version: 66.12
glider: 199
mission: 5
dive: 230
start: 8 27 114 16 53 46
data:
$ID,199
$MISSION,5
$DIVE,230
$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,-22974.268
$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,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
$GPS1,270814,164154,7408.226,-14653.777,33,0.7,53,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-73.0
$GPS2,270814,165326,7408.209,-14653.692,6,0.9,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7415.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,346.1,12713,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-175.1,193,2362,489,506,0.0,0.0,0,90,0.00,0.00,-71.28,0.000,16386,0.000,0.000,193,2362,2176,2187,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.72,-175.1,193,2362,2188,2167,3.5,-2.4,7,145,10.98,2.45,-36.17,0.000,19204,0.464,0.106,2189,950,3947,4002,3893,0,0,0,0,0,0,13.93,14.28,14.52
$GC,370,-0.72,-175.1,2190,951,4002,3896,83.0,-21.5,63,375,0.00,2.53,0.00,0.000,1030,0.000,0.098,2181,2368,3952,4008,3897,0,0,0,0,0,0,28.83,14.32,28.83
$GC,680,-0.72,-175.1,2181,2369,4004,3897,150.1,-20.2,95,685,0.00,2.45,0.00,0.000,516,0.000,0.084,2177,948,3948,3999,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,830,-0.72,-175.1,2180,947,4004,3897,178.4,-18.2,125,836,0.12,2.50,0.00,0.000,3078,0.317,0.099,2192,2361,3950,4003,3897,0,0,0,0,0,0,14.22,14.42,28.83
$GC,1140,-0.72,-175.1,2192,2361,4004,3899,230.9,-15.4,157,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2360,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-0.72,-175.1,2193,2361,4002,3897,276.5,-14.0,176,1455,0.00,2.50,0.00,0.000,260,0.000,0.122,2183,3767,3949,4002,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1515,-0.72,-175.1,2183,3768,4004,3898,286.4,-15.3,189,1520,0.00,2.40,0.00,0.000,1030,0.000,0.075,2183,2348,3950,4002,3898,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1841,-0.72,-175.1,2183,2348,4004,3898,333.6,-14.3,204,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2347,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2140,-0.72,-175.1,2184,2352,4002,3898,374.8,-13.6,214,2146,0.00,2.55,0.00,0.000,260,0.000,0.122,2173,3767,3949,4002,3897,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2175,-0.72,-175.1,2173,3768,4004,3896,380.0,-15.0,221,2180,0.00,2.38,0.00,0.000,1030,0.000,0.074,2172,2359,3949,4002,3897,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2501,-0.72,-175.1,2174,2358,4002,3898,425.8,-14.0,236,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2358,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.72,-175.1,2174,2358,4002,3898,467.2,-13.7,246,2806,0.00,2.53,0.00,0.000,260,0.000,0.122,2162,3767,3950,4003,3897,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2865,-0.72,-175.1,2160,3768,4004,3898,477.0,-15.2,259,2871,0.15,2.38,0.00,0.000,3078,0.284,0.075,2193,2358,3949,4002,3897,0,0,0,0,0,0,14.33,14.53,28.83
$GC,3191,-0.72,-175.1,2193,2358,4003,3898,517.2,-12.2,274,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2357,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3490,-0.72,-175.1,2193,2359,4004,3898,553.5,-12.1,284,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2357,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3790,-0.72,-175.1,2193,2358,4004,3898,588.9,-11.7,294,3796,0.00,2.55,0.00,0.000,260,0.000,0.121,2184,3771,3950,4003,3897,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3855,-0.72,-175.1,2185,3772,4002,3898,597.1,-13.0,307,3860,0.00,2.38,0.00,0.000,1030,0.000,0.074,2184,2359,3952,4002,3903,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4182,-0.72,-175.1,2184,2359,4004,3899,636.8,-12.2,322,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2358,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.72,-175.1,2184,2359,4005,3899,673.4,-12.2,332,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2358,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4780,-0.72,-175.1,2183,2359,4004,3899,710.1,-12.4,342,4785,0.00,2.53,0.00,0.000,260,0.000,0.121,2170,3770,3951,4003,3899,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4850,-0.72,-175.1,2173,3771,4003,3900,719.5,-13.2,356,4855,0.00,2.38,0.00,0.000,1030,0.000,0.074,2174,2350,3950,4002,3899,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5113,-0.14,0.0,2171,2603,4004,3900,753.2,-12.8,368,5276,0.82,0.00,160.82,1.909,10246,0.273,0.000,2381,2601,3231,3283,3179,0,0,0,0,0,0,14.32,28.83,13.09
$STATE,5277,end apogee,CONTROL_FINISHED_OK
$STATE,5277,begin climb
$GC,5279,0.72,175.1,2382,2602,3278,3174,758.9,0.0,373,5445,0.95,2.30,153.80,1.903,10500,0.148,0.112,2660,3770,2506,2569,2443,0,0,0,0,0,0,13.69,13.17,12.52
$GC,5559,0.72,175.1,2659,3770,2567,2437,734.3,15.0,432,5566,0.00,2.12,0.00,0.000,1030,0.000,0.070,2669,2604,2500,2566,2435,0,0,0,0,0,0,28.83,13.72,28.83
$GC,5865,0.72,175.1,2670,2604,2566,2435,693.6,13.3,443,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2603,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6165,0.72,175.1,2670,2604,2565,2435,654.1,13.2,453,6170,0.00,2.42,0.00,0.000,516,0.000,0.082,2679,1192,2499,2566,2433,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6179,0.72,175.1,2680,1192,2565,2434,652.1,13.1,456,6185,0.00,2.50,0.00,0.000,1030,0.000,0.096,2679,2599,2499,2565,2434,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6495,0.72,175.1,2681,2600,2565,2434,608.9,13.8,469,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2599,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6795,0.72,175.1,2680,2599,2565,2434,567.6,13.9,479,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2599,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7095,0.72,175.1,2680,2599,2566,2434,526.8,13.5,489,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2599,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7395,0.72,175.1,2680,2599,2565,2434,486.3,13.5,499,7400,0.00,2.40,0.00,0.000,516,0.000,0.082,2690,1192,2500,2566,2434,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7415,0.72,175.1,2689,1193,2565,2430,483.5,13.7,503,7420,0.00,2.47,0.00,0.000,1030,0.000,0.096,2690,2604,2500,2566,2434,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7725,0.72,175.1,2689,2605,2570,2434,440.3,14.0,515,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2604,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8025,0.72,175.1,2691,2605,2566,2434,398.7,13.7,525,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2605,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8325,0.72,175.1,2689,2606,2567,2434,357.6,13.6,535,8330,0.00,2.42,0.00,0.000,516,0.000,0.082,2699,1184,2498,2564,2433,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8365,0.72,175.1,2700,1186,2567,2435,352.3,13.2,543,8371,0.10,2.53,0.00,0.000,5126,0.262,0.096,2674,2600,2499,2566,2433,0,0,0,0,0,0,14.40,14.57,28.83
$GC,8686,0.72,175.1,2674,2601,2566,2434,312.4,12.4,557,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2600,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8985,0.72,175.1,2674,2601,2567,2434,276.9,11.7,567,8990,0.00,2.40,0.00,0.000,516,0.000,0.081,2683,1188,2499,2566,2433,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9020,0.76,175.1,2683,1188,2567,2434,273.0,10.8,574,9026,0.00,2.47,0.00,0.000,1030,0.000,0.095,2683,2603,2499,2566,2433,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9326,0.83,175.1,2685,2604,2566,2434,240.6,9.8,593,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2605,2502,2572,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,0.90,250.9,2684,2604,2566,2434,214.0,8.3,623,9697,0.12,2.47,64.72,1.409,10756,0.161,0.080,2735,1191,2196,2270,2123,0,0,0,0,0,0,14.55,14.19,13.62
$GC,9738,0.90,250.9,2737,1192,2265,2115,201.5,13.0,645,9744,0.00,2.55,0.00,0.000,1030,0.000,0.095,2735,2611,2189,2265,2114,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10048,0.90,250.9,2735,2612,2267,2112,163.0,11.9,677,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2611,2187,2265,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10348,0.95,250.9,2737,2611,2265,2110,130.0,10.5,707,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2611,2184,2260,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10648,1.00,302.5,2735,2612,2266,2110,100.5,9.3,737,10700,0.00,2.50,44.65,1.310,8708,0.000,0.084,2746,1195,1985,2070,1900,0,0,0,0,0,0,28.83,14.23,13.64
$GC,10755,1.04,302.5,2746,1196,2063,1895,90.2,10.6,758,10761,0.00,2.53,0.00,0.000,1030,0.000,0.096,2746,2599,1977,2062,1893,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11060,1.17,431.6,2746,2599,2063,1891,62.7,5.9,789,11133,0.20,2.15,62.50,0.353,10500,0.125,0.118,2816,3763,1472,1562,1383,0,0,0,0,0,0,14.34,14.16,14.00
$GC,11358,1.24,431.6,2822,3763,1563,1394,30.2,9.9,846,11364,0.00,2.03,0.00,0.000,1030,0.000,0.078,2825,2587,1477,1562,1392,0,0,0,0,0,0,28.83,14.26,28.83
$FREEZE,8.89,-1.147,-1.468,2,1,0
$FREEZE,8.02,-1.121,-1.465,2,1,0
$FREEZE,6.90,-1.121,-1.464,2,1,0
$GC,11663,1.48,672.1,2826,2587,1562,1390,17.2,1.0,877,11791,0.28,2.42,118.93,0.224,11012,0.106,0.084,2934,1202,498,511,485,0,0,0,0,0,0,14.23,14.14,14.03
$FREEZE,4.55,-1.148,-1.461,2,1,0
$FREEZE,3.53,-1.145,-1.460,2,1,0
$FREEZE,2.82,-1.145,-1.459,2,1,0
$FREEZE,1.95,-1.138,-1.458,2,1,0
$STATE,11809,end climb,SURFACE_DEPTH_REACHED
$STATE,11809,begin surface coast
$FREEZE,1.47,-1.138,-1.458,2,1,0
$FREEZE,1.29,-1.117,-0.792,2,1,0
$FINISH,1.3,1.011650
$STATE,11820,end surface coast,FINISH_DEPTH_REACHED
$STATE,11820,begin surface
$SM_CCo,11898,0.00,0.000,0,0,500,669.67
$SM_GC,2.39,8.48,2.15,0.00,0.098,0.103,0.000,205,2357,500,-6.94,-0.68,669.67,0,0,0,0,0,0,14.23,14.21,28.83
$RAFOS_CLK,522
$RAFOS_FIX,7407.848633,-14647.724609,270814,161641,3,255,0.39
$IRIDIUM_FIX,7327.28,-14657.91,270814,164459
$TT8_MAMPS,0.081641,0.081641
$HUMID,47.36
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3990404
$24V_AH,12.52,138.596
$10V_AH,12.64,0.000
$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,22.200,77.800,605.425,0.000,0.000,0.000,0.000,437.475,0.000,0.000,27.250,0.000,9458.060,669.829,2255.622,203.680,0.000,1870.676,0.000,1346.060,1495.000,0.537,0.000
$DEVICE_MAMPS,464.355,124.695,1909.440,0.000,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11869.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.686,0.000,0.000,0.000
$MEM,228128
$DATA_FILE_SIZE,30075,907
$CAP_FILE_SIZE,141317,0
$CFSIZE,2097872896,2039250944
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12681.30,0x2378b6,7,5
$INTR,1,5436.21,0x234482,1,24
$SOUNDSPEED,1449.7
$GPS,270814,201324,7409.664,-14653.648,28,0.8,48,22.3