version: 66.12
glider: 199
mission: 5
dive: 305
start: 9 6 114 19 15 28
data:
$ID,199
$MISSION,5
$DIVE,305
$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,-25255.436
$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,19
$R_STBD_OVSHOOT,16
$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
$GPS1,060914,190713,7441.407,-14719.985,36,0.8,56,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-71.2
$GPS2,060914,191507,7441.381,-14720.084,3,0.8,23,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,354.6,210081,-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,17,-0.72,-175.1,189,2370,497,502,0.0,0.0,0,60,0.00,0.00,-41.62,0.000,16386,0.000,0.000,189,2370,1526,1555,1497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.72,-175.1,191,2370,1555,1498,3.0,-1.9,4,150,11.27,2.60,-66.03,0.000,18948,0.469,0.108,2189,938,3947,4001,3894,0,0,0,0,0,0,13.86,14.16,14.50
$GC,376,-0.72,-175.1,2189,938,4002,3899,86.5,-22.9,67,382,0.00,2.55,0.00,0.000,1030,0.000,0.095,2179,2363,3949,4001,3897,0,0,0,0,0,0,28.83,14.23,28.83
$GC,681,-0.72,-175.1,2182,2363,4001,3898,153.6,-20.9,98,686,0.00,2.47,0.00,0.000,516,0.000,0.081,2181,938,3949,4001,3897,0,0,0,0,0,0,28.83,14.28,28.83
$GC,911,-0.72,-175.1,2178,938,4000,3898,196.1,-17.9,144,916,0.12,2.53,0.00,0.000,3078,0.314,0.093,2192,2361,3949,4001,3897,0,0,0,0,0,0,14.05,14.28,28.83
$GC,1221,-0.72,-175.1,2192,2362,4002,3898,247.5,-15.3,176,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2361,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-0.72,-175.1,2193,2362,4001,3898,293.7,-14.0,188,1546,0.00,2.45,0.00,0.000,516,0.000,0.083,2192,939,3949,4001,3898,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1591,-0.72,-175.1,2192,940,4000,3898,300.4,-13.1,198,1596,0.00,2.53,0.00,0.000,1030,0.000,0.096,2183,2367,3949,4001,3898,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1901,-0.72,-175.1,2185,2367,3999,3898,343.1,-13.5,210,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2367,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-0.72,-175.1,2184,2368,4000,3898,383.0,-13.2,220,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2367,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2501,-0.72,-175.1,2183,2368,4002,3898,422.0,-13.0,230,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2367,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2802,-0.72,-175.1,2183,2367,4002,3898,461.4,-13.1,240,2807,0.00,2.47,0.00,0.000,516,0.000,0.080,2183,942,3949,4001,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2867,-0.72,-175.1,2185,942,4000,3895,469.8,-12.4,253,2872,0.00,2.53,0.00,0.000,1030,0.000,0.095,2173,2359,3949,4001,3897,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3193,-0.72,-175.1,2173,2360,4002,3899,513.3,-13.4,268,3194,0.12,0.00,0.00,0.000,2054,0.305,0.000,2197,2359,3949,4001,3897,0,0,0,0,0,0,14.12,28.83,28.83
$GC,3492,-0.72,-175.1,2196,2360,4002,3898,548.2,-11.5,278,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2359,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.72,-175.1,2197,2360,4002,3899,582.4,-11.3,288,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2359,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.72,-175.1,2198,2360,4001,3899,616.1,-11.3,298,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2359,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.72,-175.1,2196,2360,4002,3899,649.9,-11.2,308,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2359,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4692,-0.72,-175.1,2198,2360,4001,3900,683.8,-11.3,318,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2359,3950,4001,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4992,-0.72,-175.1,2197,2359,4002,3900,717.9,-11.4,328,4997,0.00,2.45,0.00,0.000,516,0.000,0.082,2197,944,3950,4001,3899,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5042,-0.72,-175.1,2197,945,4002,3900,723.6,-10.7,338,5047,0.00,2.55,0.00,0.000,1030,0.000,0.096,2188,2369,3950,4001,3900,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,5290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5290,begin apogee
$GC,5295,-0.14,0.0,2188,2604,4001,3900,753.2,-11.8,348,5459,0.77,0.00,160.48,1.919,10246,0.268,0.000,2380,2604,3228,3278,3178,0,0,0,0,0,0,14.16,28.83,13.00
$STATE,5460,end apogee,CONTROL_FINISHED_OK
$STATE,5460,begin climb
$GC,5462,0.72,175.1,2382,2604,3275,3174,759.0,0.0,353,5624,0.98,2.35,154.55,1.906,10500,0.152,0.112,2663,3767,2507,2574,2441,0,0,0,0,0,0,13.62,13.19,12.50
$GC,5784,0.72,175.1,2665,3768,2567,2436,729.2,15.0,421,5789,0.00,2.12,0.00,0.000,1030,0.000,0.070,2672,2576,2501,2567,2435,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6106,0.72,175.1,2674,2576,2567,2435,686.7,13.1,435,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2576,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6404,0.72,175.1,2674,2576,2567,2434,646.9,13.3,445,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2576,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,0.72,175.1,2672,2577,2569,2435,607.2,13.2,455,6709,0.00,2.17,0.00,0.000,260,0.000,0.115,2672,3770,2500,2567,2434,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6734,0.72,175.1,2672,3770,2568,2435,602.9,15.4,461,6739,0.00,2.00,0.00,0.000,1030,0.000,0.072,2681,2588,2500,2567,2434,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7065,0.72,175.1,2682,2588,2567,2434,558.3,13.5,477,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2590,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7364,0.72,175.1,2682,2588,2567,2434,518.3,13.3,487,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2587,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7664,0.72,175.1,2682,2588,2567,2434,479.2,12.9,497,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2587,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,0.72,175.1,2681,2588,2569,2435,440.7,12.9,507,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2587,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,0.72,175.1,2681,2588,2568,2435,401.7,13.0,517,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2587,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8564,0.72,175.1,2682,2588,2565,2434,362.4,13.0,527,8569,0.00,2.15,0.00,0.000,260,0.000,0.115,2681,3770,2500,2567,2434,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8609,0.72,175.1,2681,3771,2569,2434,355.9,14.9,536,8614,0.00,2.03,0.00,0.000,1030,0.000,0.073,2690,2598,2500,2567,2434,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8924,0.72,175.1,2691,2598,2567,2435,315.1,12.6,549,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2597,2500,2567,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9224,0.72,175.1,2690,2598,2569,2435,279.4,11.9,559,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2597,2499,2567,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,0.79,175.1,2690,2598,2568,2435,245.8,9.9,571,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2598,2501,2568,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9824,0.88,265.8,2690,2598,2569,2435,219.6,7.6,601,9906,0.00,2.53,76.75,1.453,8708,0.000,0.079,2700,1201,2142,2218,2066,0,0,0,0,0,0,28.83,14.16,13.50
$GC,9962,0.96,265.8,2701,1202,2211,2053,207.0,9.7,628,9969,0.15,2.53,0.00,0.000,3078,0.132,0.093,2756,2601,2131,2211,2052,0,0,0,0,0,0,14.22,14.16,28.83
$GC,10269,0.96,265.8,2756,2602,2211,2051,166.7,12.7,659,10274,0.00,2.45,0.00,0.000,516,0.000,0.079,2765,1196,2130,2211,2050,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10298,0.96,265.8,2765,1197,2212,2050,162.9,12.7,665,10303,0.00,2.50,0.00,0.000,1030,0.000,0.093,2765,2603,2130,2211,2049,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10608,0.96,265.8,2766,2604,2210,2049,124.6,11.3,697,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2603,2130,2211,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10909,1.03,265.8,2765,2604,2212,2048,92.5,9.8,727,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2603,2128,2210,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11208,1.17,406.1,2765,2604,2212,2047,69.1,5.4,757,11284,0.15,2.55,68.70,0.372,10756,0.145,0.081,2828,1171,1574,1660,1489,0,0,0,0,0,0,14.31,14.21,14.00
$GC,11331,1.17,406.1,2828,1172,1671,1497,56.0,12.4,781,11336,0.00,2.58,0.00,0.000,1030,0.000,0.092,2828,2602,1582,1669,1496,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11641,1.36,589.8,2829,2602,1669,1495,33.2,3.5,813,11743,0.15,2.12,94.90,0.265,10500,0.135,0.116,2880,3767,826,881,772,0,0,0,0,0,0,14.24,14.14,13.97
$FREEZE,8.52,-1.200,-1.447,2,1,0
$FREEZE,8.00,-1.200,-1.446,2,1,0
$FREEZE,7.39,-1.203,-1.446,2,1,0
$FREEZE,6.75,-1.203,-1.446,2,1,0
$FREEZE,6.16,-1.199,-1.445,2,1,0
$FREEZE,5.40,-1.199,-1.444,2,1,0
$FREEZE,4.73,-1.201,-1.444,2,1,0
$GC,11884,1.36,589.8,2881,3767,884,774,4.7,13.4,854,11889,0.00,2.08,0.00,0.000,1030,0.000,0.074,2888,2599,828,884,773,0,0,0,0,0,0,28.83,14.13,28.83
$FREEZE,3.37,-1.200,-1.443,2,1,0
$FREEZE,2.30,-1.198,-1.442,2,1,0
$FREEZE,1.65,-1.197,-1.441,2,1,0
$STATE,11912,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FREEZE,1.58,-1.165,-0.488,2,1,0
$FINISH,1.6,1.007069
$STATE,11922,end surface coast,FINISH_DEPTH_REACHED
$STATE,11922,begin surface
$SM_CCo,11939,40.85,0.194,0,0,498,669.67
$SM_GC,2.59,8.30,0.43,40.85,0.099,0.105,0.194,202,2365,498,-6.94,0.85,669.67,0,0,0,0,0,0,14.24,14.29,14.14
$RAFOS_CLK,418
$RAFOS_FIX,7435.711426,-14718.006836,060914,121222,2,255,0.24
$IRIDIUM_FIX,7358.04,-14717.36,060914,153527
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.52
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3980496
$24V_AH,12.50,162.914
$10V_AH,12.51,0.000
$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,22.025,58.125,555.375,40.850,0.000,0.000,0.000,271.725,0.000,0.000,26.539,0.000,9565.585,657.557,2015.674,216.402,0.000,1630.863,0.000,1275.390,1493.000,0.536,0.000
$DEVICE_MAMPS,468.945,125.460,1919.385,194.310,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11974.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.031,0.000,0.000,0.000
$MEM,186928
$DATA_FILE_SIZE,30024,859
$CAP_FILE_SIZE,131554,0
$CFSIZE,2097872896,2025521152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12716.30,0x2378b6,7,5
$SOUNDSPEED,1449.9
$GPS,060914,223642,7442.908,-14719.426,37,0.7,57,22.2