version: 66.12
glider: 199
mission: 5
dive: 153
start: 8 16 114 22 38 10
data:
$ID,199
$MISSION,5
$DIVE,153
$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,-21787.678
$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,27
$R_STBD_OVSHOOT,15
$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
$GPS1,160814,223056,7236.697,-14556.447,56,0.9,76,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-71.2
$GPS2,160814,223751,7236.742,-14556.490,5,0.9,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,341.6,52450,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.1,165,2363,518,474,0.0,0.0,0,69,0.00,0.00,-51.65,0.000,16386,0.000,0.000,164,2363,1788,1803,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,164,2364,1811,1779,3.2,-2.2,5,134,11.05,2.60,-44.62,0.000,18692,0.467,0.140,2182,3770,3948,4005,3892,0,0,0,0,0,0,14.05,14.31,14.58
$GC,358,-0.72,-175.1,2184,3771,4003,3898,89.0,-24.4,63,363,0.00,2.42,0.00,0.000,1030,0.000,0.076,2183,2340,3951,4004,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,668,-0.72,-175.1,2183,2338,4003,3899,155.7,-20.5,95,673,0.00,2.55,0.00,0.000,260,0.000,0.118,2172,3772,3954,4010,3899,0,0,0,0,0,0,28.83,14.44,28.83
$GC,738,-0.72,-175.1,2173,3772,4003,3899,170.3,-20.9,109,746,0.00,2.42,0.00,0.000,1030,0.000,0.076,2169,2355,3951,4004,3898,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1050,-0.72,-175.1,2173,2356,4004,3900,227.3,-17.0,141,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2359,3951,4004,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1370,-0.72,-175.1,2173,2354,3998,3899,278.6,-15.4,161,1376,0.12,2.38,0.00,0.000,2564,0.317,0.090,2196,952,3951,4004,3898,0,0,0,0,0,0,14.38,14.47,28.83
$GC,1430,-0.72,-175.1,2195,953,4005,3899,286.8,-13.2,173,1436,0.00,2.47,0.00,0.000,1030,0.000,0.102,2187,2363,3951,4004,3898,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1761,-0.72,-175.1,2186,2364,4005,3899,332.0,-13.5,189,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2365,3951,4004,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-0.72,-175.1,2187,2365,4005,3899,371.6,-13.2,199,2066,0.00,2.53,0.00,0.000,260,0.000,0.122,2176,3772,3954,4010,3898,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2100,-0.72,-175.1,2177,3772,4003,3897,377.3,-14.5,207,2106,0.00,2.42,0.00,0.000,1030,0.000,0.078,2177,2355,3949,4004,3894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2421,-0.72,-175.1,2176,2355,4010,3898,421.3,-13.6,221,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2355,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.72,-175.1,2176,2356,4005,3898,462.1,-13.6,231,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2355,3951,4004,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.72,-175.1,2176,2356,4005,3898,502.6,-13.5,241,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2355,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.72,-175.1,2176,2356,4004,3898,542.4,-13.2,251,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2351,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.72,-175.1,2177,2355,4003,3898,582.0,-13.1,261,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2355,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-0.72,-175.1,2177,2354,4003,3898,621.1,-13.0,271,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2355,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.72,-175.1,2176,2356,4005,3898,659.6,-12.8,281,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2354,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.72,-175.1,2176,2356,4006,3898,698.1,-12.8,291,4526,0.00,2.55,0.00,0.000,260,0.000,0.122,2165,3763,3949,4003,3896,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4560,-0.72,-175.1,2167,3764,4003,3894,703.6,-14.0,299,4565,0.00,2.40,0.00,0.000,1030,0.000,0.077,2165,2357,3949,4002,3896,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4881,-0.72,-175.1,2165,2358,4006,3897,746.1,-13.2,313,4882,0.12,0.00,0.00,0.000,2054,0.301,0.000,2192,2357,3949,4003,3896,0,0,0,0,0,0,14.51,28.83,28.83
$STATE,4951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4951,begin apogee
$GC,4955,-0.14,0.0,2192,2610,4003,3896,753.3,-12.7,315,5174,0.75,0.00,216.05,1.741,10246,0.272,0.000,2385,2609,3232,3280,3184,0,0,0,0,0,0,14.47,28.83,13.05
$STATE,5175,end apogee,CONTROL_FINISHED_OK
$STATE,5175,begin climb
$GC,5177,0.72,175.1,2386,2610,3277,3173,761.5,0.0,322,5340,0.95,2.40,155.48,2.010,10500,0.154,0.116,2658,3769,2509,2574,2445,0,0,0,0,0,0,13.57,12.97,12.31
$GC,5424,0.72,175.1,2659,3770,2567,2436,739.6,15.6,376,5429,0.00,2.17,0.00,0.000,1030,0.000,0.072,2667,2594,2500,2566,2434,0,0,0,0,0,0,28.83,13.47,28.83
$GC,5755,0.72,175.1,2668,2592,2567,2433,694.0,13.7,392,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2591,2497,2563,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,0.72,175.1,2669,2595,2565,2432,653.4,13.5,402,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2594,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6354,0.72,175.1,2668,2595,2567,2433,613.1,13.4,412,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2593,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,0.72,175.1,2669,2594,2565,2431,573.0,13.3,422,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2594,2497,2564,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6954,0.72,175.1,2669,2594,2571,2431,533.3,13.2,432,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2594,2498,2565,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,0.72,175.1,2668,2595,2567,2431,494.2,13.0,442,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2594,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7554,0.72,175.1,2669,2594,2565,2431,455.0,13.1,452,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2594,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7854,0.72,175.1,2670,2594,2565,2431,415.8,13.0,462,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2594,2502,2570,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,0.72,175.1,2668,2595,2567,2430,376.5,13.0,472,8160,0.00,2.12,0.00,0.000,260,0.000,0.122,2664,3758,2496,2565,2428,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8184,0.72,175.1,2668,3760,2567,2431,372.1,15.2,478,8189,0.00,2.00,0.00,0.000,1030,0.000,0.078,2676,2585,2497,2565,2430,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8515,0.72,175.1,2681,2586,2565,2431,328.2,13.1,494,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2586,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8814,0.72,175.1,2676,2586,2567,2431,290.3,12.6,504,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2585,2496,2564,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9114,0.72,175.1,2678,2586,2565,2431,253.9,11.8,514,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2585,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9414,0.77,175.1,2676,2586,2567,2431,220.4,10.5,540,9419,0.00,2.35,0.00,0.000,516,0.000,0.083,2687,1192,2497,2565,2430,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9439,0.81,221.4,2687,1193,2567,2431,217.9,9.6,545,9486,0.00,2.50,38.80,1.428,9222,0.000,0.098,2686,2624,2316,2386,2247,0,0,0,0,0,0,28.83,14.56,13.76
$GC,9784,0.86,221.4,2688,2624,2380,2237,179.9,10.6,584,9789,0.00,2.47,0.00,0.000,516,0.000,0.083,2695,1187,2307,2378,2236,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9824,0.93,221.4,2698,1188,2379,2237,176.1,9.8,592,9830,0.12,2.47,0.00,0.000,3078,0.153,0.098,2743,2594,2306,2376,2236,0,0,0,0,0,0,14.47,14.42,28.83
$GC,10135,0.93,221.4,2743,2597,2381,2237,139.7,11.9,624,10140,0.00,2.08,0.00,0.000,260,0.000,0.122,2739,3776,2306,2380,2233,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10234,0.93,221.4,2741,3776,2381,2237,127.2,12.5,644,10240,0.00,2.03,0.00,0.000,1030,0.000,0.080,2752,2597,2307,2379,2236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10545,0.99,288.1,2752,2598,2381,2236,97.6,8.7,676,10578,0.00,0.00,31.30,0.455,8198,0.000,0.000,2752,2597,2054,2135,1974,0,0,0,0,0,0,28.83,28.83,14.17
$GC,10875,1.07,359.8,2752,2596,2157,1993,63.7,8.4,709,10920,0.00,2.17,37.90,0.356,8452,0.000,0.124,2749,3768,1761,1848,1675,0,0,0,0,0,0,28.83,14.37,14.23
$GC,11010,1.14,359.8,2752,3769,1852,1694,51.3,9.9,736,11017,0.10,2.03,1.12,0.235,11270,0.104,0.081,2803,2603,1765,1851,1680,0,0,0,0,0,0,14.36,14.40,14.31
$GC,11316,1.25,472.7,2804,2603,1856,1691,23.0,6.6,767,11377,0.00,2.42,55.67,0.243,8708,0.000,0.085,2814,1195,1306,1392,1221,0,0,0,0,0,0,28.83,14.42,14.23
$GC,11602,1.47,691.8,2814,1196,1402,1215,14.1,1.9,824,11710,0.30,2.50,97.47,0.218,11270,0.103,0.097,2917,2611,498,518,479,0,0,0,0,0,0,14.49,14.44,14.21
$FREEZE,8.34,3.487,-1.372,2,1,0
$FREEZE,6.96,3.476,-1.372,2,1,0
$FREEZE,5.57,3.480,-1.371,2,1,0
$FREEZE,4.33,3.485,-1.370,2,1,0
$FREEZE,3.12,3.481,-1.369,2,1,0
$FREEZE,1.69,3.476,-1.368,2,1,0
$STATE,11765,end climb,SURFACE_DEPTH_REACHED
$STATE,11765,begin surface coast
$FREEZE,1.51,3.474,-1.368,2,1,0
$FINISH,1.5,1.020004
$STATE,11776,end surface coast,CONTROL_FINISHED_OK
$STATE,11776,begin surface
$SM_CCo,11791,-0.05,0.000,0,0,500,669.67
$SM_GC,2.57,8.30,0.45,-0.05,0.095,0.096,0.000,193,2358,500,-6.97,0.88,669.67,0,0,0,0,0,0,14.40,14.42,13.85
$RAFOS_CLK,298
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7200.11,-14604.65,160814,190651
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.82
$INTERNAL_PRESSURE,8.45573
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3999616
$24V_AH,12.31,112.505
$10V_AH,12.49,0.000
$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,21.825,57.400,633.800,0.000,0.000,0.000,0.000,245.600,0.000,0.000,27.666,0.000,9394.518,683.305,1978.789,151.552,0.000,1633.575,0.000,1269.349,1412.000,0.537,0.000
$DEVICE_MAMPS,467.415,139.995,2009.655,0.000,0.000,0.000,0.000,167.535,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11815.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.979,0.000,0.000,0.000
$MEM,270576
$DATA_FILE_SIZE,30055,852
$CAP_FILE_SIZE,131884,0
$CFSIZE,2097872896,2053931008
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12409.25,0x2378b6,7,5
$INTR,1,738.92,0x234484,0,24
$SOUNDSPEED,1450.5
$GPS,170814,015654,7238.450,-14556.461,78,0.7,98,22.2