version: 66.12
glider: 199
mission: 5
dive: 149
start: 8 16 114 8 45 31
data:
$ID,199
$MISSION,5
$DIVE,149
$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,-21782.635
$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,30
$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,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
$GPS1,160814,083751,7229.390,-14555.599,37,0.7,57,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-70.5
$GPS2,160814,084512,7229.544,-14556.085,38,0.8,58,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.7,65746,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.1,170,2359,522,473,0.0,0.0,0,69,0.00,0.00,-51.83,0.000,16386,0.000,0.000,169,2358,1794,1803,1786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,170,2356,1809,1790,3.4,-2.9,5,130,10.98,2.65,-43.38,0.000,18692,0.467,0.145,2179,3767,3948,4005,3891,0,0,0,0,0,0,14.06,14.32,14.58
$GC,354,-0.72,-175.1,2179,3770,4006,3898,85.9,-25.5,62,361,0.00,2.45,0.00,0.000,1030,0.000,0.081,2179,2362,3951,4005,3897,0,0,0,0,0,0,28.83,14.43,28.83
$GC,660,-0.72,-175.1,2181,2366,4005,3898,151.8,-20.8,93,665,0.00,2.53,0.00,0.000,260,0.000,0.123,2169,3767,3950,4004,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,814,-0.72,-175.1,2169,3768,4006,3898,184.2,-20.3,124,821,0.10,2.42,0.00,0.000,3078,0.296,0.079,2192,2365,3951,4005,3897,0,0,0,0,0,0,14.31,14.50,28.83
$GC,1120,-0.72,-175.1,2192,2366,4005,3898,233.1,-14.5,155,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2365,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,-0.72,-175.1,2192,2366,4006,3898,275.9,-13.9,173,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3951,4005,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1720,-0.72,-175.1,2192,2366,4006,3898,316.3,-13.3,183,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2365,3951,4005,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.72,-175.1,2193,2366,4004,3897,355.4,-12.8,193,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3950,4004,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,-0.72,-175.1,2193,2366,4004,3897,393.7,-12.6,203,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,-0.72,-175.1,2193,2366,4004,3896,431.5,-12.4,213,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3952,4010,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.72,-175.1,2193,2366,4004,3895,468.6,-12.4,223,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.72,-175.1,2192,2366,4006,3895,505.5,-12.3,233,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.72,-175.1,2193,2366,4005,3895,541.9,-12.2,243,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3951,4005,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.72,-175.1,2194,2366,4004,3895,578.4,-12.2,253,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2363,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,-0.72,-175.1,2194,2366,4004,3895,614.6,-12.0,263,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2365,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4420,-0.72,-175.1,2193,2366,4003,3895,650.5,-12.0,273,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2365,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4720,-0.72,-175.1,2192,2366,4006,3895,686.4,-11.9,283,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2366,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5020,-0.72,-175.1,2192,2366,4006,3895,721.8,-11.8,293,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2365,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5288,begin apogee
$GC,5292,-0.14,0.0,2193,2601,4004,3898,753.1,-11.5,302,5513,0.75,0.00,217.68,1.642,10246,0.265,0.000,2387,2602,3230,3282,3178,0,0,0,0,0,0,14.50,28.83,13.13
$STATE,5514,end apogee,CONTROL_FINISHED_OK
$STATE,5514,begin climb
$GC,5515,0.72,175.1,2388,2603,3278,3174,760.4,0.0,309,5673,0.95,0.00,153.55,1.868,10502,0.149,0.000,2660,2601,2514,2578,2451,0,0,0,0,0,0,13.68,28.83,12.47
$GC,5950,0.72,175.1,2660,2603,2568,2428,715.0,13.2,339,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2602,2498,2568,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6250,0.72,175.1,2661,2602,2568,2428,675.4,13.1,349,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2498,2568,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,0.72,175.1,2660,2603,2570,2428,635.6,13.2,359,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2498,2568,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,0.72,175.1,2660,2603,2570,2428,596.4,13.0,369,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2606,2497,2568,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,0.72,175.1,2660,2602,2569,2427,557.5,12.9,379,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2602,2501,2576,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,0.72,175.1,2660,2603,2569,2426,519.3,12.6,389,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2598,2497,2568,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7750,0.72,175.1,2660,2603,2568,2427,480.9,12.8,399,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2495,2568,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,0.72,175.1,2660,2603,2570,2427,442.5,12.9,409,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2497,2568,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,0.72,175.1,2660,2603,2570,2427,404.5,12.6,419,8355,0.00,2.47,0.00,0.000,516,0.000,0.088,2671,1188,2497,2568,2427,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8374,0.72,175.1,2672,1189,2566,2427,401.4,11.7,424,8381,0.00,2.50,0.00,0.000,1030,0.000,0.100,2671,2594,2497,2568,2426,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8680,0.72,175.1,2671,2595,2569,2427,362.0,12.9,435,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2595,2499,2573,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8980,0.72,175.1,2672,2595,2567,2426,323.8,12.7,445,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2594,2496,2567,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9280,0.72,175.1,2672,2595,2567,2426,286.1,12.3,455,9285,0.00,2.45,0.00,0.000,516,0.000,0.088,2681,1191,2497,2568,2426,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9304,0.72,175.1,2681,1191,2568,2427,283.0,12.2,460,9311,0.00,2.50,0.00,0.000,1030,0.000,0.101,2679,2601,2496,2567,2426,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9611,0.72,175.1,2682,2601,2564,2426,245.3,12.4,473,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2600,2497,2568,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9910,0.77,175.1,2681,2601,2569,2427,211.6,10.4,503,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2600,2497,2568,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10210,0.86,259.7,2682,2601,2567,2427,183.9,7.9,533,10283,0.00,0.00,71.12,1.388,8454,0.000,0.000,2681,2600,2168,2242,2095,0,0,0,0,0,0,28.83,28.83,13.58
$GC,10580,0.93,259.7,2680,2601,2233,2070,146.6,9.8,573,10581,0.17,0.00,0.00,0.000,2054,0.136,0.000,2742,2600,2150,2231,2070,0,0,0,0,0,0,14.42,28.83,28.83
$GC,10880,0.93,259.7,2743,2601,2230,2070,111.1,11.6,603,10885,0.00,2.45,0.00,0.000,516,0.000,0.089,2753,1187,2150,2231,2069,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10935,0.96,259.7,2753,1188,2232,2070,105.1,10.9,614,10941,0.00,2.50,0.00,0.000,1030,0.000,0.101,2754,2600,2152,2236,2069,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11240,1.01,259.7,2754,2601,2232,2069,71.8,10.4,645,11245,0.00,2.10,0.00,0.000,260,0.000,0.125,2753,3786,2148,2230,2067,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11384,1.07,320.8,2752,3784,2232,2069,56.4,8.9,674,11416,0.00,2.05,26.80,0.334,9222,0.000,0.083,2763,2597,1922,2008,1837,0,0,0,0,0,0,28.83,14.52,14.27
$GC,11724,1.19,443.6,2763,2597,2022,1855,32.6,6.2,711,11791,0.15,2.42,61.20,0.266,10756,0.142,0.086,2826,1197,1420,1513,1328,0,0,0,0,0,0,14.47,14.35,14.21
$GC,11885,1.29,542.6,2827,1198,1521,1336,17.0,7.2,743,11941,0.00,2.53,49.83,0.233,9222,0.000,0.102,2823,2608,1018,1102,934,0,0,0,0,0,0,28.83,14.35,14.19
$FREEZE,8.78,3.937,-1.368,2,1,0
$FREEZE,8.21,3.936,-1.368,2,1,0
$FREEZE,7.75,3.936,-1.368,2,1,0
$FREEZE,7.14,3.937,-1.368,2,1,0
$FREEZE,6.69,3.940,-1.367,2,1,0
$FREEZE,6.22,3.940,-1.367,2,1,0
$FREEZE,5.82,3.941,-1.367,2,1,0
$FREEZE,5.20,3.941,-1.367,2,1,0
$FREEZE,4.63,3.941,-1.366,2,1,0
$FREEZE,4.06,3.941,-1.366,2,1,0
$FREEZE,3.38,3.940,-1.365,2,1,0
$FREEZE,2.72,3.940,-1.365,2,1,0
$FREEZE,2.08,3.939,-1.364,2,1,0
$FREEZE,1.34,3.939,-1.364,2,1,0
$GC,12246,1.43,686.5,2823,2609,1108,938,6.7,5.2,785,12305,0.22,0.00,56.65,0.198,10754,0.119,0.000,2902,2608,549,605,493,0,0,0,0,0,0,14.38,28.83,28.83
$STATE,12306,end climb,SURFACE_DEPTH_REACHED
$STATE,12306,begin surface coast
$FREEZE,1.03,3.860,-1.366,2,1,0
$FREEZE,1.18,3.887,-0.842,2,1,0
$FINISH,1.2,1.012356
$STATE,12319,end surface coast,CONTROL_FINISHED_OK
$STATE,12319,begin surface
$SM_CCo,12334,6.05,0.206,0,0,498,669.67
$SM_GC,3.03,8.38,0.45,6.05,0.106,0.106,0.206,197,2367,498,-6.96,1.05,669.67,0,0,0,0,0,0,14.30,14.33,14.23
$RAFOS_CLK,35
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7153.15,-14550.84,160814,051105
$TT8_MAMPS,0.086135,0.086135
$HUMID,51.10
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,4000076
$24V_AH,12.47,111.176
$10V_AH,12.76,0.000
$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,21.700,34.925,636.825,6.050,0.000,0.000,0.000,247.025,0.000,0.000,59.262,0.000,10039.301,690.944,1916.827,139.074,0.000,1575.028,0.000,1187.267,1491.000,0.537,0.000
$DEVICE_MAMPS,466.650,145.350,1868.130,205.785,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.015,0.000,0.000,0.000
$MEM,272732
$DATA_FILE_SIZE,26726,796
$CAP_FILE_SIZE,126807,0
$CFSIZE,2097872896,2054717440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12582.33,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,160814,121312,7231.330,-14555.868,67,0.8,87,22.2