version: 66.12
glider: 199
mission: 5
dive: 118
start: 8 11 114 16 27 19
data:
$ID,199
$MISSION,5
$DIVE,118
$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,-21744.732
$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,31
$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
$GPS1,110814,155455,7135.202,-14559.328,36,0.8,56,21.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.0
$GPS2,110814,162658,7135.332,-14559.604,5,1.0,25,21.9
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.7,68126,-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,-175.1,181,2374,532,474,0.0,0.0,0,84,0.00,0.00,-61.72,0.000,16386,0.000,0.000,180,2374,2086,2092,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.72,-175.1,181,2375,2091,2082,3.7,-3.2,6,141,11.20,2.58,-34.05,0.000,18692,0.469,0.135,2182,3764,3947,4003,3891,0,0,0,0,0,0,13.96,14.18,14.42
$GC,365,-0.72,-175.1,2183,3765,4003,3897,79.2,-22.2,62,372,0.00,2.40,0.00,0.000,1030,0.000,0.076,2183,2362,3949,4003,3896,0,0,0,0,0,0,28.83,14.31,28.83
$GC,676,-0.72,-175.1,2184,2360,4003,3897,139.9,-18.5,94,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.72,-175.1,2184,2360,4003,3902,189.8,-15.6,124,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2359,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-0.72,-175.1,2183,2360,4004,3897,233.6,-14.4,154,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2359,3949,4003,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1576,-0.72,-175.1,2184,2360,4002,3895,275.0,-13.7,172,1583,0.00,2.58,0.00,0.000,260,0.000,0.122,2174,3773,3948,4003,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1637,-0.72,-175.1,2174,3774,4002,3894,284.1,-15.0,184,1644,0.00,2.42,0.00,0.000,1030,0.000,0.080,2174,2354,3948,4003,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1969,-0.72,-175.1,2173,2354,4003,3892,330.0,-13.7,200,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2353,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.72,-175.1,2174,2354,4003,3890,370.1,-13.2,210,2275,0.00,2.55,0.00,0.000,260,0.000,0.123,2163,3767,3945,4002,3889,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2324,-0.72,-175.1,2163,3768,4001,3890,378.2,-14.1,221,2332,0.15,2.42,0.00,0.000,3078,0.295,0.080,2193,2353,3945,4002,3889,0,0,0,0,0,0,14.32,14.47,28.83
$GC,2630,-0.72,-175.1,2193,2353,4004,3889,414.8,-11.7,232,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2929,-0.72,-175.1,2195,2353,4002,3889,449.8,-11.6,242,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3229,-0.72,-175.1,2193,2353,4004,3888,484.5,-11.5,252,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2352,3944,4002,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.72,-175.1,2194,2353,4002,3887,518.7,-11.4,262,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2353,3944,4002,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3829,-0.72,-175.1,2193,2353,4004,3887,553.1,-11.5,272,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2352,3944,4002,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,-0.72,-175.1,2197,2353,4002,3886,587.6,-11.5,282,4136,0.00,2.58,0.00,0.000,260,0.000,0.125,2184,3773,3943,4002,3885,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4165,-0.72,-175.1,2185,3773,4002,3885,592.0,-12.8,289,4172,0.00,2.42,0.00,0.000,1030,0.000,0.081,2184,2354,3943,4002,3885,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4492,-0.72,-175.1,2185,2355,4002,3885,630.7,-11.7,304,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3942,4002,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4791,-0.72,-175.1,2184,2354,4004,3885,665.5,-11.6,314,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3943,4002,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-0.72,-175.1,2184,2354,4004,3891,699.8,-11.5,324,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3943,3998,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5391,-0.72,-175.1,2184,2354,4003,3884,734.0,-11.3,334,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3942,4002,3883,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5539,begin apogee
$GC,5543,-0.14,0.0,2184,2602,4002,3883,750.9,-11.2,339,5703,0.77,0.00,154.65,2.042,10246,0.273,0.000,2379,2601,3229,3279,3180,0,0,0,0,0,0,14.35,28.83,12.93
$STATE,5705,end apogee,CONTROL_FINISHED_OK
$STATE,5705,begin climb
$GC,5706,0.72,175.1,2379,2602,3274,3172,754.9,0.0,344,5875,1.00,0.00,155.32,2.002,10502,0.166,0.000,2659,2601,2510,2575,2445,0,0,0,0,0,0,13.66,28.83,12.38
$GC,6171,0.72,175.1,2661,2602,2570,2426,703.5,13.0,375,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2602,2501,2576,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6471,0.72,175.1,2659,2602,2572,2429,664.5,13.0,385,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2602,2499,2570,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6771,0.72,175.1,2661,2602,2570,2428,625.8,12.9,395,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2601,2499,2571,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,0.72,175.1,2660,2602,2572,2428,587.4,12.8,405,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2602,2499,2571,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7371,0.72,175.1,2659,2602,2572,2427,549.3,12.7,415,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2601,2498,2571,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,0.72,175.1,2661,2602,2570,2427,511.1,12.7,425,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2498,2570,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,0.72,175.1,2659,2602,2572,2426,473.2,12.6,435,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2601,2500,2576,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,0.72,175.1,2661,2603,2570,2426,435.0,12.8,445,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2499,2570,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8571,0.72,175.1,2660,2602,2570,2422,397.3,12.4,455,8578,0.00,2.47,0.00,0.000,516,0.000,0.088,2670,1188,2498,2570,2426,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8592,0.72,175.1,2670,1188,2572,2426,394.7,12.3,459,8598,0.00,2.50,0.00,0.000,1030,0.000,0.100,2670,2599,2501,2577,2425,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8903,0.72,175.1,2670,2599,2572,2426,354.4,12.8,471,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9202,0.72,175.1,2671,2598,2570,2425,316.5,12.5,481,9209,0.00,2.42,0.00,0.000,516,0.000,0.087,2680,1196,2497,2570,2425,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9228,0.72,175.1,2680,1197,2569,2426,313.4,11.6,486,9236,0.00,2.47,0.00,0.000,1030,0.000,0.099,2680,2598,2497,2570,2425,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9534,0.72,175.1,2681,2599,2567,2425,272.6,13.4,497,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2598,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9833,0.72,175.1,2681,2599,2570,2426,234.5,12.7,515,9840,0.00,2.10,0.00,0.000,260,0.000,0.125,2676,3767,2497,2570,2425,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9864,0.72,175.1,2679,3772,2565,2425,230.2,13.8,521,9871,0.00,2.00,0.00,0.000,1030,0.000,0.081,2690,2588,2497,2570,2425,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10175,0.72,175.1,2690,2589,2571,2426,192.2,11.2,553,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2588,2497,2570,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10475,0.80,175.1,2689,2589,2567,2426,161.5,9.7,583,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2588,2497,2570,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10775,0.89,257.5,2689,2588,2571,2426,135.0,8.0,613,10850,0.00,0.00,70.78,1.314,8454,0.000,0.000,2686,2591,2178,2254,2103,0,0,0,0,0,0,28.83,28.83,13.50
$GC,11145,0.95,257.5,2690,2588,2240,2078,99.6,10.0,652,11148,0.15,0.00,0.00,0.000,2054,0.133,0.000,2745,2588,2158,2240,2077,0,0,0,0,0,0,14.32,28.83,28.83
$GC,11445,1.01,257.5,2746,2589,2240,2077,66.0,10.0,682,11451,0.00,2.17,0.00,0.000,260,0.000,0.127,2745,3773,2158,2241,2076,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11470,1.01,257.5,2745,3774,2242,2077,63.0,11.8,687,11479,0.00,2.03,0.00,0.000,1030,0.000,0.083,2754,2595,2158,2240,2076,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11777,1.13,377.4,2754,2597,2242,2076,40.0,6.3,718,11839,0.12,2.50,55.08,0.285,10756,0.150,0.087,2813,1198,1689,1779,1599,0,0,0,0,0,0,14.39,14.30,14.17
$GC,11879,1.13,377.4,2812,1198,1788,1606,30.0,12.5,738,11886,0.00,2.53,0.00,0.000,1030,0.000,0.102,2812,2600,1695,1786,1605,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12191,1.40,638.5,2813,2600,1786,1606,13.2,0.1,770,12328,0.20,2.53,127.38,0.216,10756,0.122,0.087,2899,1203,626,669,583,0,0,0,0,0,0,14.34,14.22,14.16
$FREEZE,8.69,4.414,-1.316,2,1,0
$FREEZE,8.00,4.414,-1.316,2,1,0
$GC,12363,1.53,774.2,2899,1209,678,584,9.3,5.6,804,12389,0.00,2.53,16.40,0.211,9222,0.000,0.099,2897,2605,497,520,475,0,0,0,0,0,0,28.83,14.23,14.13
$FREEZE,7.05,4.416,-1.315,2,1,0
$FREEZE,6.13,4.427,-1.314,2,1,0
$FREEZE,5.15,4.428,-1.313,2,1,0
$FREEZE,4.33,4.430,-1.313,2,1,0
$FREEZE,3.37,4.436,-1.312,2,1,0
$FREEZE,2.47,4.441,-1.311,2,1,0
$FREEZE,1.48,4.441,-1.310,2,1,0
$STATE,12452,end climb,SURFACE_DEPTH_REACHED
$STATE,12452,begin surface coast
$FREEZE,1.22,4.435,-1.310,2,1,0
$FREEZE,1.19,4.133,-1.322,2,1,0
$FINISH,1.2,1.019303
$STATE,12472,end surface coast,CONTROL_FINISHED_OK
$STATE,12472,begin surface
$SM_CCo,12494,0.30,0.438,0,0,497,669.67
$SM_CCo,12496,-0.17,0.000,0,0,501,669.67
$SM_CCo,12498,0.08,1.225,0,0,497,669.67
$SM_GC,3.37,8.27,0.45,0.08,0.095,0.098,1.225,193,2362,497,-6.95,0.88,669.67,0,0,0,0,0,0,14.35,14.34,14.09
$RAFOS_CLK,524
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7105.60,-14559.69,110814,160029
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.40
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.80
$XPDR_PINGS,1
$SC_FREEKB,4003664
$TM_FREEKB,5997184
$24V_AH,12.38,95.873
$10V_AH,12.60,0.000
$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,21.875,49.125,579.600,0.375,0.000,0.000,0.000,1516.075,0.250,0.000,27.088,0.000,10157.558,640.328,3321.284,304.940,0.000,2922.186,0.000,1219.523,0.000,0.538,0.000
$DEVICE_MAMPS,468.945,134.640,2041.785,1224.765,0.000,0.000,0.000,208.845,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12497.000,12549.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.305,43.562,0.000,0.000
$MEM,289948
$DATA_FILE_SIZE,26741,817
$CAP_FILE_SIZE,157763,0
$CFSIZE,2097872896,2062909440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14716.37,0x2378b6,7,5
$SOUNDSPEED,1450.9
$GPS,110814,162658,7135.332,-14559.604,5,1.0,25,21.9