version: 66.12
glider: 199
mission: 5
dive: 159
start: 8 17 114 19 15 24
data:
$ID,199
$MISSION,5
$DIVE,159
$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,-21795.242
$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,12
$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
$GPS1,170814,190824,7247.199,-14555.236,29,0.8,49,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-71.1
$GPS2,170814,191505,7247.227,-14555.304,5,0.8,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.7,33040,-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,-175.1,170,2361,504,488,0.0,0.0,0,79,0.00,0.00,-62.03,0.000,16386,0.000,0.000,168,2361,2029,2042,2016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-175.1,165,2361,2043,2017,3.7,-3.1,6,135,11.02,2.58,-36.90,0.000,18692,0.467,0.137,2184,3775,3946,4003,3890,0,0,0,0,0,0,14.02,14.27,14.57
$GC,359,-0.72,-175.1,2181,3776,4003,3895,89.6,-24.6,62,364,0.00,2.45,0.00,0.000,1030,0.000,0.077,2181,2363,3948,4002,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,669,-0.72,-175.1,2181,2362,4003,3896,157.2,-19.8,94,674,0.00,2.55,0.00,0.000,260,0.000,0.122,2170,3777,3948,4002,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,754,-0.72,-175.1,2172,3775,4002,3895,175.4,-21.2,111,761,0.08,2.47,0.00,0.000,3078,0.297,0.078,2188,2351,3953,4012,3895,0,0,0,0,0,0,14.30,14.53,28.83
$GC,1059,-0.72,-175.1,2189,2351,3997,3896,227.6,-16.2,142,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2350,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,-0.72,-175.1,2188,2351,4003,3896,272.4,-14.6,162,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2350,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1659,-0.72,-175.1,2188,2351,4004,3896,314.6,-13.8,172,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2350,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,-0.72,-175.1,2188,2351,4003,3896,355.5,-13.5,182,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2348,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2259,-0.72,-175.1,2188,2351,4004,3896,395.3,-13.2,192,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2350,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-0.72,-175.1,2189,2351,4002,3895,434.3,-13.0,202,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2347,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.72,-175.1,2189,2350,4002,3895,473.0,-13.0,212,2865,0.00,2.58,0.00,0.000,260,0.000,0.123,2176,3771,3948,4001,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2889,-0.72,-175.1,2179,3772,4003,3896,477.2,-14.9,218,2895,0.00,2.40,0.00,0.000,1030,0.000,0.079,2179,2354,3948,4002,3894,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3220,-0.72,-175.1,2180,2355,4002,3895,522.4,-13.7,234,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2356,3951,4008,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-0.72,-175.1,2179,2356,4004,3896,562.4,-13.3,244,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3819,-0.72,-175.1,2179,2357,4003,3896,601.6,-13.1,254,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4119,-0.72,-175.1,2180,2357,4002,3895,641.2,-13.2,264,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2356,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.72,-175.1,2179,2357,4003,3896,680.1,-12.9,274,4425,0.00,2.58,0.00,0.000,260,0.000,0.124,2168,3789,3949,4003,3895,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4464,-0.72,-175.1,2170,3789,4002,3896,686.4,-14.4,283,4470,0.10,2.45,0.00,0.000,3078,0.273,0.078,2194,2364,3948,4002,3894,0,0,0,0,0,0,14.39,14.55,28.83
$GC,4780,-0.72,-175.1,2194,2365,4002,3896,724.2,-11.8,296,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2361,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5022,-0.14,0.0,2192,2608,4004,3896,752.6,-11.8,304,5249,0.73,0.00,223.52,1.785,10246,0.267,0.000,2378,2607,3230,3282,3179,0,0,0,0,0,0,14.47,28.83,12.90
$STATE,5250,end apogee,CONTROL_FINISHED_OK
$STATE,5250,begin climb
$GC,5251,0.72,175.1,2380,2607,3280,3176,760.8,0.0,311,5417,0.98,2.40,157.95,2.081,10500,0.153,0.117,2659,3766,2511,2571,2451,0,0,0,0,0,0,13.51,12.94,12.28
$GC,5461,0.72,175.1,2659,3766,2567,2442,746.4,14.9,357,5466,0.00,2.20,0.00,0.000,1030,0.000,0.072,2669,2596,2502,2565,2439,0,0,0,0,0,0,28.83,13.32,28.83
$GC,5771,0.72,175.1,2670,2596,2565,2438,705.0,13.2,369,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,0.72,175.1,2670,2597,2565,2438,665.9,12.9,379,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2501,2565,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6371,0.72,175.1,2670,2597,2565,2437,627.0,13.0,389,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2499,2562,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6671,0.72,175.1,2670,2597,2565,2437,587.8,13.1,399,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2501,2565,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6971,0.72,175.1,2670,2596,2564,2437,548.4,13.2,409,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2596,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,0.72,175.1,2670,2597,2565,2437,509.3,13.0,419,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2596,2499,2562,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7571,0.72,175.1,2670,2597,2565,2437,470.8,12.9,429,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,0.72,175.1,2670,2597,2565,2437,432.8,12.6,439,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2502,2565,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8171,0.72,175.1,2669,2597,2564,2437,395.2,12.5,449,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8471,0.72,175.1,2670,2597,2565,2437,358.0,12.4,459,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2595,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,0.72,175.1,2670,2597,2565,2437,321.3,12.2,469,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2596,2498,2561,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9071,0.72,175.1,2669,2597,2566,2437,285.3,12.0,479,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2500,2565,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9371,0.72,175.1,2669,2597,2567,2437,250.0,11.6,489,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2500,2565,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,0.78,229.4,2670,2597,2565,2437,219.1,9.2,517,9723,0.00,2.42,45.90,1.440,8708,0.000,0.083,2675,1194,2285,2352,2218,0,0,0,0,0,0,28.83,14.31,13.71
$GC,9757,0.84,229.4,2679,1195,2348,2211,210.4,10.0,534,9764,0.00,2.53,0.00,0.000,1030,0.000,0.099,2679,2606,2277,2346,2209,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10063,0.91,229.4,2679,2606,2348,2209,178.1,10.1,565,10064,0.15,0.00,0.00,0.000,2054,0.144,0.000,2734,2605,2277,2347,2208,0,0,0,0,0,0,14.47,28.83,28.83
$GC,10363,0.93,229.4,2731,2606,2348,2209,144.2,10.9,595,10368,0.00,2.45,0.00,0.000,516,0.000,0.086,2742,1186,2275,2343,2208,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10483,0.98,229.4,2740,1187,2348,2208,131.2,10.6,619,10488,0.00,2.50,0.00,0.000,1030,0.000,0.099,2742,2603,2277,2346,2208,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10794,1.03,284.0,2743,2604,2346,2208,100.3,9.2,651,10845,0.00,2.17,46.90,1.341,8452,0.000,0.124,2742,3767,2065,2143,1987,0,0,0,0,0,0,28.83,14.22,13.69
$GC,10894,1.03,284.0,2742,3768,2135,1979,89.0,13.4,671,10900,0.00,2.05,0.00,0.000,1030,0.000,0.080,2755,2599,2055,2134,1977,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11204,1.20,451.8,2751,2600,2135,1974,62.2,4.2,703,11289,0.22,0.00,82.05,0.352,10246,0.124,0.000,2827,2599,1387,1477,1298,0,0,0,0,0,0,14.42,28.83,14.09
$GC,11584,1.30,555.0,2833,2600,1485,1305,16.6,7.0,741,11641,0.00,2.50,52.33,0.230,8708,0.000,0.086,2836,1192,965,1047,883,0,0,0,0,0,0,28.83,14.35,14.23
$FREEZE,8.60,0.827,-1.415,2,1,0
$FREEZE,7.95,0.827,-1.415,2,1,0
$FREEZE,7.19,0.829,-1.414,2,1,0
$FREEZE,6.35,0.829,-1.414,2,1,0
$FREEZE,5.72,0.830,-1.413,2,1,0
$GC,11716,1.44,689.4,2837,1193,1055,883,11.4,5.7,763,11779,0.20,2.53,56.80,0.208,11270,0.124,0.102,2906,2605,498,522,474,0,0,0,0,0,0,14.40,14.38,14.23
$FREEZE,3.85,0.830,-1.412,2,1,0
$FREEZE,2.43,0.832,-1.410,2,1,0
$FREEZE,1.26,0.832,-1.410,2,1,0
$STATE,11803,end climb,SURFACE_DEPTH_REACHED
$STATE,11803,begin surface coast
$FREEZE,1.34,0.709,-0.448,2,1,0
$FINISH,1.3,1.006534
$STATE,11813,end surface coast,CONTROL_FINISHED_OK
$STATE,11813,begin surface
$SM_CCo,11889,0.00,0.000,0,0,499,669.91
$SM_GC,2.27,8.38,0.45,0.00,0.104,0.096,0.000,194,2358,499,-6.96,0.71,669.91,0,0,0,0,0,0,14.37,14.39,28.83
$RAFOS_CLK,409
$RAFOS_FIX,7210.390625,-14553.904297,150814,000043,2,255,0.00
$IRIDIUM_FIX,7214.16,-14602.46,170814,154732
$TT8_MAMPS,0.050183,0.050183
$HUMID,49.92
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3998928
$24V_AH,12.28,114.568
$10V_AH,12.52,0.000
$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,21.850,44.700,665.450,0.000,0.000,0.000,0.000,240.325,0.000,0.000,27.653,0.000,9605.949,702.713,1845.011,140.383,0.000,1585.514,0.000,1162.635,1499.000,0.537,0.000
$DEVICE_MAMPS,466.650,136.935,2080.800,0.000,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11849.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.781,0.000,0.000,0.000
$MEM,267144
$DATA_FILE_SIZE,26692,778
$CAP_FILE_SIZE,123901,0
$CFSIZE,2097872896,2052816896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12219.43,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,170814,223455,7248.993,-14554.674,30,0.9,50,22.3