version: 66.12
glider: 199
mission: 5
dive: 177
start: 8 20 114 8 45 23
data:
$ID,199
$MISSION,5
$DIVE,177
$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,-21821.002
$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,29
$R_STBD_OVSHOOT,18
$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
$GPS1,200814,083848,7313.935,-14550.909,38,0.8,58,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.3
$GPS2,200814,084504,7313.930,-14550.938,5,0.8,26,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,351.8,2044,-33.8,-11.628,-36.27,813
$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,-1.01,-61.4,197,2364,484,503,0.0,0.0,0,80,0.00,0.00,-62.70,0.000,16386,0.000,0.000,195,2363,2030,2044,2016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.09,-133.8,196,2364,2051,2018,3.4,-2.5,6,136,10.32,2.45,-37.30,0.000,18948,0.472,0.109,2077,952,3780,3823,3737,0,0,0,0,0,0,14.00,14.29,14.59
$GC,360,-1.09,-133.8,2077,953,3825,3742,97.5,-27.4,62,365,0.00,2.47,0.00,0.000,1030,0.000,0.095,2068,2360,3782,3823,3741,0,0,0,0,0,0,28.83,14.35,28.83
$GC,670,-1.09,-133.8,2069,2361,3825,3742,185.6,-26.9,94,675,0.00,2.42,0.00,0.000,516,0.000,0.086,2068,946,3782,3823,3741,0,0,0,0,0,0,28.83,14.42,28.83
$GC,720,-1.09,-133.8,2069,947,3822,3741,198.6,-25.7,104,726,0.00,2.50,0.00,0.000,1030,0.000,0.099,2057,2367,3785,3824,3746,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1030,-1.09,-133.8,2057,2368,3825,3742,271.9,-22.0,130,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2368,3782,3823,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,-1.09,-133.8,2059,2368,3822,3742,337.1,-21.2,140,1335,0.00,2.50,0.00,0.000,260,0.000,0.123,2053,3776,3780,3823,3737,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1380,-1.09,-133.8,2048,3772,3825,3742,348.8,-23.5,150,1386,0.08,2.45,0.00,0.000,3078,0.329,0.082,2076,2358,3780,3819,3741,0,0,0,0,0,0,14.30,14.55,28.83
$GC,1691,-1.09,-133.8,2076,2358,3825,3742,410.2,-19.3,162,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2356,3782,3823,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-1.09,-133.8,2077,2357,3823,3741,467.6,-18.8,172,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2354,3782,3823,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-1.09,-133.8,2076,2357,3829,3742,523.8,-18.6,182,2296,0.00,2.38,0.00,0.000,516,0.000,0.090,2076,956,3781,3823,3740,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2340,-1.09,-133.8,2076,954,3825,3740,533.0,-18.2,192,2345,0.00,2.50,0.00,0.000,1030,0.000,0.099,2069,2360,3782,3823,3741,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2650,-1.09,-133.8,2068,2361,3823,3741,591.8,-19.0,204,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2360,3782,3823,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-1.09,-133.8,2068,2361,3823,3742,648.9,-19.1,214,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2360,3782,3823,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,-1.09,-133.8,2067,2360,3825,3742,705.4,-18.7,224,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2360,3782,3823,3741,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3489,begin apogee
$GC,3493,-0.14,0.0,2067,2609,3823,3742,750.3,-18.7,232,3616,1.33,0.00,119.60,2.056,10246,0.329,0.000,2380,2609,3226,3275,3178,0,0,0,0,0,0,14.38,28.83,13.15
$STATE,3617,end apogee,CONTROL_FINISHED_OK
$STATE,3617,begin climb
$GC,3619,1.09,133.8,2379,2610,3274,3175,754.8,0.0,236,3739,1.38,0.00,116.15,2.015,10502,0.154,0.000,2778,2609,2681,2725,2637,0,0,0,0,0,0,13.83,28.83,12.66
$GC,4030,1.09,133.8,2778,2609,2724,2619,698.2,17.0,265,4035,0.00,2.17,0.00,0.000,260,0.000,0.119,2778,3764,2670,2723,2618,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4085,1.09,133.8,2778,3765,2724,2619,688.0,18.8,276,4092,0.00,2.08,0.00,0.000,1030,0.000,0.078,2787,2599,2668,2718,2618,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4390,1.09,133.8,2788,2600,2722,2619,634.9,17.3,287,4396,0.00,2.15,0.00,0.000,260,0.000,0.120,2787,3757,2670,2723,2618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4440,1.09,133.8,2787,3757,2722,2619,625.5,19.1,297,4446,0.00,2.03,0.00,0.000,1030,0.000,0.078,2795,2600,2670,2722,2619,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4750,1.09,133.8,2795,2595,2724,2619,570.7,17.6,309,4755,0.00,2.15,0.00,0.000,260,0.000,0.120,2795,3762,2670,2723,2618,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4800,1.09,133.8,2795,3762,2724,2619,561.1,19.3,319,4806,0.00,2.03,0.00,0.000,1030,0.000,0.078,2804,2592,2671,2723,2619,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5110,1.09,133.8,2804,2593,2723,2619,506.4,17.5,331,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2592,2670,2722,2618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,1.09,133.8,2804,2593,2724,2619,454.4,17.3,341,5415,0.00,2.15,0.00,0.000,260,0.000,0.120,2804,3769,2670,2722,2618,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5465,1.09,133.8,2805,3769,2722,2619,443.9,19.7,352,5472,0.00,2.00,0.00,0.000,1030,0.000,0.079,2812,2605,2672,2726,2618,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5770,1.09,133.8,2812,2606,2724,2619,390.7,17.2,363,5776,0.12,2.08,0.00,0.000,4356,0.353,0.120,2787,3769,2670,2723,2618,0,0,0,0,0,0,14.41,14.52,28.83
$GC,5810,1.09,133.8,2789,3770,2722,2619,383.3,18.6,371,5816,0.00,2.00,0.00,0.000,1030,0.000,0.079,2795,2602,2670,2722,2618,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6132,1.09,133.8,2796,2603,2722,2619,331.1,16.1,385,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2602,2671,2724,2618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6431,1.09,133.8,2796,2603,2722,2618,283.9,15.3,395,6436,0.00,2.12,0.00,0.000,260,0.000,0.121,2795,3767,2671,2725,2618,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6465,1.09,133.8,2794,3767,2724,2619,278.4,16.0,402,6471,0.00,2.00,0.00,0.000,1030,0.000,0.079,2803,2598,2670,2723,2618,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6770,1.09,133.8,2805,2599,2722,2619,235.6,12.8,423,6776,0.00,2.12,0.00,0.000,260,0.000,0.120,2803,3764,2671,2723,2619,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6820,1.09,133.8,2803,3765,2724,2619,228.9,13.5,433,6826,0.00,2.00,0.00,0.000,1030,0.000,0.078,2812,2599,2670,2722,2618,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7131,1.13,180.4,2812,2600,2724,2619,202.3,5.7,465,7177,0.00,2.15,38.90,1.433,8452,0.000,0.121,2811,3757,2485,2539,2432,0,0,0,0,0,0,28.83,14.28,13.73
$GC,7246,1.13,180.4,2813,3757,2534,2428,191.3,12.4,488,7253,0.00,2.03,0.00,0.000,1030,0.000,0.077,2821,2596,2480,2534,2427,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7551,1.16,202.1,2820,2597,2536,2426,158.9,8.9,519,7573,0.00,2.17,18.20,1.396,8452,0.000,0.121,2821,3769,2400,2457,2343,0,0,1,0,0,0,28.83,14.29,13.74
$GC,7603,1.16,202.1,2820,3769,2451,2340,153.0,12.0,529,7608,0.00,2.05,0.00,0.000,1030,0.000,0.078,2828,2595,2394,2449,2339,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7913,1.18,223.1,2830,2596,2449,2337,120.1,9.0,561,7935,0.00,0.00,17.55,1.349,8710,0.000,0.000,2829,2595,2315,2373,2257,0,0,0,0,0,0,28.83,28.83,13.75
$GC,8233,1.20,244.0,2830,2596,2369,2247,86.7,9.0,594,8245,0.00,2.20,8.70,0.403,8452,0.000,0.122,2829,3771,2236,2300,2173,0,0,0,0,0,0,28.83,14.40,14.14
$GC,8470,1.24,284.8,2830,3772,2313,2188,67.5,6.5,641,8497,0.00,2.05,21.77,0.368,9222,0.000,0.081,2838,2596,2070,2142,1998,0,0,0,0,0,0,28.83,14.42,14.21
$GC,8796,1.31,355.3,2837,2597,2160,2008,51.7,2.7,676,8837,0.00,2.20,36.00,0.325,8452,0.000,0.123,2838,3767,1781,1860,1703,0,0,0,0,0,0,28.83,14.38,14.21
$GC,9031,1.33,377.4,2839,3771,1863,1711,29.5,8.8,723,9048,0.00,2.05,11.68,0.262,9222,0.000,0.081,2847,2600,1690,1772,1608,0,0,0,0,0,0,28.83,14.47,14.28
$GC,9348,1.42,467.8,2846,2601,1781,1617,16.0,0.2,756,9399,0.12,2.12,44.38,0.232,10500,0.154,0.123,2894,3770,1321,1405,1237,0,0,0,0,0,0,14.50,14.39,14.27
$FREEZE,8.78,-1.066,-1.455,2,1,0
$FREEZE,8.40,-1.066,-1.455,2,1,0
$FREEZE,8.01,-0.965,-1.451,2,1,0
$FREEZE,7.73,-0.965,-1.451,2,1,0
$FREEZE,7.33,-0.479,-1.439,2,1,0
$FREEZE,6.91,-0.479,-1.439,2,1,0
$FREEZE,6.60,0.170,-1.427,2,1,0
$FREEZE,6.28,0.170,-1.426,2,1,0
$FREEZE,5.85,0.177,-1.430,2,1,0
$FREEZE,5.55,0.177,-1.430,2,1,0
$FREEZE,5.13,0.139,-1.433,2,1,0
$FREEZE,4.82,0.139,-1.433,2,1,0
$FREEZE,4.49,0.126,-1.434,2,1,0
$FREEZE,4.06,0.126,-1.434,2,1,0
$FREEZE,3.79,0.133,-1.435,2,1,0
$FREEZE,3.40,0.133,-1.434,2,1,0
$FREEZE,3.11,0.102,-1.436,2,1,0
$FREEZE,2.71,0.102,-1.435,2,1,0
$FREEZE,2.40,0.081,-1.436,2,1,0
$FREEZE,2.04,0.081,-1.436,2,1,0
$FREEZE,1.69,0.069,-1.435,2,1,0
$STATE,9577,end climb,SURFACE_DEPTH_REACHED
$STATE,9577,begin surface coast
$FREEZE,1.45,0.069,-1.435,2,1,0
$FREEZE,1.39,0.049,-1.436,2,1,0
$FREEZE,1.30,0.049,-1.436,2,1,0
$FREEZE,1.36,0.004,-1.439,2,1,0
$FINISH,1.4,1.021191
$STATE,9597,end surface coast,CONTROL_FINISHED_OK
$STATE,9597,begin surface
$SM_CCo,9614,98.62,0.191,0,0,499,669.67
$SM_GC,2.39,8.43,2.47,98.62,0.119,0.083,0.191,192,2366,499,-6.95,1.07,669.67,0,0,0,0,0,0,14.48,14.47,14.28
$RAFOS_CLK,422
$RAFOS_FIX,7312.624023,-14547.229492,200814,080832,2,255,0.22
$IRIDIUM_FIX,7242.81,-14439.04,200814,051358
$TT8_MAMPS,0.047936,0.047936
$HUMID,49.13
$INTERNAL_PRESSURE,8.42643
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3996880
$24V_AH,12.66,120.586
$10V_AH,12.91,0.000
$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,21.775,70.700,432.925,98.625,0.000,0.000,0.000,205.350,0.000,0.000,27.776,0.000,7446.047,651.023,1843.531,149.062,0.000,1500.415,0.000,1204.037,0.000,0.536,0.000
$DEVICE_MAMPS,472.005,126.990,2055.555,191.250,0.000,0.000,0.000,171.360,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9615.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.543,0.000,0.000,0.000
$MEM,256848
$DATA_FILE_SIZE,26725,806
$CAP_FILE_SIZE,122927,0
$CFSIZE,2097872896,2049376256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,12440.31,0x2378b6,7,5
$SOUNDSPEED,1447.7
$GPS,200814,112826,7315.056,-14550.897,16,0.7,36,22.4