version: 66.12
glider: 199
mission: 5
dive: 227
start: 8 27 114 6 26 29
data:
$ID,199
$MISSION,5
$DIVE,227
$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,-22970.391
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,270814,061454,7403.937,-14654.856,27,0.9,47,22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.5
$GPS2,270814,062602,7403.900,-14654.765,5,0.8,25,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7415.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,344.4,20697,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-175.1,197,2369,493,497,0.0,0.0,0,80,0.00,0.00,-61.88,0.000,16386,0.000,0.000,195,2369,1966,1986,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,195,2366,1988,1948,3.1,-2.2,6,145,10.98,2.47,-45.92,0.000,19204,0.465,0.103,2189,944,3946,4002,3890,0,0,0,0,0,0,13.97,14.29,14.54
$GC,370,-0.72,-175.1,2189,949,4001,3895,83.6,-23.4,64,375,0.00,2.53,0.00,0.000,1030,0.000,0.099,2180,2363,3948,4002,3895,0,0,0,0,0,0,28.83,14.32,28.83
$GC,680,-0.72,-175.1,2180,2363,4003,3895,151.5,-20.8,96,685,0.00,2.45,0.00,0.000,516,0.000,0.085,2180,941,3948,4002,3894,0,0,0,0,0,0,28.83,14.43,28.83
$GC,890,-0.72,-175.1,2180,941,4003,3895,190.5,-17.9,138,895,0.12,2.50,0.00,0.000,3078,0.317,0.096,2192,2362,3948,4001,3895,0,0,0,0,0,0,14.26,14.44,28.83
$GC,1201,-0.72,-175.1,2192,2362,4003,3896,241.5,-15.0,170,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2361,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-0.72,-175.1,2194,2362,4002,3895,285.4,-14.4,184,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2362,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-0.72,-175.1,2192,2363,4003,3896,326.8,-13.5,194,1805,0.00,2.50,0.00,0.000,260,0.000,0.121,2183,3769,3948,4001,3895,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1875,-0.72,-175.1,2191,3770,4001,3896,337.6,-14.4,209,1880,0.00,2.45,0.00,0.000,1030,0.000,0.076,2183,2342,3948,4001,3895,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2191,-0.72,-175.1,2184,2343,4001,3894,380.4,-13.4,222,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2342,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-0.72,-175.1,2183,2343,3999,3896,420.3,-13.2,232,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2342,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2790,-0.72,-175.1,2183,2344,4002,3896,459.5,-13.0,242,2795,0.00,2.55,0.00,0.000,260,0.000,0.122,2170,3767,3948,4001,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2835,-0.72,-175.1,2174,3766,4001,3896,465.8,-14.3,251,2840,0.00,2.38,0.00,0.000,1030,0.000,0.075,2173,2353,3948,4002,3895,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3150,-0.72,-175.1,2173,2353,4003,3896,508.7,-13.5,264,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2352,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3450,-0.72,-175.1,2172,2353,4003,3896,549.0,-13.3,274,3451,0.12,0.00,0.00,0.000,2054,0.301,0.000,2197,2353,3948,4002,3895,0,0,0,0,0,0,14.40,28.83,28.83
$GC,3750,-0.72,-175.1,2198,2353,4008,3896,584.2,-11.6,284,3755,0.00,2.53,0.00,0.000,260,0.000,0.120,2188,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3805,-0.72,-175.1,2187,3768,4002,3896,591.1,-12.8,295,3811,0.00,2.38,0.00,0.000,1030,0.000,0.073,2187,2351,3949,4002,3896,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4110,-0.72,-175.1,2189,2351,4001,3896,628.4,-12.1,306,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2351,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.72,-175.1,2188,2352,4003,3897,665.0,-12.1,316,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2351,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.72,-175.1,2189,2351,4001,3897,701.0,-11.9,326,4715,0.00,2.55,0.00,0.000,260,0.000,0.120,2177,3772,3949,4001,3897,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4755,-0.72,-175.1,2179,3772,4001,3897,706.8,-12.9,335,4760,0.00,2.38,0.00,0.000,1030,0.000,0.074,2177,2355,3949,4001,3897,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5070,-0.72,-175.1,2179,2354,4001,3898,746.2,-12.5,348,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2354,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5128,begin apogee
$GC,5133,-0.14,0.0,2177,2605,4000,3898,753.6,-12.4,350,5348,0.82,0.00,212.45,1.720,10246,0.272,0.000,2386,2604,3232,3286,3178,0,0,0,0,0,0,14.34,28.83,13.00
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5349,begin climb
$GC,5351,0.72,175.1,2387,2605,3281,3174,761.6,0.0,357,5512,0.93,0.00,155.38,1.923,10502,0.137,0.000,2659,2604,2514,2579,2450,0,0,0,0,0,0,13.59,28.83,12.43
$GC,5791,0.72,175.1,2659,2605,2574,2431,719.0,12.9,397,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2604,2498,2570,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,0.72,175.1,2660,2605,2570,2431,680.1,13.0,407,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2604,2500,2571,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6390,0.72,175.1,2658,2605,2572,2431,642.1,12.7,417,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2604,2500,2570,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6690,0.72,175.1,2660,2605,2570,2431,604.1,12.6,427,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2604,2500,2571,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,0.72,175.1,2658,2605,2572,2431,566.7,12.5,437,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2604,2500,2571,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7290,0.72,175.1,2660,2605,2570,2431,529.4,12.5,447,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2604,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7590,0.72,175.1,2660,2605,2570,2431,492.0,12.4,457,7595,0.00,2.42,0.00,0.000,516,0.000,0.082,2669,1197,2500,2570,2430,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7630,0.72,175.1,2670,1197,2570,2431,487.1,11.9,465,7635,0.00,2.45,0.00,0.000,1030,0.000,0.097,2669,2598,2500,2570,2430,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7951,0.72,175.1,2669,2599,2572,2431,445.8,13.0,479,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2599,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8250,0.72,175.1,2669,2599,2566,2431,407.3,12.8,489,8255,0.00,2.40,0.00,0.000,516,0.000,0.081,2679,1188,2500,2570,2430,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8275,0.72,175.1,2681,1188,2570,2429,404.3,11.7,494,8281,0.00,2.47,0.00,0.000,1030,0.000,0.096,2679,2606,2500,2570,2430,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8580,0.72,175.1,2679,2606,2573,2433,364.1,13.1,505,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2606,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8880,0.72,175.1,2680,2606,2570,2431,325.7,12.6,515,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2606,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9180,0.72,175.1,2681,2606,2570,2431,289.1,12.0,525,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2606,2500,2571,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9480,0.72,175.1,2679,2607,2571,2431,255.0,11.3,535,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2606,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9780,0.79,245.2,2679,2606,2572,2431,225.6,8.5,561,9846,0.00,2.47,59.38,1.421,8708,0.000,0.082,2689,1197,2219,2297,2142,0,0,0,0,0,0,28.83,14.26,13.65
$GC,9895,0.86,245.2,2689,1206,2293,2139,214.6,10.0,584,9902,0.00,2.53,0.00,0.000,1030,0.000,0.096,2690,2604,2215,2292,2138,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10202,0.92,245.2,2689,2604,2293,2137,182.3,10.3,615,10203,0.12,0.00,0.00,0.000,2054,0.153,0.000,2732,2603,2214,2292,2136,0,0,0,0,0,0,14.46,28.83,28.83
$GC,10501,0.97,245.2,2734,2604,2293,2136,147.7,10.2,645,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2603,2213,2292,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10801,1.03,245.2,2732,2604,2294,2135,117.3,10.2,675,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2603,2213,2292,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11101,1.12,335.1,2732,2604,2294,2134,91.9,7.6,705,11152,0.20,2.15,43.60,0.442,11012,0.119,0.122,2803,3768,1865,1947,1784,0,0,0,0,0,0,14.42,14.29,14.07
$GC,11177,1.12,335.1,2803,3769,1954,1791,82.3,16.8,718,11183,0.00,2.03,0.00,0.000,1030,0.000,0.077,2811,2608,1872,1953,1791,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11482,1.31,526.1,2811,2608,1960,1793,52.2,3.2,749,11590,0.15,2.53,98.70,0.324,10756,0.133,0.084,2875,1193,1084,1159,1010,0,0,0,0,0,0,14.38,14.21,14.03
$GC,11695,1.31,526.1,2875,1193,1168,1011,27.7,14.5,791,11700,0.00,2.53,0.00,0.000,1030,0.000,0.098,2875,2600,1090,1166,1015,0,0,0,0,0,0,28.83,14.23,28.83
$FREEZE,8.68,-1.120,-1.463,2,1,0
$FREEZE,7.77,-1.123,-1.462,2,1,0
$FREEZE,6.78,-1.122,-1.461,2,1,0
$FREEZE,5.77,-1.123,-1.460,2,1,0
$FREEZE,4.65,-1.124,-1.459,2,1,0
$FREEZE,3.86,-1.127,-1.459,2,1,0
$FREEZE,2.81,-1.129,-1.458,2,1,0
$FREEZE,1.81,-1.130,-1.457,2,1,0
$STATE,11923,end climb,SURFACE_DEPTH_REACHED
$STATE,11923,begin surface coast
$FREEZE,1.38,-1.134,-0.189,2,1,0
$FINISH,1.4,1.002556
$STATE,11935,end surface coast,FINISH_DEPTH_REACHED
$STATE,11935,begin surface
$SM_CCo,11951,71.55,0.191,0,0,498,669.67
$SM_GC,2.45,8.20,0.45,71.55,0.098,0.095,0.191,194,2349,498,-6.95,0.71,669.67,0,0,0,0,0,0,14.40,14.40,14.23
$RAFOS_CLK,288
$RAFOS_FIX,7356.273438,-14652.247070,260814,202010,2,255,0.27
$IRIDIUM_FIX,7327.28,-14704.14,270814,061751
$TT8_MAMPS,0.046438,0.046438
$HUMID,49.44
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3990800
$24V_AH,12.43,137.552
$10V_AH,12.56,0.000
$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,21.650,54.550,569.500,71.550,0.000,0.000,0.000,424.500,0.000,0.000,26.292,0.000,9691.676,717.562,2095.640,193.346,0.000,1807.612,0.000,1216.467,1473.000,0.538,0.000
$DEVICE_MAMPS,465.120,124.695,1923.210,191.250,0.000,0.000,0.000,162.180,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.354,0.000,0.000,0.000
$MEM,229920
$DATA_FILE_SIZE,26708,816
$CAP_FILE_SIZE,133614,0
$CFSIZE,2097872896,2039840768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12408.35,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,270814,094824,7405.346,-14654.674,38,0.7,58,22.2