version: 66.12
glider: 199
mission: 5
dive: 96
start: 8 8 114 9 35 7
data:
$ID,199
$MISSION,5
$DIVE,96
$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,3
$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,688.85968
$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,-21731.934
$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,25
$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,3
$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
$GPS1,080814,092318,7207.555,-14553.663,41,0.9,61,22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-69.9
$GPS2,080814,093449,7207.539,-14553.813,5,0.8,25,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,155.7,58452,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-175.1,194,2361,537,470,0.0,0.0,0,84,0.00,0.00,-62.35,0.000,16386,0.000,0.000,193,2362,2018,2029,2008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.72,-175.1,193,2362,2030,2010,3.2,-2.2,6,151,11.15,2.55,-43.47,0.000,18948,0.477,0.117,2192,947,3947,4002,3892,0,0,0,0,0,0,14.02,14.23,14.47
$GC,375,-0.72,-175.1,2194,947,4001,3895,73.5,-20.6,64,382,0.00,2.53,0.00,0.000,1030,0.000,0.101,2184,2364,3948,4001,3895,0,0,0,0,0,0,28.83,14.33,28.83
$GC,686,-0.72,-175.1,2185,2365,4001,3895,135.4,-19.1,96,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-0.72,-175.1,2184,2365,4003,3895,187.7,-15.9,126,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1286,-0.72,-175.1,2185,2365,4001,3895,231.5,-13.8,156,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,-0.72,-175.1,2184,2365,4002,3896,274.6,-13.4,176,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1906,-0.72,-175.1,2184,2365,3998,3896,314.5,-13.0,186,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2206,-0.72,-175.1,2185,2365,4003,3892,351.5,-12.1,196,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,-0.72,-175.1,2185,2365,3997,3895,387.4,-11.9,206,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,-0.72,-175.1,2185,2365,4003,3896,423.6,-11.9,216,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2365,3951,4002,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3106,-0.72,-175.1,2185,2365,4001,3895,459.4,-11.9,226,3112,0.00,2.53,0.00,0.000,260,0.000,0.124,2173,3776,3947,4000,3894,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3146,-0.72,-175.1,2173,3777,4003,3895,464.6,-13.4,234,3153,0.00,2.42,0.00,0.000,1030,0.000,0.080,2173,2344,3948,4002,3894,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3468,-0.72,-175.1,2174,2344,4001,3894,504.7,-12.4,248,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2344,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3767,-0.72,-175.1,2175,2345,3997,3895,541.8,-12.2,258,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2344,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4067,-0.72,-175.1,2173,2345,4003,3896,577.8,-11.9,268,4074,0.00,2.58,0.00,0.000,260,0.000,0.123,2162,3776,3948,4002,3895,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4133,-0.72,-175.1,2164,3772,4001,3895,586.5,-13.9,281,4140,0.12,2.40,0.00,0.000,3078,0.303,0.080,2191,2355,3948,4001,3895,0,0,0,0,0,0,14.43,14.58,28.83
$GC,4459,-0.72,-175.1,2192,2351,4001,3895,622.3,-10.8,296,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2349,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4759,-0.72,-175.1,2193,2350,4001,3896,654.2,-10.6,306,4767,0.00,2.55,0.00,0.000,260,0.000,0.124,2182,3771,3948,4002,3895,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4800,-0.72,-175.1,2181,3772,4003,3895,659.0,-11.7,314,4808,0.00,2.40,0.00,0.000,1030,0.000,0.080,2183,2357,3948,4002,3895,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5122,-0.72,-175.1,2182,2357,4005,3896,695.0,-11.1,328,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2356,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.72,-175.1,2183,2357,4003,3896,728.9,-11.3,338,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5630,begin apogee
$GC,5634,-0.14,0.0,2180,2608,4003,3896,752.6,-11.3,345,5859,0.77,0.00,220.23,1.615,10246,0.278,0.000,2386,2607,3228,3283,3174,0,0,0,0,0,0,14.46,28.83,13.10
$STATE,5861,end apogee,CONTROL_FINISHED_OK
$STATE,5861,begin climb
$GC,5863,0.72,175.1,2381,2608,3277,3169,759.0,0.0,352,6032,0.98,2.30,154.23,1.912,10500,0.171,0.119,2656,3763,2507,2572,2442,0,0,0,0,0,0,13.66,13.08,12.45
$GC,6096,0.72,175.1,2657,3762,2566,2433,736.5,15.1,401,6103,0.00,2.12,0.00,0.000,1030,0.000,0.075,2665,2599,2499,2566,2432,0,0,0,0,0,0,28.83,13.47,28.83
$GC,6423,0.72,175.1,2666,2600,2567,2430,692.7,13.5,416,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6722,0.72,175.1,2666,2599,2564,2430,652.5,13.5,426,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2495,2566,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,0.72,175.1,2665,2600,2565,2429,611.8,13.6,436,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,0.72,175.1,2665,2600,2567,2430,571.4,13.4,446,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7622,0.72,175.1,2672,2600,2566,2429,531.5,13.2,456,7629,0.00,2.42,0.00,0.000,516,0.000,0.086,2676,1192,2497,2566,2429,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7658,0.72,175.1,2677,1192,2565,2429,526.8,13.2,463,7665,0.00,2.50,0.00,0.000,1030,0.000,0.099,2675,2605,2497,2566,2428,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7984,0.72,175.1,2683,2605,2566,2429,481.9,13.7,478,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2606,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8284,0.72,175.1,2675,2605,2568,2429,440.5,13.8,488,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2605,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8584,0.72,175.1,2677,2605,2566,2429,399.7,13.6,498,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2605,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8884,0.72,175.1,2676,2606,2567,2429,359.2,13.6,508,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2607,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9184,0.72,175.1,2675,2606,2567,2429,318.2,13.8,518,9191,0.00,2.45,0.00,0.000,516,0.000,0.086,2686,1189,2500,2573,2428,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9235,0.72,175.1,2686,1190,2567,2429,311.3,13.9,528,9242,0.00,2.50,0.00,0.000,1030,0.000,0.100,2686,2604,2497,2566,2428,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9547,0.72,175.1,2685,2605,2567,2429,267.6,13.9,540,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2604,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,0.72,175.1,2687,2605,2566,2429,227.2,13.7,560,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2604,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10146,0.76,175.1,2686,2605,2568,2429,191.3,10.8,590,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2604,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10446,0.81,229.5,2684,2605,2567,2429,162.2,9.2,620,10500,0.00,2.55,46.20,1.206,8708,0.000,0.086,2696,1198,2286,2357,2215,0,0,0,0,0,0,28.83,14.17,13.69
$GC,10554,0.85,229.5,2697,1197,2348,2203,151.6,10.6,641,10562,0.00,2.53,0.00,0.000,1030,0.000,0.100,2695,2603,2275,2349,2202,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10860,0.91,284.3,2697,2604,2348,2200,120.9,9.2,672,10912,0.00,0.00,47.70,1.129,8198,0.000,0.000,2696,2603,2064,2148,1981,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11209,0.97,284.3,2696,2603,2141,1959,84.1,10.1,707,11212,0.15,0.00,0.00,0.000,2054,0.136,0.000,2749,2600,2048,2139,1958,0,0,0,0,0,0,14.34,28.83,28.83
$GC,11509,1.06,374.0,2749,2604,2139,1956,51.3,7.6,737,11554,0.00,0.00,41.65,0.321,8198,0.000,0.000,2749,2604,1704,1798,1610,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11849,1.13,447.7,2749,2604,1808,1625,21.2,8.4,771,11893,0.15,2.53,37.33,0.234,10756,0.135,0.088,2815,1197,1403,1499,1308,0,0,0,0,0,0,14.42,14.35,14.24
$GC,11937,1.20,519.8,2816,1198,1502,1318,12.7,8.4,788,11979,0.00,2.50,36.50,0.214,9222,0.000,0.101,2815,2601,1110,1202,1019,0,0,0,0,0,0,28.83,14.34,14.22
$FREEZE,8.86,-0.410,-1.383,2,1,0
$FREEZE,8.51,-0.409,-1.382,2,1,0
$FREEZE,8.32,-0.409,-1.381,2,1,0
$FREEZE,7.96,-0.410,-1.381,2,1,0
$FREEZE,7.61,-0.418,-1.381,2,1,0
$FREEZE,7.25,-0.417,-1.380,2,1,0
$FREEZE,6.72,-0.421,-1.380,2,1,0
$FREEZE,6.21,-0.415,-1.379,2,1,0
$FREEZE,5.65,-0.410,-1.378,2,1,0
$FREEZE,4.93,-0.410,-1.378,2,1,0
$FREEZE,4.40,-0.415,-1.377,2,1,0
$FREEZE,3.93,-0.418,-1.377,2,1,0
$FREEZE,3.62,-0.418,-1.376,2,1,0
$FREEZE,3.25,-0.419,-1.376,2,1,0
$FREEZE,2.84,-0.418,-1.376,2,1,0
$FREEZE,2.49,-0.417,-1.375,2,1,0
$FREEZE,2.01,-0.418,-1.375,2,1,0
$FREEZE,1.62,-0.422,-1.375,2,1,0
$STATE,12202,end climb,SURFACE_DEPTH_REACHED
$STATE,12203,begin surface coast
$FREEZE,1.43,-0.432,-1.375,2,1,0
$FREEZE,1.28,-0.444,-1.361,2,1,0
$FREEZE,1.34,-0.435,-0.688,2,1,0
$FREEZE,1.38,-0.452,-0.815,2,1,0
$FINISH,1.4,1.012008
$STATE,12242,end surface coast,CONTROL_FINISHED_OK
$STATE,12243,begin surface
$SM_CCo,12264,74.80,0.187,0,0,499,669.67
$SM_CCo,12341,-0.05,0.000,0,0,499,669.42
$SM_CCo,12343,0.03,2.759,0,0,499,669.91
$SM_GC,2.31,8.07,0.43,0.03,0.107,0.099,2.759,197,2365,499,-6.94,1.05,669.91,0,0,0,0,0,0,14.41,14.43,13.50
$RAFOS_CLK,158
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7132.53,-14553.32,080814,055222
$TT8_MAMPS,0.045689,0.045689
$HUMID,48.85
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,4006208
$TM_FREEKB,6416032
$24V_AH,12.45,85.222
$10V_AH,12.48,0.000
$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,21.400,45.250,583.825,74.825,0.000,0.000,0.000,427.675,0.000,0.000,26.791,0.000,9861.404,714.409,2323.271,138.728,0.000,1899.128,0.000,1224.158,1491.000,0.537,0.000
$DEVICE_MAMPS,476.595,130.050,1911.735,2759.355,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12272.000,12324.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.064,15.790,0.000,0.000
$MEM,301684
$DATA_FILE_SIZE,26755,823
$CAP_FILE_SIZE,142714,0
$CFSIZE,2097872896,2068971520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13172.35,0x2378b6,7,5
$SOUNDSPEED,1450.3
$GPS,080814,130224,7206.046,-14554.067,36,0.9,56,22.1