version: 66.12
glider: 199
mission: 5
dive: 131
start: 8 13 114 16 42 17
data:
$ID,199
$MISSION,5
$DIVE,131
$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,-21759.947
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,130814,163024,7200.234,-14603.998,30,0.8,50,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-69.9
$GPS2,130814,164159,7200.243,-14604.178,5,0.9,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,358.2,23207,-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,-175.1,174,2368,521,471,0.0,0.0,0,74,0.00,0.00,-51.28,0.000,16386,0.000,0.000,173,2365,1801,1805,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,173,2366,1808,1795,3.5,-2.8,5,136,11.12,2.65,-42.22,0.000,18692,0.469,0.141,2179,3772,3946,4004,3888,0,0,0,0,0,0,13.98,14.19,14.46
$GC,156,-0.72,-175.1,2180,3772,4002,3896,21.8,-23.6,21,162,0.00,2.47,0.00,0.000,1030,0.000,0.080,2179,2348,3946,4002,3890,0,0,0,0,0,0,28.83,14.27,28.83
$GC,466,-0.72,-175.1,2181,2351,4002,3891,95.9,-21.5,53,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2347,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,766,-0.72,-175.1,2180,2347,4006,3895,158.6,-20.1,83,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2347,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-0.72,-175.1,2178,2348,4004,3892,214.2,-15.8,113,1073,0.00,2.40,0.00,0.000,516,0.000,0.090,2178,955,3948,4002,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1102,-0.72,-175.1,2180,955,4002,3895,219.9,-16.2,120,1110,0.15,2.50,0.00,0.000,3078,0.318,0.103,2197,2361,3948,4002,3895,0,0,0,0,0,0,14.24,14.38,28.83
$GC,1417,-0.72,-175.1,2197,2361,4004,3895,262.4,-13.1,146,1424,0.00,2.53,0.00,0.000,260,0.000,0.126,2187,3767,3951,4002,3901,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1578,-0.72,-175.1,2189,3768,4002,3894,286.0,-14.3,178,1585,0.00,2.42,0.00,0.000,1030,0.000,0.082,2188,2350,3947,4002,3893,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1900,-0.72,-175.1,2188,2349,4004,3894,328.8,-13.1,192,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2349,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2199,-0.72,-175.1,2183,2350,4004,3892,366.9,-12.7,202,2206,0.00,2.40,0.00,0.000,516,0.000,0.090,2188,949,3946,4002,3891,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2255,-0.72,-175.1,2187,950,4002,3892,374.0,-12.6,213,2263,0.00,2.50,0.00,0.000,1030,0.000,0.103,2178,2360,3946,4002,3890,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2560,-0.72,-175.1,2178,2361,4004,3890,414.0,-13.1,224,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2360,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.72,-175.1,2180,2361,4002,3890,453.0,-12.9,234,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2360,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,-0.72,-175.1,2178,2361,4002,3889,491.6,-13.0,244,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2360,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.72,-175.1,2179,2361,4002,3889,529.3,-12.5,254,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2360,3945,4003,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.72,-175.1,2177,2358,4004,3887,566.4,-12.4,264,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.72,-175.1,2179,2361,4002,3889,603.3,-12.3,274,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2360,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-0.72,-175.1,2179,2362,4002,3889,640.3,-12.4,284,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2360,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4660,-0.72,-175.1,2178,2365,4002,3889,677.4,-12.3,294,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2361,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4960,-0.72,-175.1,2184,2361,4002,3888,714.3,-12.4,304,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2361,3945,4002,3888,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5259,begin apogee
$GC,5263,-0.14,0.0,2177,2603,4002,3887,751.4,-12.4,314,5435,0.82,0.00,167.90,1.940,10246,0.276,0.000,2384,2602,3228,3279,3178,0,0,0,0,0,0,14.33,28.83,13.06
$STATE,5437,end apogee,CONTROL_FINISHED_OK
$STATE,5437,begin climb
$GC,5439,0.72,175.1,2385,2603,3276,3173,756.1,0.0,319,5608,0.98,2.33,153.77,1.870,10500,0.164,0.119,2662,3764,2506,2570,2443,0,0,0,0,0,0,13.64,13.04,12.42
$GC,5643,0.72,175.1,2662,3765,2565,2436,739.0,15.1,362,5649,0.00,2.15,0.00,0.000,1030,0.000,0.076,2670,2601,2499,2564,2434,0,0,0,0,0,0,28.83,13.33,28.83
$GC,5969,0.72,175.1,2672,2602,2565,2430,694.5,13.5,377,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2601,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6268,0.72,175.1,2670,2600,2566,2431,653.6,13.6,387,6275,0.00,2.47,0.00,0.000,516,0.000,0.090,2681,1193,2497,2565,2429,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6294,0.72,175.1,2681,1193,2566,2430,650.1,12.9,392,6302,0.00,2.55,0.00,0.000,1030,0.000,0.102,2681,2603,2498,2566,2430,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6599,0.72,175.1,2681,2602,2566,2430,607.1,14.1,403,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2603,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,0.72,175.1,2679,2604,2566,2429,564.7,14.1,413,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2603,2497,2565,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7199,0.72,175.1,2681,2604,2567,2429,522.6,14.0,423,7205,0.00,2.45,0.00,0.000,516,0.000,0.087,2692,1194,2496,2565,2428,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7224,0.72,175.1,2693,1195,2564,2429,519.0,14.1,428,7233,0.00,2.50,0.00,0.000,1030,0.000,0.102,2688,2602,2496,2565,2428,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7530,0.72,175.1,2692,2603,2568,2427,474.6,14.6,439,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2602,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7830,0.72,175.1,2693,2603,2565,2428,430.7,14.7,449,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2602,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8130,0.72,175.1,2693,2603,2565,2428,387.2,14.3,459,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2602,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8430,0.72,175.1,2691,2602,2566,2429,344.7,14.1,469,8436,0.00,2.42,0.00,0.000,516,0.000,0.087,2702,1195,2495,2565,2425,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8460,0.72,175.1,2702,1196,2566,2429,340.6,13.1,475,8467,0.15,2.50,0.00,0.000,5126,0.287,0.101,2670,2600,2496,2565,2427,0,0,0,0,0,0,14.33,14.44,28.83
$GC,8792,0.72,175.1,2671,2601,2566,2429,298.0,12.5,491,8798,0.00,2.42,0.00,0.000,516,0.000,0.086,2679,1195,2497,2566,2428,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8857,0.72,175.1,2681,1195,2565,2428,290.0,12.7,504,8864,0.00,2.50,0.00,0.000,1030,0.000,0.101,2679,2606,2496,2565,2428,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9184,0.72,175.1,2679,2607,2565,2429,250.7,11.7,519,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2496,2565,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9483,0.77,175.1,2678,2606,2564,2428,216.2,10.5,547,9490,0.00,2.08,0.00,0.000,260,0.000,0.125,2679,3771,2496,2565,2428,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9700,0.80,175.1,2679,3772,2566,2429,192.3,10.9,590,9708,0.00,2.00,0.00,0.000,1030,0.000,0.083,2689,2597,2500,2572,2428,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10004,0.91,286.7,2688,2598,2567,2429,168.3,6.7,621,10108,0.12,2.50,94.60,1.361,10756,0.152,0.085,2743,1194,2049,2133,1966,0,0,0,0,0,0,14.43,13.95,13.40
$GC,10198,0.91,286.7,2744,1194,2122,1952,147.1,12.6,659,10205,0.00,2.55,0.00,0.000,1030,0.000,0.100,2743,2599,2037,2122,1952,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10509,0.91,286.7,2743,2601,2124,1949,107.0,12.8,691,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2605,2035,2122,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10809,0.91,286.7,2744,2601,2122,1948,68.4,12.9,721,10816,0.00,2.45,0.00,0.000,516,0.000,0.089,2753,1198,2035,2122,1948,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10850,0.91,286.7,2753,1199,2124,1955,63.2,12.7,729,10857,0.00,2.53,0.00,0.000,1030,0.000,0.103,2753,2604,2035,2122,1948,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11162,1.00,382.6,2752,2606,2124,1948,36.5,7.4,761,11214,0.00,2.50,43.03,0.279,8708,0.000,0.090,2763,1191,1670,1761,1580,0,0,0,0,0,0,28.83,14.26,14.19
$GC,11365,1.05,382.6,2765,1192,1774,1586,17.8,10.5,801,11376,0.00,2.53,1.50,0.239,9222,0.000,0.103,2763,2600,1668,1762,1575,0,0,0,0,0,0,28.83,14.26,14.23
$GC,11674,1.33,660.3,2765,2601,1773,1584,12.6,-0.7,833,11819,0.28,2.17,136.35,0.215,10500,0.108,0.123,2864,3768,535,563,508,0,0,0,0,0,0,14.39,14.17,14.12
$FREEZE,8.74,4.664,-1.334,2,1,0
$FREEZE,8.38,4.671,-1.337,2,1,0
$FREEZE,7.87,4.671,-1.336,2,1,0
$FREEZE,7.64,4.665,-1.338,2,1,0
$FREEZE,7.15,4.665,-1.338,2,1,0
$FREEZE,6.75,4.671,-1.338,2,1,0
$FREEZE,6.31,4.671,-1.337,2,1,0
$FREEZE,5.70,4.663,-1.338,2,1,0
$FREEZE,5.23,4.663,-1.337,2,1,0
$FREEZE,4.80,4.661,-1.337,2,1,0
$FREEZE,4.33,4.661,-1.337,2,1,0
$FREEZE,4.00,4.666,-1.337,2,1,0
$FREEZE,3.46,4.666,-1.336,2,1,0
$FREEZE,2.97,4.673,-1.336,2,1,0
$FREEZE,2.50,4.673,-1.336,2,1,0
$FREEZE,1.96,4.674,-1.335,2,1,0
$STATE,11907,end climb,SURFACE_DEPTH_REACHED
$STATE,11907,begin surface coast
$FREEZE,1.72,4.674,-1.335,2,1,0
$FINISH,1.7,1.019434
$STATE,11913,end surface coast,CONTROL_FINISHED_OK
$STATE,11913,begin surface
$SM_CCo,11937,4.95,0.203,0,0,498,670.16
$SM_GC,3.39,8.05,2.53,4.95,0.081,0.085,0.203,202,2360,498,-6.94,0.82,670.16,0,0,0,0,0,0,14.28,14.31,14.20
$RAFOS_CLK,-1990
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7125.74,-14603.16,130814,125836
$TT8_MAMPS,0.078645,0.078645
$HUMID,51.73
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4002152
$TM_FREEKB,5745920
$24V_AH,12.42,102.679
$10V_AH,12.62,0.000
$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,21.675,68.450,597.150,4.950,0.000,0.000,0.000,417.300,0.000,0.000,26.401,0.000,9445.058,632.373,2389.654,168.790,0.000,1883.562,0.000,1302.572,1499.000,0.538,0.000
$DEVICE_MAMPS,468.945,140.760,1940.040,203.490,0.000,0.000,0.000,192.780,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11944.000,11992.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.331,44.914,0.000,0.000
$MEM,282600
$DATA_FILE_SIZE,30051,878
$CAP_FILE_SIZE,144708,0
$CFSIZE,2097872896,2059337728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12979.33,0x2378b6,7,5
$INTR,1,5346.24,0x234484,2,24
$SOUNDSPEED,1450.4
$GPS,130814,200255,7202.071,-14602.281,38,0.7,58,22.0