version: 66.12
glider: 199
mission: 5
dive: 302
start: 9 6 114 8 46 34
data:
$ID,199
$MISSION,5
$DIVE,302
$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,-25251.352
$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,23
$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
$GPS1,060914,083824,7436.538,-14723.005,38,0.7,58,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-71.5
$GPS2,060914,084613,7436.507,-14723.093,4,0.8,25,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,354.2,219105,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.1,196,2358,502,496,0.0,0.0,0,69,0.00,0.00,-51.28,0.000,16386,0.000,0.000,196,2357,1755,1774,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,196,2358,1776,1738,3.3,-2.2,5,140,11.18,2.53,-51.45,0.000,18948,0.467,0.104,2192,945,3946,4001,3891,0,0,0,0,0,0,13.87,14.22,14.50
$GC,364,-0.72,-175.1,2193,945,4001,3895,82.6,-22.4,64,371,0.00,2.55,0.00,0.000,1030,0.000,0.095,2184,2367,3950,4001,3899,0,0,0,0,0,0,28.83,14.21,28.83
$GC,670,-0.72,-175.1,2183,2368,4002,3892,149.9,-21.1,95,675,0.00,2.47,0.00,0.000,516,0.000,0.081,2184,942,3948,4001,3895,0,0,0,0,0,0,28.83,14.28,28.83
$GC,724,-0.72,-175.1,2185,942,4001,3895,161.0,-19.3,106,731,0.00,2.53,0.00,0.000,1030,0.000,0.093,2173,2362,3948,4001,3895,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1030,-0.72,-175.1,2172,2363,4002,3895,221.3,-19.2,137,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2362,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1350,-0.72,-175.1,2175,2362,4000,3895,274.4,-15.8,159,1355,0.00,2.45,0.00,0.000,516,0.000,0.080,2173,942,3948,4001,3895,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1445,-0.72,-175.1,2173,942,4002,3896,288.4,-14.3,178,1450,0.15,2.53,0.00,0.000,3078,0.300,0.096,2192,2362,3948,4001,3895,0,0,0,0,0,0,14.09,14.33,28.83
$GC,1772,-0.72,-175.1,2192,2364,4002,3896,331.6,-13.2,193,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2363,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2070,-0.72,-175.1,2192,2363,4002,3896,370.8,-12.9,203,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2363,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,-0.72,-175.1,2192,2363,4002,3895,408.7,-12.6,213,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2362,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2670,-0.72,-175.1,2192,2363,4002,3896,445.5,-12.2,223,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.72,-175.1,2194,2363,3999,3895,481.8,-12.1,233,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2362,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3270,-0.72,-175.1,2192,2364,4002,3895,517.7,-11.9,243,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3570,-0.72,-175.1,2194,2363,4001,3896,553.2,-11.9,253,3575,0.00,2.45,0.00,0.000,516,0.000,0.081,2193,942,3947,4001,3894,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3630,-0.72,-175.1,2193,942,4002,3896,560.1,-11.5,265,3635,0.00,2.53,0.00,0.000,1030,0.000,0.095,2184,2369,3948,4001,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3961,-0.72,-175.1,2185,2369,4000,3895,601.0,-12.4,281,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2370,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4260,-0.72,-175.1,2184,2370,4002,3897,638.1,-12.4,291,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2369,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4560,-0.72,-175.1,2185,2370,4000,3897,674.7,-12.1,301,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2369,3952,4008,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4860,-0.72,-175.1,2184,2370,4002,3898,710.7,-12.0,311,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2369,3946,4001,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5160,-0.72,-175.1,2184,2370,4002,3898,746.5,-11.9,321,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2369,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5188,begin apogee
$GC,5193,-0.14,0.0,2184,2602,4000,3898,750.1,-11.9,322,5417,0.80,0.00,221.38,1.685,10246,0.270,0.000,2383,2602,3229,3281,3177,0,0,0,0,0,0,14.19,28.83,12.93
$STATE,5418,end apogee,CONTROL_FINISHED_OK
$STATE,5419,begin climb
$GC,5421,0.72,175.1,2385,2602,3277,3173,758.7,0.0,329,5586,0.95,2.30,156.65,2.007,10500,0.144,0.112,2660,3765,2506,2571,2442,0,0,0,0,0,0,13.53,13.15,12.46
$GC,5652,0.72,175.1,2660,3766,2568,2435,742.9,13.9,379,5657,0.00,2.15,0.00,0.000,1030,0.000,0.068,2669,2582,2499,2566,2433,0,0,0,0,0,0,28.83,13.59,28.83
$GC,5973,0.72,175.1,2669,2581,2569,2432,701.0,12.9,393,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2581,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6272,0.72,175.1,2669,2581,2568,2432,662.2,12.9,403,6277,0.00,2.15,0.00,0.000,260,0.000,0.113,2669,3769,2498,2566,2431,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6302,0.72,175.1,2668,3770,2568,2430,657.8,14.8,409,6307,0.00,1.98,0.00,0.000,1030,0.000,0.070,2677,2598,2498,2566,2430,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6633,0.72,175.1,2677,2598,2567,2432,613.6,13.3,425,6638,0.00,2.10,0.00,0.000,260,0.000,0.114,2678,3768,2498,2566,2431,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6653,0.72,175.1,2678,3769,2568,2432,610.6,14.4,429,6658,0.00,2.03,0.00,0.000,1030,0.000,0.071,2686,2595,2498,2566,2431,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6963,0.72,175.1,2686,2595,2567,2432,568.1,13.7,441,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2595,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,0.72,175.1,2686,2596,2567,2431,527.4,13.5,451,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2595,2496,2566,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,0.72,175.1,2686,2596,2567,2431,486.7,13.6,461,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2595,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,0.72,175.1,2692,2595,2566,2431,445.8,13.6,471,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2595,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,0.72,175.1,2686,2596,2568,2431,404.8,13.6,481,8168,0.00,2.10,0.00,0.000,260,0.000,0.114,2687,3769,2498,2566,2430,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8183,0.72,175.1,2686,3770,2567,2431,401.7,14.8,485,8188,0.00,2.00,0.00,0.000,1030,0.000,0.073,2695,2605,2498,2566,2430,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8493,0.72,175.1,2696,2605,2566,2431,359.5,13.2,497,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2605,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8793,0.72,175.1,2696,2605,2566,2431,320.5,13.1,507,8798,0.00,2.10,0.00,0.000,260,0.000,0.116,2695,3776,2498,2566,2430,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8828,0.72,175.1,2695,3777,2567,2431,315.4,14.9,514,8833,0.08,2.03,0.00,0.000,5126,0.259,0.073,2675,2594,2498,2566,2430,0,0,0,0,0,0,14.26,14.51,28.83
$GC,9154,0.72,175.1,2675,2594,2567,2431,278.9,11.1,529,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2593,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,0.78,227.0,2677,2594,2566,2431,249.2,9.3,539,9503,0.00,0.00,44.10,1.454,8710,0.000,0.000,2675,2593,2293,2364,2223,0,0,0,0,0,0,28.83,28.83,13.67
$GC,9803,0.83,283.4,2675,2594,2360,2212,213.9,9.1,577,9859,0.00,2.50,48.80,1.465,8708,0.000,0.079,2684,1195,2062,2148,1977,0,0,0,0,0,0,28.83,14.12,13.53
$GC,9898,0.90,283.4,2685,1195,2141,1971,205.0,9.9,594,9905,0.12,2.55,0.00,0.000,3078,0.147,0.093,2730,2608,2058,2147,1969,0,0,0,0,0,0,14.23,14.20,28.83
$GC,10205,0.90,283.4,2731,2607,2142,1967,165.8,11.6,625,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2607,2054,2142,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10504,0.95,283.4,2730,2605,2143,1964,133.1,10.4,655,10508,0.00,2.47,0.00,0.000,516,0.000,0.080,2741,1191,2053,2141,1965,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10528,1.02,283.4,2741,1192,2144,1965,130.6,9.9,660,10535,0.00,2.53,0.00,0.000,1030,0.000,0.094,2741,2599,2053,2142,1965,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10835,1.06,283.4,2741,2600,2143,1965,98.0,10.5,691,10836,0.12,0.00,0.00,0.000,2054,0.149,0.000,2782,2600,2053,2142,1964,0,0,0,0,0,0,14.31,28.83,28.83
$GC,11134,1.11,334.2,2783,2600,2143,1965,66.5,9.4,721,11165,0.00,2.50,22.60,0.363,8708,0.000,0.079,2794,1201,1869,1955,1783,0,0,0,0,0,0,28.83,14.29,14.04
$GC,11325,1.22,443.7,2795,1202,1970,1797,51.3,6.8,759,11390,0.10,2.53,57.38,0.323,11270,0.169,0.093,2829,2600,1420,1505,1336,0,0,0,0,0,0,14.26,14.24,13.99
$GC,11701,1.39,606.6,2830,2601,1512,1345,22.7,4.4,803,11793,0.15,2.15,83.68,0.238,11012,0.133,0.120,2880,3768,756,809,703,0,0,0,0,0,0,14.22,14.10,13.98
$GC,11844,1.39,606.6,2879,3769,817,705,9.2,12.1,828,11849,0.00,2.03,0.00,0.000,1030,0.000,0.073,2889,2603,759,814,704,0,0,0,0,0,0,28.83,14.14,28.83
$FREEZE,8.17,-1.250,-1.440,2,1,0
$FREEZE,7.07,-1.249,-1.439,2,1,0
$FREEZE,5.91,-1.249,-1.438,2,1,0
$FREEZE,4.73,-1.249,-1.437,2,1,0
$FREEZE,3.43,-1.249,-1.436,2,1,0
$FREEZE,2.26,-1.251,-1.435,2,1,0
$FREEZE,1.49,-1.246,-0.842,2,1,0
$STATE,11914,end climb,FINISH_DEPTH_REACHED
$STATE,11914,begin subsurface finish
$FINISH1,1.5,1.012401,0
$GC,11919,0.00,0.0,2890,2602,815,703,1.5,11.3,836,12038,1.42,2.25,-109.55,0.000,21252,0.111,0.150,2429,3768,3233,3269,3197,0,0,0,0,0,0,14.09,14.09,14.40
$FINISH2,5.2
$STATE,12038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12038,begin surface
$RAFOS_CLK,27
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7350.26,-14719.30,060914,051036
$TT8_MAMPS,0.080892,0.080892
$HUMID,47.83
$INTERNAL_PRESSURE,8.68035
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3980900
$24V_AH,12.46,161.854
$10V_AH,12.43,0.000
$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,15.075,62.875,634.575,0.000,0.000,0.000,0.000,271.225,0.000,0.000,26.385,0.000,9504.771,769.799,2010.422,218.105,0.000,1772.505,0.000,1277.973,1493.000,0.537,0.000
$DEVICE_MAMPS,467.415,149.940,2006.595,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12087.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.717,0.000,0.000,0.000
$MEM,188536
$DATA_FILE_SIZE,30009,859
$CAP_FILE_SIZE,132617,0
$CFSIZE,2097872896,2026078208
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12689.36,0x2378b6,7,5
$INTR,1,11916.42,0x2378b6,5,5
$SOUNDSPEED,1449.2
$GPS,060914,084613,7436.507,-14723.093,4,0.8,25,22.2