version: 66.12
glider: 199
mission: 5
dive: 285
start: 9 4 114 10 37 4
data:
$ID,199
$MISSION,5
$DIVE,285
$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,-24681.451
$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,19
$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
$GPS1,040914,102901,7442.144,-14710.318,17,0.9,37,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-31.0
$GPS2,040914,103643,7442.163,-14710.459,5,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,346.7,61574,-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,-175.1,190,2355,546,456,0.0,0.0,0,199,0.00,0.00,-178.82,0.000,16390,0.000,0.000,190,2355,3944,4004,3885,0,0,0,0,0,0,28.83,28.83,14.48
$GC,203,-0.72,-175.1,191,2356,4003,3886,1.4,0.4,18,218,7.68,2.47,0.00,0.000,2564,0.262,0.081,2194,956,3943,4001,3886,0,0,0,0,0,0,14.02,14.11,28.83
$GC,444,-0.72,-175.1,2195,956,4006,3888,1.6,0.2,66,449,0.00,2.50,0.00,0.000,1030,0.000,0.091,2193,2358,3947,4006,3888,0,0,0,0,0,0,28.83,14.19,28.83
$GC,754,-0.72,-175.1,2193,2359,4007,3889,1.6,0.2,98,758,0.00,2.47,0.00,0.000,516,0.000,0.082,2194,943,3947,4006,3888,0,0,0,0,0,0,28.83,14.23,28.83
$GC,985,-0.72,-175.1,2195,943,4005,3889,1.7,-0.3,144,990,0.00,2.53,0.00,0.000,1030,0.000,0.090,2193,2361,3947,4006,3888,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1294,-0.72,-175.1,2194,2361,4006,3888,1.7,-0.2,176,1299,0.00,2.47,0.00,0.000,516,0.000,0.082,2193,946,3947,4006,3888,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1526,-0.72,-175.1,2194,947,4005,3889,1.7,-0.0,222,1530,0.00,2.53,0.00,0.000,1030,0.000,0.090,2192,2367,3946,4005,3888,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1835,-0.72,-175.1,2193,2363,4005,3888,1.7,-0.3,254,1840,0.00,2.47,0.00,0.000,516,0.000,0.081,2192,946,3947,4006,3888,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2066,-0.72,-175.1,2193,945,4005,3890,1.7,-0.1,300,2071,0.00,2.53,0.00,0.000,1030,0.000,0.093,2191,2354,3947,4006,3888,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2376,-0.72,-175.1,2190,2355,4008,3889,1.6,0.1,332,2381,0.00,2.47,0.00,0.000,516,0.000,0.079,2191,950,3946,4005,3888,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2608,-0.72,-175.1,2192,950,4006,3889,1.7,-0.1,378,2612,0.00,2.55,0.00,0.000,1030,0.000,0.096,2189,2368,3947,4006,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2917,-0.72,-175.1,2189,2369,4007,3889,1.7,-0.1,410,2922,0.00,2.50,0.00,0.000,516,0.000,0.080,2189,940,3947,4006,3888,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3148,-0.72,-175.1,2189,940,4007,3889,1.7,-0.0,456,3153,0.00,2.53,0.00,0.000,1030,0.000,0.091,2189,2361,3947,4006,3888,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3458,-0.72,-175.1,2190,2361,4004,3889,1.7,-0.1,488,3463,0.00,2.47,0.00,0.000,516,0.000,0.080,2189,945,3947,4006,3888,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3689,-0.72,-175.1,2190,946,4005,3889,1.8,-0.2,534,3694,0.00,2.55,0.00,0.000,1030,0.000,0.095,2188,2360,3947,4006,3888,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3999,-0.72,-175.1,2189,2362,4008,3889,1.6,-0.0,566,4004,0.00,2.47,0.00,0.000,516,0.000,0.081,2188,943,3947,4006,3888,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4230,-0.72,-175.1,2189,944,4005,3889,1.6,0.7,612,4235,0.00,2.55,0.00,0.000,1030,0.000,0.094,2188,2365,3947,4006,3888,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4540,-0.72,-175.1,2188,2365,4006,3889,1.7,-0.2,644,4545,0.00,2.47,0.00,0.000,516,0.000,0.080,2188,948,3947,4006,3888,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4771,-0.72,-175.1,2188,948,4007,3889,1.7,-0.2,690,4776,0.00,2.55,0.00,0.000,1030,0.000,0.096,2188,2361,3947,4006,3888,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5095,-0.72,-175.1,2189,2362,4005,3889,1.7,-0.1,722,5100,0.00,2.47,0.00,0.000,516,0.000,0.080,2188,946,3947,4006,3888,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5326,-0.72,-175.1,2188,948,4007,3888,1.7,0.4,768,5331,0.00,2.55,0.00,0.000,1030,0.000,0.096,2188,2360,3947,4006,3888,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5636,-0.72,-175.1,2188,2361,4007,3889,1.6,-0.1,800,5641,0.00,2.50,0.00,0.000,516,0.000,0.080,2191,946,3947,4006,3888,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5865,-0.72,-175.1,2188,947,4007,3889,1.7,0.0,846,5870,0.00,2.55,0.00,0.000,1030,0.000,0.093,2188,2357,3947,4006,3888,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6176,-0.72,-175.1,2187,2359,4007,3888,1.6,0.1,878,6180,0.00,2.50,0.00,0.000,516,0.000,0.080,2188,939,3947,4006,3888,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6407,-0.72,-175.1,2188,940,4007,3887,1.8,-0.3,924,6412,0.00,2.58,0.00,0.000,1030,0.000,0.096,2188,2366,3946,4005,3888,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6718,-0.72,-175.1,2189,2366,4005,3889,1.6,0.1,956,6723,0.00,2.47,0.00,0.000,516,0.000,0.079,2188,946,3946,4005,3888,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6949,-0.72,-175.1,2188,947,4006,3889,1.7,-0.1,1002,6954,0.00,2.55,0.00,0.000,1030,0.000,0.094,2188,2363,3947,4006,3888,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7259,-0.72,-175.1,2189,2363,4005,3889,1.6,-0.1,1034,7264,0.00,2.50,0.00,0.000,516,0.000,0.080,2188,943,3947,4006,3888,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7489,-0.72,-175.1,2188,944,4007,3889,1.7,-0.2,1080,7494,0.00,2.55,0.00,0.000,1030,0.000,0.094,2188,2361,3947,4006,3888,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,7507,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7507,begin apogee
$FREEZE,1.58,-1.263,-1.433,2,1,0
$GC,7512,-0.14,0.0,2187,2601,4006,3888,1.6,0.2,1083,7523,0.68,0.00,8.43,0.207,10242,0.162,0.000,2385,2600,3868,3925,3812,0,0,0,0,0,0,14.06,28.83,28.83
$STATE,7524,end apogee,SURFACE_DEPTH_REACHED
$STATE,7524,begin surface coast
$FREEZE,1.70,-1.263,-1.434,2,1,0
$FREEZE,1.59,-1.263,-1.433,2,1,0
$FREEZE,1.64,-1.263,-1.434,2,1,0
$FREEZE,1.63,-1.263,-1.434,2,1,0
$FREEZE,1.65,-1.263,-1.434,2,1,0
$FREEZE,1.64,-1.263,-1.434,2,1,0
$FREEZE,1.72,-1.263,-1.434,2,1,0
$FREEZE,1.71,-1.263,-1.434,2,1,0
$FREEZE,1.68,-1.263,-1.434,2,1,0
$FREEZE,1.63,-1.263,-1.434,2,1,0
$FREEZE,1.66,-1.263,-1.434,2,1,0
$FREEZE,1.62,-1.263,-1.434,2,1,0
$FREEZE,1.63,-1.263,-1.434,2,1,0
$FREEZE,1.73,-1.263,-1.434,2,1,0
$FREEZE,1.74,-1.263,-1.434,2,1,0
$FREEZE,1.75,-1.263,-1.434,2,1,0
$FREEZE,1.73,-1.263,-1.434,2,1,0
$FREEZE,1.65,-1.263,-1.434,2,1,0
$FREEZE,1.60,-1.263,-1.433,2,1,0
$FREEZE,1.63,-1.263,-1.434,2,1,0
$FREEZE,1.66,-1.263,-1.434,2,1,0
$FREEZE,1.65,-1.263,-1.434,2,1,0
$FREEZE,1.66,-1.263,-1.434,2,1,0
$FREEZE,1.64,-1.263,-1.434,2,1,0
$FREEZE,1.57,-1.263,-1.433,2,1,0
$FREEZE,1.61,-1.263,-1.434,2,1,0
$FREEZE,1.75,-1.263,-1.434,2,1,0
$FREEZE,1.69,-1.263,-1.434,2,1,0
$FREEZE,1.72,-1.263,-1.434,2,1,0
$FREEZE,1.62,-1.263,-1.434,2,1,0
$FREEZE,1.59,-1.263,-1.433,2,1,0
$FREEZE,1.70,-1.263,-1.434,2,1,0
$FREEZE,1.75,-1.263,-1.434,2,1,0
$FREEZE,1.72,-1.263,-1.434,2,1,0
$FREEZE,1.63,-1.263,-1.434,2,1,0
$FINISH,1.6,1.021134
$STATE,7867,end surface coast,NO_VERTICAL_VELOCITY
$STATE,7867,begin surface
$SM_CCo,7881,371.98,0.180,0,0,499,669.67
$SM_GC,1.51,6.50,0.45,371.98,0.073,0.092,0.180,192,2350,499,-6.94,0.57,669.67,0,0,0,0,0,0,14.43,14.42,14.09
$RAFOS_CLK,144
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7358.04,-14657.20,040914,080818
$TT8_MAMPS,0.045689,0.045689
$HUMID,47.12
$INTERNAL_PRESSURE,8.41667
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3983172
$24V_AH,14.02,157.688
$10V_AH,13.84,0.000
$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,14.850,71.225,8.425,371.975,0.000,0.000,0.000,276.800,0.000,0.000,27.705,0.000,5424.919,619.972,2456.162,215.254,0.000,1667.965,0.000,1661.166,1496.000,0.535,0.000
$DEVICE_MAMPS,261.630,126.990,206.550,179.775,0.000,0.000,0.000,165.240,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7571.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,52.788,0.000,0.000,0.000
$MEM,197992
$DATA_FILE_SIZE,36631,1119
$CAP_FILE_SIZE,138015,0
$CFSIZE,2097872896,2028732416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8619.38,0x2378b6,7,5
$SOUNDSPEED,1431.6
$GPS,040914,125549,7442.450,-14711.821,17,0.7,37,22.3