version: 66.12
glider: 199
mission: 5
dive: 280
start: 9 3 114 22 31 19
data:
$ID,199
$MISSION,5
$DIVE,280
$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,-24492.119
$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
$GPS1,030914,222237,7441.651,-14701.498,16,0.8,36,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-28.3
$GPS2,030914,223058,7441.715,-14701.497,4,0.8,24,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.6,61881,-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,16,-0.72,-175.1,188,2364,551,459,0.0,0.0,0,200,0.00,0.00,-181.38,0.000,16390,0.000,0.000,188,2364,3943,4004,3883,0,0,0,0,0,0,28.83,28.83,14.54
$GC,204,-0.72,-175.1,190,2364,4004,3884,1.7,-0.1,18,219,7.40,2.47,0.00,0.000,2564,0.239,0.079,2200,952,3946,4006,3886,0,0,0,0,0,0,14.14,14.26,28.83
$GC,224,-0.72,-175.1,2201,952,4005,3885,1.8,-0.5,22,229,0.00,2.53,0.00,0.000,1030,0.000,0.094,2197,2364,3945,4005,3886,0,0,0,0,0,0,28.83,14.24,28.83
$GC,534,-0.72,-175.1,2198,2365,4005,3887,1.9,-0.1,54,539,0.00,2.55,0.00,0.000,260,0.000,0.119,2189,3770,3946,4006,3887,0,0,0,0,0,0,28.83,14.25,28.83
$GC,764,-0.72,-175.1,2190,3771,4005,3888,1.8,0.3,100,769,0.00,2.42,0.00,0.000,1030,0.000,0.077,2189,2362,3946,4006,3887,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1074,-0.72,-175.1,2189,2363,4007,3888,1.8,0.1,132,1079,0.00,2.58,0.00,0.000,260,0.000,0.119,2188,3769,3946,4005,3887,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1305,-0.72,-175.1,2188,3770,4007,3888,1.7,0.7,178,1310,0.00,2.42,0.00,0.000,1030,0.000,0.077,2188,2361,3946,4005,3887,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1615,-0.72,-175.1,2189,2361,4005,3887,1.8,0.1,210,1620,0.00,2.58,0.00,0.000,260,0.000,0.119,2188,3767,3946,4006,3887,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1846,-0.72,-175.1,2188,3768,4007,3888,1.7,0.2,256,1851,0.00,2.42,0.00,0.000,1030,0.000,0.076,2187,2361,3946,4006,3886,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2156,-0.72,-175.1,2187,2361,4007,3886,1.7,0.1,288,2161,0.00,2.58,0.00,0.000,260,0.000,0.119,2187,3766,3946,4005,3887,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2387,-0.72,-175.1,2187,3764,4007,3888,1.8,0.1,334,2392,0.00,2.45,0.00,0.000,1030,0.000,0.077,2187,2357,3945,4006,3884,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2697,-0.72,-175.1,2187,2359,4007,3888,1.8,0.1,366,2702,0.00,2.60,0.00,0.000,260,0.000,0.120,2187,3764,3944,4007,3882,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2928,-0.72,-175.1,2187,3765,4007,3887,1.8,0.2,412,2933,0.00,2.42,0.00,0.000,1030,0.000,0.076,2187,2359,3946,4005,3887,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3237,-0.72,-175.1,2187,2360,4007,3887,1.8,0.0,444,3242,0.00,2.60,0.00,0.000,260,0.000,0.121,2185,3772,3946,4005,3887,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3469,-0.72,-175.1,2187,3773,4005,3887,1.7,0.4,490,3474,0.00,2.45,0.00,0.000,1030,0.000,0.077,2186,2355,3946,4006,3887,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3778,-0.72,-175.1,2185,2356,4005,3888,1.8,-0.3,522,3783,0.00,2.60,0.00,0.000,260,0.000,0.120,2180,3767,3946,4006,3887,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4010,-0.72,-175.1,2180,3768,4005,3888,1.7,-0.1,568,4015,0.00,2.45,0.00,0.000,1030,0.000,0.076,2179,2354,3946,4006,3887,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4320,-0.72,-175.1,2180,2355,4007,3888,1.8,-0.0,600,4324,0.00,2.60,0.00,0.000,260,0.000,0.119,2176,3771,3946,4005,3887,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4551,-0.72,-175.1,2176,3771,4007,3887,1.8,-0.3,646,4555,0.00,2.45,0.00,0.000,1030,0.000,0.076,2176,2355,3946,4005,3887,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4860,-0.72,-175.1,2176,2355,4013,3887,1.7,-0.4,678,4865,0.00,2.58,0.00,0.000,260,0.000,0.120,2174,3764,3946,4006,3887,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5092,-0.72,-175.1,2176,3763,4005,3888,1.6,0.6,724,5096,0.00,2.45,0.00,0.000,1030,0.000,0.076,2175,2347,3946,4005,3887,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5413,-0.72,-175.1,2175,2347,4007,3888,1.7,0.1,756,5418,0.00,2.60,0.00,0.000,260,0.000,0.119,2178,3763,3946,4005,3887,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5644,-0.72,-175.1,2176,3766,4005,3887,1.7,0.2,802,5648,0.00,2.45,0.00,0.000,1030,0.000,0.076,2175,2354,3946,4005,3887,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5953,-0.72,-175.1,2173,2355,4007,3888,1.7,0.1,834,5958,0.00,2.62,0.00,0.000,260,0.000,0.120,2175,3771,3946,4005,3887,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6185,-0.72,-175.1,2175,3773,4007,3888,1.7,-0.1,880,6189,0.00,2.47,0.00,0.000,1030,0.000,0.076,2175,2355,3946,4006,3887,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6494,-0.72,-175.1,2174,2355,4007,3888,1.8,-0.3,912,6499,0.00,2.62,0.00,0.000,260,0.000,0.119,2174,3773,3946,4006,3887,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6725,-0.72,-175.1,2174,3774,4007,3888,1.7,-0.3,958,6730,0.00,2.47,0.00,0.000,1030,0.000,0.076,2175,2355,3946,4005,3887,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7035,-0.72,-175.1,2174,2355,4005,3888,1.7,-0.1,990,7040,0.00,2.60,0.00,0.000,260,0.000,0.119,2174,3769,3946,4005,3887,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7266,-0.72,-175.1,2174,3768,4007,3888,1.7,0.2,1036,7271,0.00,2.45,0.00,0.000,1030,0.000,0.076,2174,2355,3946,4005,3887,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,7503,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7504,begin apogee
$FREEZE,1.58,-1.190,-1.431,2,1,0
$GC,7508,-0.14,0.0,2174,2599,4007,3887,1.7,-0.2,1061,7520,0.73,0.00,9.02,0.203,10242,0.156,0.000,2388,2600,3862,3919,3805,0,0,0,0,0,0,14.19,28.83,28.83
$STATE,7521,end apogee,SURFACE_DEPTH_REACHED
$STATE,7521,begin surface coast
$FREEZE,1.67,-1.190,-1.431,2,1,0
$FREEZE,1.78,-1.190,-1.431,2,1,0
$FREEZE,1.75,-1.190,-1.431,2,1,0
$FREEZE,1.73,-1.190,-1.431,2,1,0
$FREEZE,1.72,-1.190,-1.431,2,1,0
$FREEZE,1.75,-1.190,-1.431,2,1,0
$FREEZE,1.71,-1.190,-1.431,2,1,0
$FREEZE,1.75,-1.190,-1.431,2,1,0
$FREEZE,1.75,-1.190,-1.431,2,1,0
$FREEZE,1.75,-1.190,-1.431,2,1,0
$FREEZE,1.74,-1.190,-1.431,2,1,0
$FREEZE,1.74,-1.190,-1.431,2,1,0
$FREEZE,1.71,-1.190,-1.431,2,1,0
$FREEZE,1.70,-1.190,-1.431,2,1,0
$FREEZE,1.79,-1.190,-1.431,2,1,0
$FREEZE,1.71,-1.190,-1.431,2,1,0
$FREEZE,1.68,-1.190,-1.431,2,1,0
$FINISH,1.7,1.021093
$STATE,7684,end surface coast,NO_VERTICAL_VELOCITY
$STATE,7684,begin surface
$SM_CCo,7698,370.65,0.179,0,0,498,669.67
$SM_GC,1.58,6.53,0.43,370.65,0.075,0.091,0.179,185,2362,498,-6.95,0.96,669.67,0,0,0,0,0,0,14.46,14.43,14.12
$RAFOS_CLK,123
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7358.04,-14710.51,030914,185703
$TT8_MAMPS,0.045689,0.045689
$HUMID,46.65
$INTERNAL_PRESSURE,8.41667
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3983832
$24V_AH,14.10,156.731
$10V_AH,13.93,0.000
$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,14.650,71.400,9.025,370.650,0.000,0.000,0.000,299.050,0.000,0.000,25.967,0.000,5317.047,621.815,2414.643,223.770,0.000,1666.638,0.000,1602.602,1432.000,0.537,0.000
$DEVICE_MAMPS,238.680,123.165,202.725,179.010,0.000,0.000,0.000,167.535,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7577.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,52.635,0.000,0.000,0.000
$MEM,200464
$DATA_FILE_SIZE,36615,1079
$CAP_FILE_SIZE,135824,0
$CFSIZE,2097872896,2029453312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12553.35,0x2378b6,7,5
$SOUNDSPEED,1431.8
$GPS,030914,223058,7441.715,-14701.497,181,99.0,181,22.4