.1,2183,954,4000,3895,175.0,-18.5,127,831,0.12,2.53,0.00,0.000,3078,0.314,0.103,2193,2362,3949,4003,3895,0,0,0,0,0,0,14.16,14.31,28.83
$GC,1131,-0.72,-175.1,2194,2363,4002,3895,226.6,-15.6,158,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1440,-0.72,-175.1,2195,2364,4002,3895,272.3,-14.1,179,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1740,-0.72,-175.1,2193,2364,4004,3895,313.6,-13.7,189,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-0.72,-175.1,2194,2363,4001,3895,353.0,-12.9,199,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2363,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.72,-175.1,2195,2363,3998,3895,390.4,-12.4,209,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,-0.72,-175.1,2195,2363,4002,3896,427.5,-12.3,219,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.72,-175.1,2194,2363,4002,3895,464.5,-12.4,229,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2359,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,-0.72,-175.1,2193,2363,4004,3896,501.1,-12.2,239,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-0.72,-175.1,2193,2364,4004,3895,537.3,-12.0,249,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3840,-0.72,-175.1,2194,2363,4001,3896,573.3,-12.0,259,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2366,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4140,-0.72,-175.1,2195,2363,4002,3896,608.6,-11.8,269,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4440,-0.72,-175.1,2194,2363,4002,3897,644.3,-11.9,279,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-0.72,-175.1,2194,2363,4002,3898,679.8,-11.8,289,4745,0.00,2.42,0.00,0.000,516,0.000,0.088,2193,946,3949,4003,3896,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4804,-0.72,-175.1,2195,946,4002,3898,687.3,-11.6,302,4810,0.00,2.47,0.00,0.000,1030,0.000,0.102,2185,2360,3949,4002,3897,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5131,-0.72,-175.1,2186,2362,4002,3898,726.9,-12.1,317,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2362,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5338,begin apogee
$GC,5342,-0.14,0.0,2183,2609,4000,3898,752.3,-12.1,324,5562,0.77,0.00,215.77,1.630,10246,0.265,0.000,2383,2609,3229,3283,3176,0,0,0,0,0,0,14.42,28.83,13.07
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5563,begin climb
$GC,5564,0.72,175.1,2383,2609,3283,3174,760.8,0.0,331,5726,0.95,2.28,154.50,1.878,10500,0.138,0.115,2665,3763,2508,2573,2443,0,0,0,0,0,0,13.64,13.14,12.49
$GC,5792,0.72,175.1,2666,3763,2566,2435,744.5,14.8,379,5796,0.00,2.12,0.00,0.000,1030,0.000,0.075,2674,2593,2500,2566,2434,0,0,0,0,0,0,28.83,13.56,28.83
$GC,6122,0.72,175.1,2675,2594,2567,2432,699.8,13.4,395,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2593,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6421,0.72,175.1,2673,2594,2568,2431,659.7,13.4,405,6426,0.00,2.42,0.00,0.000,516,0.000,0.085,2683,1196,2499,2567,2431,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6430,0.72,175.1,2684,1197,2568,2432,658.4,13.4,407,6436,0.00,2.55,0.00,0.000,1030,0.000,0.099,2684,2602,2498,2566,2430,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6752,0.72,175.1,2683,2602,2567,2431,613.7,14.0,421,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2602,2499,2568,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7051,0.72,175.1,2685,2602,2566,2432,571.6,14.1,431,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2602,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,0.72,175.1,2684,2603,2568,2431,529.4,14.0,441,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2603,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,0.72,175.1,2684,2602,2568,2431,487.2,14.1,451,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2602,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7951,0.72,175.1,2685,2603,2566,2432,446.0,13.6,461,7956,0.00,2.42,0.00,0.000,516,0.000,0.086,2694,1192,2500,2572,2428,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7971,0.72,175.1,2696,1193,2566,2431,443.4,13.0,465,7976,0.00,2.47,0.00,0.000,1030,0.000,0.099,2694,2602,2500,2570,2430,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8281,0.72,175.1,2695,2603,2566,2431,399.8,14.1,477,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2599,2499,2568,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8581,0.72,175.1,2696,2603,2567,2431,357.6,14.2,487,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2603,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8881,0.72,175.1,2694,2603,2568,2431,316.1,13.6,497,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2602,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,0.72,175.1,2695,2603,2567,2431,277.1,12.4,507,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2602,2498,2567,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,0.72,175.1,2695,2600,2567,2432,241.1,11.7,521,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2602,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9781,0.80,246.2,2694,2603,2567,2431,211.8,8.5,551,9847,0.00,2.50,59.33,1.414,8708,0.000,0.086,2704,1197,2218,2293,2144,0,0,0,0,0,0,28.83,14.24,13.66
$GC,9891,0.80,246.2,2705,1197,2289,2136,200.4,11.2,573,9897,0.00,2.55,0.00,0.000,1030,0.000,0.099,2704,2603,2212,2289,2135,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10203,0.84,246.2,2704,2604,2290,2132,166.5,10.5,605,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2603,2210,2289,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10502,0.89,293.1,2704,2604,2290,2133,136.9,9.5,635,10547,0.00,2.53,40.03,1.317,8708,0.000,0.087,2714,1191,2028,2114,1942,0,0,0,0,0,0,28.83,14.28,13.71
$GC,10617,0.94,293.1,2715,1192,2107,1934,125.4,10.3,658,10623,0.00,2.53,0.00,0.000,1030,0.000,0.100,2714,2599,2019,2106,1933,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10922,0.99,293.1,2714,2600,2108,1932,92.7,10.3,689,10924,0.12,0.00,0.00,0.000,2054,0.144,0.000,2762,2600,2016,2106,1927,0,0,0,0,0,0,14.42,28.83,28.83
$GC,11222,1.04,343.0,2763,2600,2106,1930,61.0,9.4,719,11246,0.00,0.00,22.45,0.348,8710,0.000,0.000,2762,2600,1832,1918,1746,0,0,0,0,0,0,28.83,28.83,14.12
$GC,11543,1.19,493.1,2763,2600,1932,1761,40.0,5.0,752,11628,0.17,2.53,76.97,0.287,10756,0.132,0.087,2837,1202,1220,1306,1135,0,0,0,0,0,0,14.39,14.25,14.11
$GC,11638,1.19,493.1,2836,1203,1309,1139,31.9,11.3,764,11644,0.00,2.55,0.00,0.000,1030,0.000,0.099,2837,2608,1220,1307,1133,0,0,0,0,0,0,28.83,14.24,28.83
$FREEZE,8.86,-1.057,-1.463,2,1,0
$FREEZE,8.34,-1.041,-1.460,2,1,0
$FREEZE,7.79,-1.062,-1.457,2,1,0
$FREEZE,7.16,-1.054,-1.452,2,1,0
$FREEZE,6.52,-1.046,-1.450,2,1,0
$FREEZE,5.79,-1.047,-1.448,2,1,0
$FREEZE,5.25,-1.047,-1.448,2,1,0
$FREEZE,4.83,-1.055,-1.447,2,1,0
$FREEZE,4.17,-1.062,-1.446,2,1,0
$FREEZE,3.50,-1.063,-1.445,2,1,0
$GC,11944,1.32,621.0,2837,2609,1309,1143,7.8,6.0,795,12014,0.00,0.00,64.18,0.200,8454,0.000,0.000,2837,2608,695,752,638,0,0,0,0,0,0,28.83,28.83,14.13
$FREEZE,1.59,-1.062,-1.444,2,1,0
$STATE,12023,end climb,SURFACE_DEPTH_REACHED
$STATE,12023,begin surface coast
$FREEZE,1.41,-1.063,-0.069,2,1,0
$FINISH,1.4,1.000763
$STATE,12032,end surface coast,FINISH_DEPTH_REACHED
$STATE,12032,begin surface
$SM_CCo,12047,23.90,0.194,0,0,499,669.67
$SM_GC,2.43,8.12,0.45,23.90,0.100,0.096,0.194,202,2360,499,-6.94,1.05,669.67,0,0,0,0,0,0,14.33,14.36,14.23
$RAFOS_CLK,538
$RAFOS_FIX,7340.948242,-14648.716797,250814,040455,2,255,0.23
$IRIDIUM_FIX,7304.81,-14715.89,250814,043221
$TT8_MAMPS,0.047936,0.047936
$HUMID,48.97
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3992684
$24V_AH,12.49,132.725
$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,21.200,45.300,633.225,23.900,0.000,0.000,0.000,266.950,0.000,0.000,26.882,0.000,9718.230,717.831,1903.193,186.652,0.000,1646.990,0.000,1200.104,0.000,0.536,0.000
$DEVICE_MAMPS,462.825,127.755,1878.075,194.310,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12077.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.537,0.000,0.000,0.000
$MEM,237968
$DATA_FILE_SIZE,26689,805
$CAP_FILE_SIZE,128537,0
$CFSIZE,2097872896,2042724352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12570.29,0x2378b6,7,5
$INTR,1,93.89,0x234484,0,24
$SOUNDSPEED,1449.5
$GPS,250814,113213,7344.878,-14654.142,37,1.0,57,22.2