version: 66.12
glider: 199
mission: 5
dive: 203
start: 8 24 114 1 55 3
data:
$ID,199
$MISSION,5
$DIVE,203
$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,-22216.496
$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,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
$GPS1,240814,014648,7342.604,-14644.074,35,0.8,55,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-72.1
$GPS2,240814,015444,7342.629,-14643.988,5,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.4,5384,-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,-175.1,200,2364,499,506,0.0,0.0,0,79,0.00,0.00,-62.28,0.000,16386,0.000,0.000,199,2364,2004,2018,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-175.1,200,2364,2018,1992,3.2,-2.2,6,144,10.93,2.50,-44.47,0.000,18948,0.465,0.109,2187,965,3945,4002,3889,0,0,0,0,0,0,13.98,14.27,14.52
$GC,369,-0.72,-175.1,2189,965,4002,3894,83.6,-22.2,64,374,0.00,2.50,0.00,0.000,1030,0.000,0.099,2178,2367,3948,4002,3894,0,0,0,0,0,0,28.83,14.31,28.83
$GC,679,-0.72,-175.1,2179,2368,4003,3895,152.8,-20.8,96,684,0.00,2.45,0.00,0.000,516,0.000,0.086,2179,944,3948,4002,3894,0,0,0,0,0,0,28.83,14.43,28.83
$GC,753,-0.72,-175.1,2180,945,4001,3894,167.7,-19.4,111,760,0.12,2.50,0.00,0.000,3078,0.321,0.099,2192,2360,3945,3997,3894,0,0,0,0,0,0,14.21,14.39,28.83
$GC,1059,-0.72,-175.1,2193,2361,4002,3894,222.1,-16.4,142,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2359,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1369,-0.72,-175.1,2193,2361,4002,3895,268.6,-14.8,165,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-0.72,-175.1,2193,2360,4002,3894,311.2,-13.9,175,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2359,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1969,-0.72,-175.1,2192,2360,4003,3895,351.1,-13.2,185,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.72,-175.1,2194,2360,4002,3895,390.4,-13.0,195,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-0.72,-175.1,2192,2361,4003,3895,428.4,-12.5,205,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2360,3946,3999,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.72,-175.1,2193,2366,4001,3894,465.9,-12.5,215,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3169,-0.72,-175.1,2193,2360,4002,3895,503.0,-12.4,225,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3469,-0.72,-175.1,2193,2360,4002,3896,539.5,-12.1,235,3474,0.00,2.50,0.00,0.000,260,0.000,0.121,2183,3767,3948,4002,3894,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3503,-0.72,-175.1,2183,3768,4003,3894,544.2,-13.3,242,3509,0.00,2.42,0.00,0.000,1030,0.000,0.076,2183,2355,3948,4002,3894,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3830,-0.72,-175.1,2184,2355,4001,3895,585.9,-12.8,257,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2354,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,-0.72,-175.1,2184,2354,4002,3895,624.1,-12.7,267,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2354,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.72,-175.1,2184,2354,4002,3895,662.4,-12.7,277,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2354,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4729,-0.72,-175.1,2183,2354,4004,3896,700.1,-12.5,287,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2354,3949,4004,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5029,-0.72,-175.1,2183,2355,4003,3896,737.1,-12.3,297,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2354,3946,3998,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5147,begin apogee
$GC,5151,-0.14,0.0,2182,2604,4003,3896,751.7,-12.2,301,5314,0.77,0.00,155.40,2.516,10246,0.265,0.000,2380,2603,3231,3284,3179,0,0,0,0,1,0,14.40,28.83,12.61
$STATE,5315,end apogee,CONTROL_FINISHED_OK
$STATE,5315,begin climb
$GC,5317,0.72,175.1,2382,2603,3289,3181,757.5,0.0,306,5485,0.98,2.33,158.95,1.898,10500,0.139,0.116,2667,3761,2509,2574,2444,0,0,0,0,0,0,13.44,13.07,12.43
$GC,5604,0.72,175.1,2663,3765,2572,2440,732.1,15.4,367,5610,0.00,2.12,0.00,0.000,1030,0.000,0.071,2672,2604,2506,2573,2439,0,0,0,0,0,0,28.83,13.67,28.83
$GC,5931,0.72,175.1,2672,2603,2572,2438,686.7,13.9,382,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2605,2508,2578,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6229,0.72,175.1,2673,2605,2570,2437,645.5,13.7,392,6235,0.00,2.42,0.00,0.000,516,0.000,0.084,2683,1197,2503,2571,2436,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6249,0.72,175.1,2682,1198,2572,2437,642.9,13.3,396,6255,0.00,2.50,0.00,0.000,1030,0.000,0.097,2682,2602,2503,2571,2436,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6560,0.72,175.1,2684,2601,2570,2437,599.2,14.1,408,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2600,2503,2571,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6859,0.72,175.1,2684,2600,2570,2436,556.9,14.0,418,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2601,2503,2570,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7159,0.72,175.1,2682,2601,2571,2437,514.9,13.9,428,7165,0.00,2.40,0.00,0.000,516,0.000,0.083,2693,1196,2503,2571,2436,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7189,0.72,175.1,2692,1197,2572,2436,510.8,13.8,434,7195,0.00,2.45,0.00,0.000,1030,0.000,0.097,2692,2599,2503,2570,2436,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7519,0.72,175.1,2691,2600,2572,2437,463.7,14.3,450,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2599,2502,2570,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7819,0.72,175.1,2688,2600,2572,2436,420.9,14.2,460,7825,0.00,2.40,0.00,0.000,516,0.000,0.082,2702,1196,2503,2570,2436,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7839,0.72,175.1,2702,1197,2574,2436,418.1,13.8,464,7845,0.15,2.47,0.00,0.000,5126,0.298,0.096,2673,2606,2503,2570,2436,0,0,0,0,0,0,14.31,14.51,28.83
$GC,8151,0.72,175.1,2672,2606,2572,2436,378.0,12.8,476,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2606,2502,2570,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8449,0.72,175.1,2673,2606,2572,2436,339.7,12.6,486,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2608,2502,2570,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8749,0.72,175.1,2672,2606,2572,2436,303.3,12.0,496,8755,0.00,2.42,0.00,0.000,516,0.000,0.083,2682,1195,2503,2570,2436,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8804,0.72,175.1,2681,1195,2570,2436,296.9,11.9,507,8811,0.00,2.47,0.00,0.000,1030,0.000,0.096,2681,2599,2503,2570,2436,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9111,0.72,175.1,2687,2600,2570,2436,260.9,11.5,518,9115,0.00,2.40,0.00,0.000,516,0.000,0.081,2691,1195,2502,2570,2435,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9140,0.77,175.1,2693,1199,2571,2436,257.6,10.6,524,9145,0.00,2.47,0.00,0.000,1030,0.000,0.097,2691,2604,2500,2570,2431,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9450,0.84,175.1,2691,2604,2572,2442,224.1,9.8,554,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2604,2506,2570,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9750,0.92,260.4,2687,2605,2572,2437,198.5,7.8,584,9832,0.12,2.55,72.70,1.385,10756,0.159,0.083,2744,1189,2157,2232,2083,0,0,0,0,0,0,14.56,14.14,13.58
$GC,9932,0.92,260.4,2745,1190,2230,2076,177.4,12.7,620,9938,0.00,2.53,0.00,0.000,1030,0.000,0.096,2744,2600,2152,2229,2075,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10242,0.92,260.4,2745,2601,2229,2074,138.7,11.9,652,10247,0.00,2.08,0.00,0.000,260,0.000,0.119,2744,3768,2151,2229,2073,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10302,0.92,260.4,2744,3769,2230,2074,130.4,14.0,664,10307,0.00,2.03,0.00,0.000,1030,0.000,0.077,2753,2603,2150,2228,2073,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10613,0.99,260.4,2754,2604,2228,2073,96.5,10.0,696,10618,0.00,2.42,0.00,0.000,516,0.000,0.083,2763,1194,2151,2229,2073,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10699,1.05,322.7,2764,1193,2229,2072,88.4,8.9,713,10735,0.00,2.50,29.10,0.428,9222,0.000,0.097,2764,2600,1915,2000,1831,0,0,0,0,0,0,28.83,14.38,14.07
$GC,11033,1.14,416.6,2769,2601,2013,1843,54.8,7.5,750,11089,0.12,2.50,48.85,0.330,10756,0.155,0.084,2819,1204,1530,1619,1442,0,0,0,0,0,0,14.35,14.27,14.06
$GC,11124,1.17,416.6,2820,1205,1624,1446,45.7,11.0,768,11129,0.00,2.50,0.00,0.000,1030,0.000,0.096,2819,2600,1535,1624,1446,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11434,1.40,646.3,2821,2601,1624,1445,22.6,1.4,800,11557,0.20,2.12,114.57,0.235,10500,0.122,0.118,2888,3772,593,622,564,0,0,0,0,0,0,14.36,14.16,14.10
$FREEZE,8.35,-1.112,-1.474,2,1,0
$FREEZE,7.44,-1.062,-1.471,2,1,0
$FREEZE,6.60,-1.062,-1.470,2,1,0
$FREEZE,5.61,-0.954,-1.465,2,1,0
$FREEZE,4.66,-0.954,-1.464,2,1,0
$FREEZE,3.73,-0.928,-1.463,2,1,0
$FREEZE,2.88,-0.928,-1.462,2,1,0
$FREEZE,2.02,-0.916,-1.462,2,1,0
$FREEZE,1.38,-0.916,-1.461,2,1,0
$STATE,11620,end climb,SURFACE_DEPTH_REACHED
$STATE,11620,begin surface coast
$FREEZE,1.44,-0.934,-0.642,2,1,0
$FINISH,1.4,1.009409
$STATE,11625,end surface coast,FINISH_DEPTH_REACHED
$STATE,11625,begin surface
$SM_CCo,11643,11.70,0.202,0,0,499,669.91
$SM_GC,2.93,8.27,2.50,11.70,0.096,0.080,0.202,194,2370,499,-6.96,1.07,669.91,0,0,0,0,0,0,14.31,14.32,14.21
$RAFOS_CLK,187
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14631.32,230814,222304
$TT8_MAMPS,0.048685,0.048685
$HUMID,48.81
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3993852
$24V_AH,12.43,129.577
$10V_AH,12.46,0.000
$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,21.675,67.950,579.575,11.700,0.000,0.000,0.000,286.125,0.000,0.000,27.745,0.000,9293.367,659.684,2010.191,176.392,0.000,1646.647,0.000,1240.272,1479.000,0.536,0.000
$DEVICE_MAMPS,465.120,126.225,2516.085,201.960,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11677.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.420,0.000,0.000,0.000
$MEM,242864
$DATA_FILE_SIZE,29982,838
$CAP_FILE_SIZE,131884,0
$CFSIZE,2097872896,2044362752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,12438.30,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,240814,051054,7343.907,-14647.128,34,0.8,54,22.2