version: 66.12
glider: 199
mission: 5
dive: 204
start: 8 24 114 5 18 13
data:
$ID,199
$MISSION,5
$DIVE,204
$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,-22217.756
$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,24
$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
$GPS1,240814,051054,7343.907,-14647.128,34,0.8,54,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-72.2
$GPS2,240814,051753,7343.912,-14647.113,5,0.7,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,301.2,2510,-28.1,-11.628,-30.87,1162
$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,16,-0.88,-87.7,194,2371,501,502,0.0,0.0,0,79,0.00,0.00,-62.12,0.000,16386,0.000,0.000,194,2371,2001,2016,1987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.97,-175.1,196,2371,2016,1989,3.2,-2.3,6,140,10.70,2.55,-43.03,0.000,18948,0.473,0.110,2113,945,3946,4001,3892,0,0,0,0,0,0,13.97,14.29,14.53
$GC,365,-0.97,-175.1,2113,945,4001,3897,96.4,-27.6,63,371,0.00,2.53,0.00,0.000,1030,0.000,0.099,2105,2362,3948,4001,3896,0,0,0,0,0,0,28.83,14.31,28.83
$GC,670,-0.97,-175.1,2106,2363,4000,3897,180.0,-26.4,94,675,0.00,2.42,0.00,0.000,516,0.000,0.085,2104,950,3948,4001,3896,0,0,0,0,0,0,28.83,14.39,28.83
$GC,850,-0.97,-175.1,2105,950,4002,3897,222.1,-21.9,130,855,0.00,2.50,0.00,0.000,1030,0.000,0.098,2094,2368,3948,4001,3896,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1160,-0.97,-175.1,2094,2369,4002,3897,290.3,-21.5,150,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2368,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-0.97,-175.1,2094,2368,4002,3897,352.2,-20.0,160,1465,0.00,2.42,0.00,0.000,516,0.000,0.083,2094,953,3948,4001,3896,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1510,-0.97,-175.1,2094,948,4002,3897,362.1,-19.1,170,1515,0.17,2.47,0.00,0.000,3078,0.331,0.099,2118,2361,3948,4001,3896,0,0,0,0,0,0,14.29,14.50,28.83
$GC,1821,-0.97,-175.1,2119,2361,4001,3897,417.1,-17.6,182,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2361,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,-0.97,-175.1,2118,2362,4002,3897,469.1,-17.3,192,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2361,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-0.97,-175.1,2117,2362,4002,3897,520.8,-17.3,202,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2362,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.97,-175.1,2118,2362,4002,3897,572.1,-17.2,212,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2361,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.97,-175.1,2118,2362,4002,3897,622.9,-16.8,222,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2361,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.97,-175.1,2119,2362,4001,3897,673.0,-16.7,232,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2361,3951,4006,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.97,-175.1,2118,2361,4003,3898,722.7,-16.6,242,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2361,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3798,begin apogee
$GC,3803,-0.14,0.0,2118,2607,4004,3898,751.9,-16.3,248,4024,1.05,0.00,218.25,1.668,10246,0.295,0.000,2378,2606,3229,3283,3175,0,0,0,0,0,0,14.40,28.83,13.02
$STATE,4025,end apogee,CONTROL_FINISHED_OK
$STATE,4025,begin climb
$GC,4027,0.97,175.1,2378,2607,3281,3173,760.0,0.0,255,4192,1.23,2.35,153.35,1.923,10500,0.145,0.116,2736,3767,2508,2570,2447,0,0,0,0,0,0,13.60,13.09,12.45
$GC,4281,0.97,175.1,2738,3768,2565,2441,731.9,19.5,309,4287,0.00,2.17,0.00,0.000,1030,0.000,0.077,2745,2593,2506,2573,2440,0,0,0,0,0,0,28.83,13.61,28.83
$GC,4612,0.97,175.1,2745,2594,2567,2439,672.2,17.9,325,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2593,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4911,0.97,175.1,2746,2594,2566,2439,618.9,17.7,335,4916,0.00,2.17,0.00,0.000,260,0.000,0.120,2745,3782,2501,2566,2437,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4946,0.97,175.1,2745,3783,2568,2446,612.2,19.7,342,4952,0.00,2.08,0.00,0.000,1030,0.000,0.079,2754,2600,2502,2566,2438,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5272,0.97,175.1,2755,2601,2567,2439,553.4,17.9,357,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2600,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5571,0.97,175.1,2755,2600,2566,2439,500.2,17.6,367,5576,0.00,2.15,0.00,0.000,260,0.000,0.122,2753,3765,2502,2567,2438,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5611,0.97,175.1,2755,3766,2566,2439,492.3,20.4,375,5617,0.00,2.03,0.00,0.000,1030,0.000,0.079,2765,2597,2502,2566,2438,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5932,0.97,175.1,2762,2599,2568,2439,434.7,17.9,389,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2596,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6231,0.97,175.1,2764,2597,2565,2439,380.9,17.9,399,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2596,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6532,0.97,175.1,2763,2597,2568,2439,328.0,17.5,409,6537,0.00,2.10,0.00,0.000,260,0.000,0.121,2763,3764,2502,2566,2438,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6581,0.97,175.1,2762,3765,2568,2439,318.2,19.5,419,6586,0.00,2.03,0.00,0.000,1030,0.000,0.080,2771,2597,2502,2566,2438,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6891,0.97,175.1,2772,2597,2566,2439,265.1,16.6,431,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2598,2502,2566,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7192,0.97,175.1,2771,2598,2568,2439,221.9,12.1,453,7197,0.00,2.10,0.00,0.000,260,0.000,0.121,2771,3763,2502,2566,2438,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7246,0.97,175.1,2771,3764,2568,2439,214.8,12.6,464,7253,0.10,2.00,0.00,0.000,5126,0.311,0.079,2752,2605,2502,2566,2438,0,0,0,0,0,0,14.36,14.61,28.83
$GC,7553,1.00,210.5,2756,2605,2568,2439,185.0,8.5,495,7584,0.00,0.00,30.27,1.340,8710,0.000,0.000,2756,2605,2371,2437,2305,0,0,0,0,0,0,28.83,28.83,13.82
$GC,7883,1.08,210.5,2756,2605,2427,2287,152.0,9.7,530,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2605,2356,2425,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8182,1.11,243.3,2756,2605,2427,2286,125.4,8.7,560,8214,0.12,2.53,27.25,1.289,10756,0.159,0.086,2809,1193,2230,2301,2159,0,0,0,0,0,0,14.45,14.33,13.78
$GC,8255,1.11,243.3,2811,1198,2298,2150,117.8,11.3,572,8260,0.00,2.55,0.00,0.000,1030,0.000,0.101,2809,2606,2222,2295,2149,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8564,1.17,243.3,2810,2607,2298,2148,82.0,10.3,604,8569,0.00,2.47,0.00,0.000,516,0.000,0.086,2819,1193,2222,2298,2147,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8614,1.20,280.3,2821,1193,2298,2147,77.8,8.4,614,8636,0.00,2.53,16.45,0.390,9222,0.000,0.100,2820,2601,2086,2163,2009,0,0,0,0,0,0,28.83,14.35,14.10
$GC,8935,1.29,363.2,2819,2601,2184,2023,51.0,4.3,648,8986,0.00,2.53,42.47,0.323,8708,0.000,0.086,2831,1194,1751,1835,1667,0,0,0,0,0,0,28.83,14.29,14.12
$GC,9210,1.35,428.1,2831,1195,1840,1672,33.8,5.9,703,9248,0.12,2.53,33.38,0.272,11270,0.152,0.101,2875,2600,1484,1573,1395,0,0,0,0,0,0,14.36,14.31,14.13
$GC,9545,1.45,524.2,2875,2601,1577,1401,17.9,3.1,740,9598,0.00,2.20,48.28,0.233,8452,0.000,0.125,2875,3768,1092,1176,1009,0,0,0,0,0,0,28.83,14.23,14.17
$FREEZE,9.00,-1.195,-1.479,2,1,0
$FREEZE,8.31,-1.195,-1.478,2,1,0
$FREEZE,6.62,-0.934,-1.468,2,1,0
$FREEZE,5.94,-0.934,-1.468,2,1,0
$FREEZE,5.23,-0.928,-1.467,2,1,0
$FREEZE,4.66,-0.928,-1.467,2,1,0
$FREEZE,3.92,-0.928,-1.466,2,1,0
$FREEZE,3.45,-0.928,-1.466,2,1,0
$FREEZE,2.67,-0.929,-1.465,2,1,0
$FREEZE,2.05,-0.929,-1.465,2,1,0
$FREEZE,1.46,-0.929,-1.465,2,1,0
$STATE,9706,end climb,SURFACE_DEPTH_REACHED
$STATE,9706,begin surface coast
$FREEZE,1.37,-0.929,-1.465,2,1,0
$FREEZE,1.38,-0.923,-1.124,2,1,0
$FINISH,1.4,1.016602
$STATE,9715,end surface coast,CONTROL_FINISHED_OK
$STATE,9715,begin surface
$SM_CCo,9733,72.25,0.189,0,0,499,669.67
$SM_GC,2.41,8.25,2.53,72.25,0.100,0.087,0.189,200,2366,499,-6.94,0.85,669.67,0,0,0,0,0,0,14.32,14.33,14.19
$RAFOS_CLK,12
$RAFOS_FIX,7337.650879,-14621.752930,230814,121234,4,255,16.94
$IRIDIUM_FIX,7304.81,-14648.30,240814,014940
$TT8_MAMPS,0.078645,0.078645
$HUMID,49.13
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,1
$SC_FREEKB,3993728
$24V_AH,12.45,129.919
$10V_AH,12.59,0.000
$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,21.750,56.375,569.700,72.250,0.000,0.000,0.000,233.425,0.250,0.000,27.839,0.000,7535.688,709.666,1816.770,163.421,0.000,1574.916,0.000,1149.710,1497.000,0.537,0.000
$DEVICE_MAMPS,472.770,127.755,1923.210,188.955,0.000,0.000,0.000,174.420,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.098,0.000,0.000,0.000
$MEM,242208
$DATA_FILE_SIZE,26733,772
$CAP_FILE_SIZE,117591,0
$CFSIZE,2097872896,2044198912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12189.37,0x2378b6,7,5
$SOUNDSPEED,1448.2
$GPS,240814,080249,7344.727,-14650.285,15,0.7,35,22.2