version: 66.12
glider: 199
mission: 5
dive: 150
start: 8 16 114 12 19 48
data:
$ID,199
$MISSION,5
$DIVE,150
$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,-21783.895
$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,22
$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
$GPS1,160814,121312,7231.330,-14555.868,67,0.8,87,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-69.3
$GPS2,160814,121926,7231.377,-14555.921,6,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.7,62351,-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,13,begin dive
$GC,15,-0.72,-175.1,173,2364,531,479,0.0,0.0,0,79,0.00,0.00,-62.22,0.000,16386,0.000,0.000,171,2363,2071,2083,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,171,2360,2085,2061,3.9,-3.4,6,134,11.15,2.62,-34.10,0.000,19204,0.469,0.144,2180,3767,3945,4002,3889,0,0,0,0,0,0,13.96,14.21,14.50
$GC,358,-0.72,-175.1,2182,3768,4002,3894,86.8,-23.9,62,364,0.00,2.45,0.00,0.000,1030,0.000,0.081,2181,2345,3947,4002,3893,0,0,0,0,0,0,28.83,14.39,28.83
$GC,668,-0.72,-175.1,2181,2345,4004,3895,152.2,-20.3,94,673,0.00,2.58,0.00,0.000,260,0.000,0.122,2170,3769,3948,4002,3894,0,0,0,0,0,0,28.83,14.44,28.83
$GC,898,-0.72,-175.1,2170,3770,4004,3895,199.7,-19.4,140,904,0.12,2.42,0.00,0.000,3078,0.311,0.080,2190,2347,3946,3999,3894,0,0,0,0,0,0,14.32,14.50,28.83
$GC,1209,-0.72,-175.1,2193,2346,4004,3895,246.7,-14.2,172,1214,0.00,2.55,0.00,0.000,260,0.000,0.125,2189,3768,3948,4002,3894,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1348,-0.72,-175.1,2183,3769,4002,3895,268.3,-15.0,200,1354,0.00,2.42,0.00,0.000,1030,0.000,0.079,2183,2365,3945,3996,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1658,-0.72,-175.1,2183,2365,4003,3893,311.9,-13.8,212,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2364,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1958,-0.72,-175.1,2185,2364,4002,3894,352.7,-13.6,222,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2364,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2258,-0.72,-175.1,2183,2365,4004,3894,392.5,-13.1,232,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2362,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2558,-0.72,-175.1,2185,2365,4002,3893,431.7,-13.0,242,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2364,3946,4000,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2858,-0.72,-175.1,2185,2365,4002,3893,470.8,-13.0,252,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2368,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.72,-175.1,2182,2365,4004,3893,509.5,-12.9,262,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2363,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3458,-0.72,-175.1,2182,2364,4003,3894,548.1,-12.7,272,3464,0.00,2.53,0.00,0.000,260,0.000,0.124,2171,3770,3945,3998,3892,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3488,-0.72,-175.1,2173,3773,4004,3893,552.2,-14.1,278,3494,0.00,2.42,0.00,0.000,1030,0.000,0.080,2173,2361,3947,4003,3892,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3819,-0.72,-175.1,2173,2361,4004,3892,595.7,-13.0,294,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2360,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4118,-0.72,-175.1,2172,2361,4004,3893,634.7,-12.9,304,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2363,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.72,-175.1,2175,2361,4002,3892,673.7,-12.8,314,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2361,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4718,-0.72,-175.1,2174,2361,4002,3892,712.1,-12.8,324,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2361,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5017,begin apogee
$GC,5021,-0.14,0.0,2173,2601,4002,3888,750.2,-12.6,334,5238,0.82,0.00,214.20,1.660,10246,0.280,0.000,2383,2600,3231,3283,3179,0,0,0,0,0,0,14.51,28.83,13.11
$STATE,5239,end apogee,CONTROL_FINISHED_OK
$STATE,5239,begin climb
$GC,5241,0.72,175.1,2384,2601,3279,3174,757.6,0.0,341,5404,0.95,2.38,153.30,1.865,10500,0.157,0.119,2659,3763,2507,2571,2443,0,0,0,0,0,0,13.66,13.09,12.49
$GC,5528,0.72,175.1,2658,3761,2568,2436,729.0,14.9,401,5534,0.00,2.12,0.00,0.000,1030,0.000,0.077,2667,2605,2503,2572,2435,0,0,0,0,0,0,28.83,13.67,28.83
$GC,5859,0.72,175.1,2669,2605,2566,2434,684.1,13.6,417,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2605,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6158,0.72,175.1,2668,2603,2566,2432,643.6,13.5,427,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2605,2498,2565,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6458,0.72,175.1,2668,2605,2566,2433,603.1,13.4,437,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2605,2499,2567,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6758,0.72,175.1,2669,2605,2566,2432,562.8,13.4,447,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2605,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7058,0.72,175.1,2669,2605,2566,2432,522.6,13.3,457,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2604,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7358,0.72,175.1,2667,2606,2568,2432,482.4,13.4,467,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2605,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7658,0.72,175.1,2669,2605,2566,2432,442.5,13.3,477,7664,0.00,2.40,0.00,0.000,516,0.000,0.087,2678,1194,2498,2566,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7683,0.72,175.1,2679,1195,2566,2437,439.3,12.2,482,7690,0.00,2.50,0.00,0.000,1030,0.000,0.101,2679,2595,2498,2566,2431,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7988,0.72,175.1,2678,2596,2568,2432,397.9,13.5,493,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2595,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8288,0.72,175.1,2681,2596,2566,2431,358.1,13.2,503,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2595,2501,2572,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8588,0.72,175.1,2678,2596,2567,2432,318.7,13.1,513,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2595,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,0.72,175.1,2678,2597,2567,2432,280.3,12.7,523,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2595,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9188,0.72,175.1,2679,2596,2566,2431,243.8,11.7,535,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2595,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9489,0.75,175.1,2679,2595,2566,2432,209.4,10.9,565,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2600,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9789,0.82,245.4,2677,2596,2568,2431,183.1,8.5,595,9855,0.00,2.53,58.97,1.392,8708,0.000,0.088,2688,1193,2218,2292,2144,0,0,0,0,0,0,28.83,14.22,13.65
$GC,9884,0.87,245.4,2689,1193,2288,2138,174.1,10.4,614,9891,0.00,2.55,0.00,0.000,1030,0.000,0.101,2688,2605,2210,2289,2132,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10189,0.92,291.4,2689,2606,2288,2134,142.7,9.6,645,10236,0.12,2.15,38.60,1.355,10500,0.155,0.125,2731,3763,2031,2112,1951,0,0,0,0,0,0,14.45,14.14,13.60
$GC,10315,0.92,291.4,2733,3763,2111,1940,125.6,15.2,670,10322,0.00,2.05,0.00,0.000,1030,0.000,0.081,2741,2601,2024,2106,1943,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10620,0.92,291.4,2741,2602,2112,1940,88.1,11.9,701,10625,0.00,2.42,0.00,0.000,516,0.000,0.089,2751,1193,2024,2111,1937,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10680,0.92,291.4,2753,1193,2111,1939,81.0,11.8,713,10685,0.00,2.50,0.00,0.000,1030,0.000,0.102,2751,2600,2023,2111,1936,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10990,1.03,410.4,2751,2601,2113,1939,51.2,6.3,745,11052,0.00,0.00,56.67,0.322,8198,0.000,0.000,2751,2600,1555,1648,1462,0,0,0,0,0,0,28.83,28.83,14.18
$GC,11350,1.15,523.4,2751,2601,1659,1469,20.5,6.6,781,11412,0.17,0.00,56.33,0.236,10502,0.136,0.000,2813,2601,1093,1181,1006,0,0,0,0,0,0,14.45,28.83,14.24
$FREEZE,8.76,3.481,-1.356,2,1,0
$FREEZE,8.25,3.481,-1.355,2,1,0
$GC,11710,1.36,740.2,2814,2600,1185,1011,12.4,2.0,819,11786,0.17,0.00,72.30,0.215,11014,0.129,0.000,2875,2601,499,539,460,0,0,0,0,0,0,14.50,28.83,14.30
$FREEZE,7.52,3.481,-1.355,2,1,0
$FREEZE,6.68,3.480,-1.354,2,1,0
$FREEZE,5.95,3.478,-1.354,2,1,0
$FREEZE,5.35,3.478,-1.353,2,1,0
$FREEZE,4.72,3.475,-1.353,2,1,0
$FREEZE,3.85,3.478,-1.352,2,1,0
$FREEZE,2.89,3.478,-1.351,2,1,0
$FREEZE,1.88,3.475,-1.351,2,1,0
$STATE,11859,end climb,SURFACE_DEPTH_REACHED
$STATE,11859,begin surface coast
$FREEZE,1.34,3.429,-1.352,2,1,0
$FREEZE,1.30,3.097,-1.366,2,1,0
$FINISH,1.3,1.019996
$STATE,11879,end surface coast,CONTROL_FINISHED_OK
$STATE,11879,begin surface
$SM_CCo,11894,0.00,0.000,0,0,501,669.67
$SM_GC,2.36,8.00,0.43,0.00,0.081,0.103,0.000,199,2366,501,-6.94,1.05,669.67,0,0,0,0,0,0,14.42,14.44,28.83
$RAFOS_CLK,510
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7153.15,-14550.84,160814,084022
$TT8_MAMPS,0.053179,0.053179
$HUMID,52.20
$INTERNAL_PRESSURE,8.53386
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3999960
$24V_AH,12.49,111.491
$10V_AH,12.65,0.000
$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,21.525,44.475,650.375,0.000,0.000,0.000,0.000,207.850,0.000,0.000,27.248,0.000,9521.634,702.560,1909.983,138.760,0.000,1590.768,0.000,1247.518,0.000,0.537,0.000
$DEVICE_MAMPS,468.945,143.820,1865.070,0.000,0.000,0.000,0.000,176.715,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.209,0.000,0.000,0.000
$MEM,272156
$DATA_FILE_SIZE,30082,840
$CAP_FILE_SIZE,127042,0
$CFSIZE,2097872896,2054553600
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12856.17,0x2378b6,7,5
$INTR,1,11895.81,0x2378b6,7,5
$SOUNDSPEED,1450.8
$GPS,160814,153922,7232.964,-14556.086,26,0.7,46,22.2