version: 66.12
glider: 199
mission: 5
dive: 201
start: 8 23 114 19 6 0
data:
$ID,199
$MISSION,5
$DIVE,201
$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,-22213.975
$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,33
$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
$GPS1,230814,185548,7339.929,-14637.357,38,0.9,58,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-71.8
$GPS2,230814,190540,7339.953,-14637.222,6,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.5,11456,-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,-175.1,196,2349,504,498,0.0,0.0,0,79,0.00,0.00,-62.20,0.000,16386,0.000,0.000,195,2349,1998,2012,1985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-175.1,195,2350,2014,1986,3.1,-1.8,6,144,11.02,2.45,-45.00,0.000,18948,0.468,0.115,2189,953,3947,4002,3892,0,0,0,0,0,0,13.94,14.28,14.52
$GC,369,-0.72,-175.1,2189,954,4002,3896,83.0,-23.3,64,374,0.00,2.50,0.00,0.000,1030,0.000,0.098,2181,2361,3948,4002,3895,0,0,0,0,0,0,28.83,14.33,28.83
$GC,679,-0.72,-175.1,2183,2362,4002,3896,151.9,-21.1,96,684,0.00,2.42,0.00,0.000,516,0.000,0.085,2181,953,3948,4002,3895,0,0,0,0,0,0,28.83,14.44,28.83
$GC,774,-0.72,-175.1,2183,954,4002,3896,170.3,-18.5,115,781,0.12,2.50,0.00,0.000,3078,0.324,0.099,2193,2363,3948,4002,3895,0,0,0,0,0,0,14.21,14.38,28.83
$GC,1079,-0.72,-175.1,2192,2364,4004,3896,224.1,-16.3,146,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2363,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1399,-0.72,-175.1,2194,2363,4002,3896,272.8,-14.8,168,1404,0.00,2.50,0.00,0.000,260,0.000,0.122,2184,3769,3948,4002,3895,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1473,-0.72,-175.1,2185,3769,4001,3896,284.7,-16.4,183,1479,0.00,2.38,0.00,0.000,1030,0.000,0.077,2183,2361,3951,4008,3895,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1789,-0.72,-175.1,2185,2361,4002,3896,330.3,-14.1,196,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2365,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2089,-0.72,-175.1,2185,2361,4002,3896,371.7,-13.6,206,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2361,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-0.72,-175.1,2185,2361,4002,3896,412.7,-13.6,216,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.72,-175.1,2183,2361,4004,3896,452.8,-13.3,226,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.72,-175.1,2183,2361,4004,3896,492.4,-13.1,236,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3290,-0.72,-175.1,2183,2361,4003,3896,531.9,-13.1,246,3294,0.00,2.53,0.00,0.000,260,0.000,0.119,2173,3765,3946,4002,3891,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3334,-0.72,-175.1,2174,3769,4002,3897,538.3,-14.1,255,3339,0.00,2.42,0.00,0.000,1030,0.000,0.076,2172,2358,3946,3998,3895,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3650,-0.72,-175.1,2174,2358,4002,3895,581.1,-13.5,268,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2357,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3949,-0.72,-175.1,2174,2358,4003,3896,621.4,-13.4,278,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2358,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4249,-0.72,-175.1,2174,2358,4000,3896,661.2,-13.2,288,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2358,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4549,-0.72,-175.1,2173,2358,4004,3895,700.5,-13.1,298,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2358,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4849,-0.72,-175.1,2171,2358,4004,3897,739.9,-13.1,308,4854,0.00,2.55,0.00,0.000,260,0.000,0.119,2160,3775,3949,4002,3897,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4889,-0.72,-175.1,2163,3775,4002,3897,745.6,-14.7,316,4894,0.15,2.42,0.00,0.000,3078,0.282,0.076,2193,2344,3949,4002,3896,0,0,0,0,0,0,14.35,14.55,28.83
$STATE,4937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4937,begin apogee
$GC,4942,-0.14,0.0,2190,2608,4002,3897,751.7,-12.0,321,5166,0.73,0.00,221.02,1.615,10246,0.269,0.000,2379,2607,3230,3283,3177,0,0,0,0,0,0,14.35,28.83,13.00
$STATE,5167,end apogee,CONTROL_FINISHED_OK
$STATE,5167,begin climb
$GC,5169,0.72,175.1,2379,2608,3282,3174,760.3,0.0,328,5332,0.98,2.78,157.20,1.948,10756,0.146,0.080,2676,1193,2509,2575,2444,0,0,1,0,0,0,13.58,13.11,12.42
$GC,5347,0.75,175.1,2671,1193,2572,2440,751.4,10.9,337,5352,0.00,2.72,0.00,0.000,1030,0.000,0.094,2671,2597,2505,2572,2438,0,0,0,0,0,0,28.83,13.24,28.83
$GC,5663,0.75,175.1,2670,2603,2573,2432,708.2,13.8,350,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2501,2572,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5961,0.75,175.1,2672,2598,2571,2432,667.1,13.7,360,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6262,0.75,175.1,2670,2598,2573,2432,626.0,13.7,370,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2501,2572,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6561,0.75,175.1,2671,2598,2573,2432,585.5,13.5,380,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2501,2572,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6861,0.75,175.1,2670,2598,2573,2432,545.3,13.3,390,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2501,2572,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7161,0.75,175.1,2671,2598,2573,2432,505.4,13.2,400,7167,0.00,2.42,0.00,0.000,516,0.000,0.083,2681,1174,2501,2572,2431,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7186,0.75,175.1,2682,1178,2571,2438,502.2,12.4,405,7193,0.00,2.50,0.00,0.000,1030,0.000,0.096,2680,2603,2501,2571,2431,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7491,0.75,175.1,2680,2603,2572,2432,460.3,13.8,416,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2603,2501,2572,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7791,0.75,175.1,2682,2603,2571,2431,419.3,13.7,426,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2603,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8091,0.75,175.1,2681,2603,2573,2432,378.3,13.6,436,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2602,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8391,0.75,175.1,2682,2603,2571,2432,338.2,13.4,446,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2603,2501,2571,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8691,0.75,175.1,2681,2603,2573,2432,299.4,12.8,456,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2603,2503,2571,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8991,0.75,175.1,2681,2603,2573,2432,263.5,11.3,466,8997,0.00,2.45,0.00,0.000,516,0.000,0.083,2691,1195,2501,2571,2431,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9011,0.81,175.1,2691,1195,2574,2432,261.4,10.2,470,9017,0.00,2.45,0.00,0.000,1030,0.000,0.096,2691,2600,2501,2571,2431,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9321,0.86,220.7,2691,2601,2574,2432,228.1,9.6,496,9363,0.00,0.00,39.28,1.384,8198,0.000,0.000,2691,2603,2324,2393,2255,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9663,0.91,273.4,2691,2601,2388,2241,192.3,9.3,530,9714,0.12,2.47,45.10,1.375,10756,0.154,0.081,2750,1194,2104,2183,2026,0,0,0,0,0,0,14.47,14.19,13.62
$GC,9773,0.91,273.4,2751,1195,2178,2016,178.1,13.4,552,9779,0.00,2.53,0.00,0.000,1030,0.000,0.096,2750,2601,2096,2178,2015,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10083,0.91,273.4,2750,2602,2179,2014,136.6,12.3,584,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2601,2095,2177,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10383,0.91,273.4,2750,2602,2179,2013,100.8,11.4,614,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2601,2096,2179,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,0.99,350.9,2750,2602,2179,2013,69.3,8.2,644,10725,0.00,0.00,36.30,0.374,8710,0.000,0.000,2750,2601,1798,1883,1714,0,0,0,0,0,0,28.83,28.83,14.06
$GC,11024,1.16,518.3,2750,2602,1895,1724,43.5,4.2,679,11116,0.17,2.20,85.82,0.294,10500,0.132,0.121,2814,3771,1116,1198,1034,0,0,0,0,0,0,14.36,14.23,14.09
$GC,11136,1.16,518.3,2815,3772,1198,1040,32.9,14.5,698,11142,0.00,2.08,0.00,0.000,1030,0.000,0.077,2823,2599,1116,1193,1040,0,0,0,0,0,0,28.83,14.26,28.83
$FREEZE,8.83,-1.192,-1.480,2,1,0
$FREEZE,7.92,-1.174,-1.479,2,1,0
$FREEZE,7.20,-1.151,-1.478,2,1,0
$FREEZE,6.33,-0.994,-1.471,2,1,0
$FREEZE,5.64,-0.757,-1.462,2,1,0
$FREEZE,4.93,-0.415,-1.452,2,1,0
$FREEZE,4.09,-0.353,-1.451,2,1,0
$FREEZE,3.80,-0.353,-1.451,2,1,0
$FREEZE,3.36,-0.310,-1.450,2,1,0
$FREEZE,2.90,-0.310,-1.450,2,1,0
$FREEZE,2.55,-0.281,-1.450,2,1,0
$FREEZE,1.96,-0.281,-1.450,2,1,0
$GC,11448,1.25,608.6,2823,2599,1203,1040,4.1,7.6,730,11481,0.00,0.00,31.55,0.197,8706,0.000,0.000,2823,2598,858,933,784,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11481,end climb,SURFACE_DEPTH_REACHED
$STATE,11481,begin surface coast
$FREEZE,1.50,-0.413,-1.458,2,1,0
$FREEZE,1.50,-0.427,-1.006,2,1,0
$FREEZE,1.43,-0.416,-1.459,2,1,0
$FINISH,1.4,1.021492
$STATE,11506,end surface coast,CONTROL_FINISHED_OK
$STATE,11506,begin surface
$SM_CCo,11521,44.35,0.194,0,0,499,669.67
$SM_GC,2.33,7.95,0.40,44.35,0.086,0.102,0.194,193,2365,499,-6.95,1.05,669.67,0,0,0,0,0,0,14.38,14.39,14.25
$RAFOS_CLK,367
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14646.10,230814,120435
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.25
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3994120
$24V_AH,12.42,128.844
$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,21.250,50.175,616.275,44.350,0.000,0.000,0.000,384.525,0.000,0.000,28.375,0.000,9268.599,767.108,1917.436,204.326,0.000,1741.456,0.000,1104.274,1483.000,0.537,0.000
$DEVICE_MAMPS,468.180,121.635,1948.455,193.545,0.000,0.000,0.000,185.130,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11542.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.759,0.000,0.000,0.000
$MEM,243940
$DATA_FILE_SIZE,26675,738
$CAP_FILE_SIZE,125637,0
$CFSIZE,2097872896,2044788736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,12673.27,0x2378b6,7,5
$SOUNDSPEED,1449.2
$GPS,230814,222013,7341.255,-14640.561,35,0.8,55,22.2