version: 66.12
glider: 199
mission: 5
dive: 341
start: 9 12 114 3 8 1
data:
$ID,199
$MISSION,5
$DIVE,341
$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,-26213.662
$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,18
$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
$GPS1,120914,025923,7521.722,-14541.293,30,0.8,50,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-69.4
$GPS2,120914,030741,7521.721,-14541.339,4,0.7,24,23.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,8
$TGT_LATLONG,7520.000,-14345.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,70.3,54646,-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,-175.1,189,2361,499,492,0.0,0.0,0,60,0.00,0.00,-41.90,0.000,16386,0.000,0.000,186,2361,1527,1558,1497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.72,-175.1,188,2360,1557,1498,3.1,-2.1,4,144,11.23,2.60,-64.62,0.000,18692,0.464,0.132,2180,3768,3945,4004,3887,0,0,0,0,0,0,13.84,14.09,14.49
$GC,371,-0.72,-175.1,2180,3769,4004,3892,94.0,-24.3,66,375,0.00,2.47,0.00,0.000,1030,0.000,0.073,2181,2358,3947,4004,3891,0,0,0,0,0,0,28.83,14.23,28.83
$GC,681,-0.72,-175.1,2180,2355,4006,3893,157.3,-18.7,98,685,0.00,2.60,0.00,0.000,260,0.000,0.116,2170,3768,3948,4004,3892,0,0,0,0,0,0,28.83,14.24,28.83
$GC,911,-0.72,-175.1,2171,3769,4004,3892,203.5,-19.3,144,916,0.12,2.45,0.00,0.000,3078,0.289,0.071,2193,2355,3947,4004,3891,0,0,0,0,0,0,14.07,14.34,28.83
$GC,1221,-0.72,-175.1,2194,2354,4003,3892,251.3,-14.4,176,1226,0.00,2.60,0.00,0.000,260,0.000,0.116,2184,3769,3948,4004,3892,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1347,-0.72,-175.1,2185,3769,4004,3892,270.0,-14.7,201,1352,0.00,2.42,0.00,0.000,1030,0.000,0.071,2184,2355,3947,4004,3891,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1673,-0.72,-175.1,2184,2355,4006,3892,313.7,-13.0,216,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-0.72,-175.1,2183,2354,4006,3893,352.5,-13.0,226,1977,0.00,2.62,0.00,0.000,260,0.000,0.116,2173,3768,3948,4004,3892,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2007,-0.72,-175.1,2173,3769,4005,3893,357.3,-13.7,233,2012,0.00,2.42,0.00,0.000,1030,0.000,0.070,2173,2355,3948,4004,3892,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2333,-0.72,-175.1,2173,2354,4005,3892,401.0,-13.2,248,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2354,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-0.72,-175.1,2172,2355,4005,3893,440.1,-13.0,258,2637,0.00,2.62,0.00,0.000,260,0.000,0.115,2162,3774,3950,4009,3892,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2702,-0.72,-175.1,2164,3780,4004,3892,450.1,-14.2,272,2707,0.15,2.42,0.00,0.000,3078,0.271,0.070,2193,2358,3948,4004,3892,0,0,0,0,0,0,14.12,14.45,28.83
$GC,3023,-0.72,-175.1,2195,2357,4004,3892,487.7,-11.6,286,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2356,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,-0.72,-175.1,2193,2356,4006,3893,522.5,-11.6,296,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2356,3947,4004,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,-0.72,-175.1,2195,2356,4004,3893,557.2,-11.5,306,3627,0.00,2.60,0.00,0.000,260,0.000,0.115,2184,3767,3948,4004,3892,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3662,-0.72,-175.1,2184,3768,4006,3892,562.0,-12.8,314,3667,0.00,2.42,0.00,0.000,1030,0.000,0.070,2185,2360,3948,4004,3893,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3983,-0.72,-175.1,2186,2360,4004,3894,600.6,-11.9,328,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4282,-0.72,-175.1,2185,2359,4005,3894,635.9,-11.8,338,4287,0.00,2.60,0.00,0.000,260,0.000,0.115,2174,3769,3948,4004,3893,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4322,-0.72,-175.1,2174,3769,4006,3894,641.1,-13.2,346,4327,0.00,2.45,0.00,0.000,1030,0.000,0.070,2174,2347,3948,4004,3893,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4644,-0.72,-175.1,2175,2347,4004,3894,680.0,-12.1,360,4645,0.10,0.00,0.00,0.000,2054,0.293,0.000,2193,2346,3949,4004,3894,0,0,0,0,0,0,14.17,28.83,28.83
$GC,4942,-0.72,-175.1,2195,2347,4004,3895,712.2,-10.6,370,4947,0.00,2.62,0.00,0.000,260,0.000,0.116,2184,3771,3949,4004,3894,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4997,-0.72,-175.1,2186,3772,4004,3895,718.5,-11.8,381,5003,0.00,2.45,0.00,0.000,1030,0.000,0.070,2185,2349,3949,4004,3894,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,5300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5300,begin apogee
$GC,5305,-0.14,0.0,2184,2604,4004,3895,753.1,-11.3,392,5486,0.80,0.00,178.25,1.835,10246,0.262,0.000,2383,2603,3230,3280,3180,0,0,0,0,0,0,14.00,28.83,12.93
$STATE,5487,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5490,0.72,175.1,2384,2604,3277,3176,759.5,0.0,398,5654,0.95,2.22,155.52,1.887,10500,0.145,0.110,2660,3761,2505,2567,2444,0,0,0,0,0,0,13.57,13.19,12.47
$GC,5814,0.72,175.1,2660,3762,2566,2437,729.8,14.6,464,5819,0.00,2.08,0.00,0.000,1030,0.000,0.070,2669,2600,2500,2565,2436,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6146,0.72,175.1,2670,2600,2564,2435,687.2,12.9,480,6151,0.00,2.45,0.00,0.000,516,0.000,0.079,2684,1193,2500,2565,2435,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6176,0.72,175.1,2680,1193,2564,2433,683.3,13.0,486,6181,0.00,2.53,0.00,0.000,1030,0.000,0.092,2679,2599,2499,2565,2434,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6508,0.72,175.1,2679,2601,2567,2435,639.4,13.4,502,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2599,2499,2565,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6806,0.72,175.1,2679,2601,2566,2439,600.0,13.1,512,6811,0.00,2.45,0.00,0.000,516,0.000,0.078,2689,1193,2499,2565,2434,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6851,0.72,175.1,2689,1193,2566,2435,594.1,13.3,521,6856,0.00,2.50,0.00,0.000,1030,0.000,0.092,2690,2607,2499,2565,2434,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7167,0.72,175.1,2688,2608,2566,2434,551.0,13.7,534,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2607,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7466,0.72,175.1,2691,2607,2564,2434,510.2,13.6,544,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2607,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7766,0.72,175.1,2691,2607,2564,2434,469.2,13.7,554,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2607,2499,2564,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8066,0.72,175.1,2691,2607,2565,2434,428.7,13.5,564,8071,0.00,2.42,0.00,0.000,516,0.000,0.079,2700,1196,2499,2565,2434,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8116,0.72,175.1,2701,1196,2564,2434,422.2,12.7,574,8121,0.12,2.47,0.00,0.000,5126,0.288,0.093,2676,2600,2499,2565,2434,0,0,0,0,0,0,14.18,14.42,28.83
$GC,8428,0.72,175.1,2677,2600,2564,2434,383.4,12.4,586,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2600,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,0.72,175.1,2675,2601,2566,2434,347.1,12.0,596,8731,0.00,2.42,0.00,0.000,516,0.000,0.078,2684,1194,2499,2564,2434,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8781,0.72,175.1,2685,1195,2564,2434,340.7,11.3,607,8787,0.00,2.47,0.00,0.000,1030,0.000,0.093,2684,2597,2499,2565,2434,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9086,0.72,175.1,2685,2597,2564,2434,303.9,12.0,618,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2597,2499,2565,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,0.72,175.1,2684,2598,2566,2434,269.3,11.3,628,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2597,2499,2565,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,0.78,228.8,2685,2596,2565,2434,238.6,9.2,646,9737,0.00,0.00,45.45,1.447,8710,0.000,0.000,2684,2597,2289,2356,2222,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10038,0.85,228.8,2685,2597,2352,2211,202.8,9.9,683,10042,0.00,2.45,0.00,0.000,516,0.000,0.079,2694,1196,2281,2352,2211,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10107,0.90,286.6,2694,1197,2354,2211,196.3,9.1,697,10163,0.00,2.50,50.45,1.449,9222,0.000,0.092,2694,2601,2057,2137,1977,0,0,0,0,0,0,28.83,14.31,13.52
$GC,10468,0.96,286.6,2694,2602,2129,1956,159.6,10.3,739,10473,0.15,2.47,0.00,0.000,2564,0.135,0.080,2759,1191,2041,2127,1955,0,0,0,0,0,0,14.35,14.30,28.83
$GC,10550,0.96,286.6,2760,1192,2127,1956,149.7,12.8,755,10555,0.00,2.53,0.00,0.000,1030,0.000,0.092,2759,2607,2041,2127,1955,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10860,0.96,286.6,2760,2608,2133,1954,108.8,12.2,787,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2607,2040,2126,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11160,1.03,286.6,2759,2608,2127,1953,77.4,9.8,817,11165,0.00,2.12,0.00,0.000,260,0.000,0.119,2759,3774,2039,2126,1952,0,0,0,0,0,0,28.83,14.18,28.83
$GC,11246,1.10,360.9,2759,3775,2128,1953,68.5,8.3,834,11286,0.00,2.03,35.00,0.370,9222,0.000,0.073,2768,2598,1757,1841,1673,0,0,0,0,0,0,28.83,14.28,13.95
$GC,11591,1.32,574.5,2769,2598,1852,1686,50.4,2.2,873,11714,0.28,2.53,112.15,0.317,10756,0.106,0.082,2873,1201,889,951,828,0,0,0,0,0,0,14.24,14.17,13.94
$GC,11940,1.36,620.8,2873,1202,962,829,14.8,9.6,942,11969,0.00,2.53,24.67,0.225,9222,0.000,0.092,2873,2600,699,755,643,0,0,0,0,0,0,28.83,14.14,14.02
$FREEZE,8.02,-1.068,-1.441,2,1,0
$FREEZE,6.85,-1.070,-1.440,2,1,0
$FREEZE,5.74,-1.071,-1.440,2,1,0
$FREEZE,4.68,-1.072,-1.439,2,1,0
$FREEZE,3.69,-1.072,-1.438,2,1,0
$FREEZE,2.53,-1.072,-1.437,2,1,0
$FREEZE,1.70,-1.068,-1.436,2,1,0
$STATE,12062,end climb,SURFACE_DEPTH_REACHED
$STATE,12062,begin surface coast
$FREEZE,1.59,-1.056,-0.900,2,1,0
$FINISH,1.6,1.013265
$STATE,12073,end surface coast,FINISH_DEPTH_REACHED
$STATE,12073,begin surface
$SM_CCo,12090,25.75,0.196,0,0,500,669.67
$SM_GC,2.60,8.18,0.43,25.75,0.090,0.088,0.196,198,2363,500,-6.95,1.02,669.67,0,0,0,0,0,0,14.32,14.33,14.12
$RAFOS_CLK,397
$RAFOS_FIX,7522.279297,-14602.935547,110914,121248,3,255,0.36
$IRIDIUM_FIX,7437.89,-14550.17,110914,232920
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.37
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3975708
$24V_AH,12.47,176.246
$10V_AH,12.42,0.000
$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,22.075,84.500,601.500,25.750,0.000,0.000,0.000,283.900,0.000,0.000,25.671,0.000,9454.712,698.029,2196.234,261.823,0.000,1763.186,0.000,1422.280,1480.000,0.538,0.000
$DEVICE_MAMPS,464.355,131.580,1887.255,195.840,0.000,0.000,0.000,169.830,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12125.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.170,0.000,0.000,0.000
$MEM,166936
$DATA_FILE_SIZE,33304,959
$CAP_FILE_SIZE,140743,0
$CFSIZE,2097872896,2018377728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12777.27,0x2378b6,7,5
$SOUNDSPEED,1450.2
$GPS,120914,063124,7521.479,-14535.922,32,0.8,52,23.1