version: 66.12
glider: 199
mission: 5
dive: 116
start: 8 11 114 8 54 26
data:
$ID,199
$MISSION,5
$DIVE,116
$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,-21743.475
$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,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,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
$GPS1,100814,050504,7149.873,-14555.667,6,0.8,26,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-70.8
$GPS2,100814,050504,7149.873,-14555.667,6,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.7,25905,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.72,-175.1,190,2361,521,477,0.0,0.0,0,63,0.00,0.00,-41.58,0.000,16386,0.000,0.000,187,2361,1588,1619,1557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.72,-175.1,187,2361,1620,1558,3.3,-3.3,4,134,11.02,2.50,-48.70,0.000,18948,0.475,0.116,2194,930,3945,3998,3892,0,0,0,0,0,0,14.10,14.33,14.54
$GC,333,-0.72,-175.1,2194,931,4002,3898,67.9,-22.7,58,340,0.00,2.55,0.00,0.000,1030,0.000,0.100,2183,2363,3950,4003,3897,0,0,0,0,0,0,28.83,14.35,28.83
$GC,644,-0.72,-175.1,2186,2364,4002,3898,130.5,-18.7,90,651,0.00,2.42,0.00,0.000,516,0.000,0.090,2184,955,3950,4003,3898,0,0,0,0,0,0,28.83,14.36,28.83
$GC,686,-0.72,-175.1,2184,956,4004,3899,138.3,-18.4,98,692,0.00,2.50,0.00,0.000,1030,0.000,0.101,2174,2363,3950,4002,3898,0,0,0,0,0,0,28.83,14.37,28.83
$GC,996,-0.72,-175.1,2175,2364,4002,3898,192.1,-16.1,130,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1296,-0.72,-175.1,2174,2364,4003,3899,237.2,-14.4,160,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,-0.72,-175.1,2176,2364,4003,3898,280.3,-14.0,177,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1906,-0.72,-175.1,2174,2364,4003,3903,321.2,-13.5,187,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2363,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2207,-0.72,-175.1,2175,2364,4002,3899,361.2,-13.2,197,2213,0.00,2.53,0.00,0.000,260,0.000,0.124,2160,3772,3950,4002,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2237,-0.72,-175.1,2163,3773,4004,3899,365.8,-15.5,203,2244,0.15,2.42,0.00,0.000,3078,0.291,0.082,2193,2356,3950,4003,3897,0,0,0,0,0,0,14.32,14.47,28.83
$GC,2568,-0.72,-175.1,2192,2355,4002,3898,405.9,-12.0,219,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2868,-0.72,-175.1,2193,2356,4004,3897,441.4,-11.8,229,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-0.72,-175.1,2192,2356,4004,3894,476.5,-11.7,239,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.72,-175.1,2192,2356,4004,3898,511.2,-11.5,249,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2355,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.72,-175.1,2189,2355,4004,3899,545.6,-11.4,259,3775,0.00,2.58,0.00,0.000,260,0.000,0.125,2183,3769,3949,4002,3897,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3804,-0.72,-175.1,2185,3771,4002,3898,550.0,-12.5,266,3811,0.00,2.40,0.00,0.000,1030,0.000,0.081,2184,2357,3950,4003,3898,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4131,-0.72,-175.1,2184,2358,4005,3900,589.0,-11.9,281,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4430,-0.72,-175.1,2183,2358,4004,3898,623.7,-11.4,291,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-0.72,-175.1,2188,2357,4002,3898,658.0,-11.4,301,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,-0.72,-175.1,2188,2358,4004,3898,692.1,-11.3,311,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3948,3999,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5330,-0.72,-175.1,2186,2358,4004,3899,725.9,-11.3,321,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5569,begin apogee
$GC,5572,-0.14,0.0,2183,2605,4002,3898,753.1,-11.3,329,5784,0.80,0.00,205.00,1.721,10246,0.269,0.000,2386,2605,3227,3282,3172,0,0,0,0,0,0,14.35,28.83,13.02
$STATE,5786,end apogee,CONTROL_FINISHED_OK
$STATE,5786,begin climb
$GC,5787,0.72,175.1,2388,2605,3278,3167,758.8,0.0,336,5957,0.95,2.35,156.20,1.988,10500,0.159,0.119,2658,3764,2507,2575,2440,0,0,0,0,0,0,13.62,12.95,12.28
$GC,6112,0.72,175.1,2659,3769,2567,2430,722.6,15.3,402,6118,0.00,2.10,0.00,0.000,1030,0.000,0.077,2667,2601,2498,2567,2429,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6443,0.72,175.1,2667,2602,2569,2428,677.3,13.6,418,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2601,2497,2567,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6742,0.72,175.1,2667,2602,2568,2428,636.3,13.7,428,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2601,2497,2567,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7042,0.72,175.1,2668,2602,2567,2428,595.1,13.7,438,7050,0.00,2.45,0.00,0.000,516,0.000,0.089,2678,1195,2497,2567,2427,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7074,0.72,175.1,2678,1196,2569,2427,590.8,13.7,444,7081,0.00,2.53,0.00,0.000,1030,0.000,0.102,2678,2605,2497,2567,2427,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7406,0.72,175.1,2679,2605,2567,2427,543.8,14.2,460,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2605,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7705,0.72,175.1,2685,2605,2567,2426,501.3,14.1,470,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2605,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8005,0.72,175.1,2678,2604,2574,2427,458.4,14.2,480,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2605,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8305,0.72,175.1,2679,2606,2567,2432,416.0,14.0,490,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2605,2494,2567,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8605,0.72,175.1,2678,2606,2568,2427,374.7,13.7,500,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2605,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8905,0.72,175.1,2678,2606,2569,2426,333.9,13.4,510,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2605,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9205,0.72,175.1,2678,2605,2570,2427,293.6,13.4,520,9213,0.00,2.08,0.00,0.000,260,0.000,0.126,2678,3767,2495,2566,2425,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9241,0.72,175.1,2679,3768,2567,2427,288.3,14.9,527,9248,0.00,2.00,0.00,0.000,1030,0.000,0.083,2687,2589,2496,2567,2426,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9548,0.72,175.1,2688,2590,2567,2427,247.0,13.4,542,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2590,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9847,0.72,175.1,2686,2590,2569,2427,208.4,12.4,572,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2588,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10148,0.76,175.1,2686,2590,2564,2427,173.8,10.9,602,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2589,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10447,0.82,240.2,2688,2587,2566,2427,145.0,8.7,632,10511,0.00,2.47,55.30,1.332,8708,0.000,0.086,2697,1192,2241,2317,2166,0,0,0,0,0,0,28.83,14.06,13.53
$GC,10575,0.87,289.2,2698,1192,2309,2155,133.1,9.5,657,10628,0.00,2.55,42.72,1.316,9222,0.000,0.101,2697,2599,2042,2130,1954,0,0,0,0,0,0,28.83,14.16,13.44
$GC,10932,0.91,289.2,2697,2600,2121,1937,94.2,10.7,698,10940,0.00,2.47,0.00,0.000,516,0.000,0.088,2707,1193,2029,2122,1936,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10969,0.95,289.2,2708,1195,2121,1943,90.4,10.5,705,10977,0.10,2.53,0.00,0.000,3078,0.162,0.102,2747,2600,2026,2117,1936,0,0,0,0,0,0,14.27,14.24,28.83
$GC,11279,1.00,334.6,2754,2601,2116,1935,54.3,9.6,736,11306,0.00,2.47,20.00,0.324,8708,0.000,0.089,2757,1201,1865,1956,1774,0,0,0,0,0,0,28.83,14.25,14.10
$GC,11361,1.05,389.8,2759,1201,1970,1784,46.9,9.2,750,11398,0.00,2.53,29.30,0.307,9222,0.000,0.102,2759,2603,1639,1735,1544,0,0,0,0,0,0,28.83,14.24,14.07
$GC,11702,1.13,467.1,2759,2603,1743,1558,13.3,8.2,788,11749,0.12,2.17,39.10,0.217,10500,0.151,0.128,2804,3767,1322,1419,1225,0,0,0,0,0,0,14.28,14.18,14.16
$GC,11973,1.40,738.9,2805,3768,1420,1242,12.8,-0.4,841,12087,0.22,2.00,101.43,0.213,11270,0.108,0.084,2892,2607,497,527,468,0,0,0,0,0,0,14.29,14.29,14.10
$FREEZE,8.86,4.336,-1.313,2,9,0
$FREEZE,8.11,4.336,-1.313,2,9,0
$FREEZE,7.30,4.337,-1.312,2,9,0
$FREEZE,6.38,4.336,-1.311,2,9,0
$FREEZE,5.44,4.332,-1.310,2,9,0
$FREEZE,4.48,4.335,-1.310,2,9,0
$FREEZE,3.49,4.335,-1.309,2,9,0
$FREEZE,2.51,4.327,-1.308,2,9,0
$FREEZE,1.45,4.328,-1.307,2,9,0
$STATE,12173,end climb,SURFACE_DEPTH_REACHED
$STATE,12173,begin surface coast
$FREEZE,1.21,4.272,-0.716,2,9,0
$FREEZE,1.32,4.303,-1.308,2,9,0
$FINISH,1.3,1.019076
$STATE,12192,end surface coast,CONTROL_FINISHED_OK
$STATE,12192,begin surface
$SM_CCo,12213,0.08,1.204,0,0,498,669.67
$SM_CCo,12216,-0.17,0.000,0,0,501,669.67
$SM_CCo,12218,0.20,0.570,0,0,498,669.67
$SM_GC,3.27,8.20,0.45,0.20,0.086,0.101,0.570,200,2348,498,-6.94,0.62,669.67,0,0,0,0,0,0,14.26,14.26,14.19
$RAFOS_CLK,52
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7118.99,-14553.69,100814,012010
$TT8_MAMPS,0.081641,0.081641
$HUMID,50.66
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,4003896
$TM_FREEKB,6037152
$24V_AH,12.28,94.869
$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,21.575,53.525,649.050,0.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9694.606,671.964,1944.775,104.128,0.000,1488.969,0.000,1298.251,1491.000,0.537,0.000
$DEVICE_MAMPS,475.065,130.050,1988.235,1204.110,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12221.000,12272.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.205,43.991,0.000,0.000
$MEM,290944
$DATA_FILE_SIZE,30124,874
$CAP_FILE_SIZE,136773,0
$CFSIZE,2097872896,2063499264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12364.15,0x2378b6,7,5
$SOUNDSPEED,1451.5
$GPS,100814,050504,7149.873,-14555.667,6,0.8,26,22.0