version: 66.12
glider: 199
mission: 5
dive: 297
start: 9 5 114 15 36 1
data:
$ID,199
$MISSION,5
$DIVE,297
$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,-25245.055
$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,27
$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
$GPS1,050914,152814,7431.806,-14723.395,13,0.8,33,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-28.0
$GPS2,050914,153540,7431.751,-14723.420,3,0.8,23,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,353.6,227606,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-175.1,189,2368,550,452,0.0,0.0,0,193,0.00,0.00,-172.93,0.000,16390,0.000,0.000,189,2368,3943,4002,3885,0,0,0,0,0,0,28.83,28.83,14.47
$GC,197,-0.72,-175.1,190,2369,4002,3886,1.6,-0.1,17,212,7.82,2.50,0.00,0.000,2564,0.272,0.081,2193,956,3945,4002,3888,0,0,0,0,0,0,13.97,14.14,28.83
$GC,438,-0.72,-175.1,2192,957,4004,3890,1.7,-0.5,65,443,0.00,2.55,0.00,0.000,1030,0.000,0.098,2190,2365,3946,4003,3889,0,0,0,0,0,0,28.83,14.15,28.83
$GC,748,-0.72,-175.1,2190,2366,4004,3890,1.6,0.0,97,752,0.00,2.47,0.00,0.000,516,0.000,0.077,2190,950,3945,4002,3889,0,0,0,0,0,0,28.83,14.22,28.83
$GC,978,-0.72,-175.1,2189,951,4005,3890,1.7,-0.1,143,982,0.00,2.55,0.00,0.000,1030,0.000,0.095,2189,2365,3945,4002,3889,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1288,-0.72,-175.1,2188,2366,4004,3889,1.6,0.2,175,1292,0.00,2.50,0.00,0.000,516,0.000,0.084,2190,950,3945,4002,3889,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1528,-0.72,-175.1,2190,951,4002,3890,1.7,0.2,221,1533,0.00,2.55,0.00,0.000,1030,0.000,0.094,2189,2359,3945,4002,3889,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1837,-0.72,-175.1,2189,2360,4004,3893,1.7,0.1,253,1843,0.00,2.50,0.00,0.000,516,0.000,0.078,2189,944,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2069,-0.72,-175.1,2190,944,4002,3890,1.7,-0.3,299,2074,0.00,2.55,0.00,0.000,1030,0.000,0.093,2189,2359,3943,3997,3889,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2378,-0.72,-175.1,2190,2360,4002,3887,1.6,0.1,331,2383,0.00,2.47,0.00,0.000,516,0.000,0.076,2189,947,3945,4002,3889,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2610,-0.72,-175.1,2189,948,4004,3890,1.7,0.1,377,2614,0.00,2.55,0.00,0.000,1030,0.000,0.094,2189,2359,3945,4002,3889,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2921,-0.72,-175.1,2189,2359,4004,3890,1.6,0.1,409,2926,0.00,2.45,0.00,0.000,516,0.000,0.077,2189,950,3945,4002,3889,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3152,-0.72,-175.1,2190,951,4002,3890,1.7,-0.3,455,3157,0.00,2.55,0.00,0.000,1030,0.000,0.093,2189,2363,3945,4002,3889,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3462,-0.72,-175.1,2188,2366,4004,3890,1.6,0.1,487,3467,0.00,2.47,0.00,0.000,516,0.000,0.082,2189,953,3946,4003,3889,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3693,-0.72,-175.1,2190,952,4003,3890,1.7,0.3,533,3698,0.00,2.55,0.00,0.000,1030,0.000,0.093,2188,2370,3946,4002,3890,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4003,-0.72,-175.1,2188,2371,4004,3890,1.6,0.0,565,4008,0.00,2.50,0.00,0.000,516,0.000,0.078,2188,944,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4234,-0.72,-175.1,2190,944,4002,3890,1.6,0.1,611,4239,0.00,2.55,0.00,0.000,1030,0.000,0.095,2188,2360,3946,4003,3889,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4544,-0.72,-175.1,2190,2360,4005,3890,1.7,-0.0,643,4549,0.00,2.45,0.00,0.000,516,0.000,0.078,2188,950,3945,4002,3889,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4775,-0.72,-175.1,2190,951,4009,3890,1.7,-0.7,689,4780,0.00,2.55,0.00,0.000,1030,0.000,0.093,2189,2364,3946,4003,3889,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5085,-0.72,-175.1,2188,2364,4004,3890,1.7,-0.2,721,5090,0.00,2.47,0.00,0.000,516,0.000,0.079,2188,950,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5316,-0.72,-175.1,2191,951,4002,3890,1.7,-0.1,767,5321,0.00,2.55,0.00,0.000,1030,0.000,0.094,2188,2365,3945,4002,3889,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5626,-0.72,-175.1,2189,2366,4002,3890,1.7,-0.0,799,5631,0.00,2.47,0.00,0.000,516,0.000,0.077,2188,949,3945,4002,3889,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5857,-0.72,-175.1,2189,950,4002,3890,1.7,0.2,845,5862,0.00,2.55,0.00,0.000,1030,0.000,0.094,2188,2364,3945,4002,3889,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6167,-0.72,-175.1,2188,2365,4009,3890,1.7,0.1,877,6172,0.00,2.47,0.00,0.000,516,0.000,0.077,2188,950,3945,4002,3889,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6398,-0.72,-175.1,2189,951,4002,3890,1.8,-0.1,923,6403,0.00,2.53,0.00,0.000,1030,0.000,0.086,2189,2365,3946,4003,3889,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6708,-0.72,-175.1,2188,2366,4004,3890,1.7,0.4,955,6713,0.00,2.50,0.00,0.000,516,0.000,0.083,2188,947,3945,4002,3889,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6939,-0.72,-175.1,2188,948,4004,3890,1.7,0.2,1001,6944,0.00,2.53,0.00,0.000,1030,0.000,0.087,2188,2364,3945,4002,3889,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7249,-0.72,-175.1,2188,2364,4004,3890,1.8,-0.2,1033,7254,0.00,2.50,0.00,0.000,516,0.000,0.082,2188,945,3945,4002,3889,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7480,-0.72,-175.1,2188,945,4004,3890,1.7,-0.0,1079,7485,0.00,2.53,0.00,0.000,1030,0.000,0.087,2188,2360,3945,4002,3889,0,0,0,0,0,0,28.83,14.17,28.83
$STATE,7508,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7508,begin apogee
$FREEZE,1.64,-1.218,-1.434,2,1,0
$GC,7513,-0.14,0.0,2188,2602,4004,3890,1.7,-0.3,1083,7524,0.70,0.00,8.88,0.202,10242,0.171,0.000,2389,2602,3865,3921,3810,0,0,0,0,0,0,14.04,28.83,28.83
$STATE,7525,end apogee,SURFACE_DEPTH_REACHED
$STATE,7525,begin surface coast
$FREEZE,1.71,-1.218,-1.434,2,1,0
$FREEZE,1.66,-1.218,-1.434,2,1,0
$FREEZE,1.72,-1.218,-1.434,2,1,0
$FREEZE,1.66,-1.218,-1.434,2,1,0
$FREEZE,1.69,-1.218,-1.434,2,1,0
$FREEZE,1.74,-1.218,-1.434,2,1,0
$FREEZE,1.71,-1.218,-1.434,2,1,0
$FREEZE,1.67,-1.218,-1.434,2,1,0
$FREEZE,1.76,-1.218,-1.434,2,1,0
$FREEZE,1.76,-1.218,-1.434,2,1,0
$FREEZE,1.70,-1.218,-1.434,2,1,0
$FREEZE,1.66,-1.218,-1.434,2,1,0
$FREEZE,1.70,-1.218,-1.434,2,1,0
$FREEZE,1.68,-1.218,-1.434,2,1,0
$FREEZE,1.77,-1.218,-1.434,2,1,0
$FREEZE,1.71,-1.218,-1.434,2,1,0
$FREEZE,1.68,-1.218,-1.434,2,1,0
$FREEZE,1.77,-1.218,-1.434,2,1,0
$FREEZE,1.68,-1.218,-1.434,2,1,0
$FREEZE,1.76,-1.218,-1.434,2,1,0
$FREEZE,1.76,-1.218,-1.434,2,1,0
$FREEZE,1.70,-1.218,-1.434,2,1,0
$FREEZE,1.66,-1.218,-1.434,2,1,0
$FREEZE,1.71,-1.218,-1.434,2,1,0
$FREEZE,1.77,-1.218,-1.434,2,1,0
$FREEZE,1.77,-1.218,-1.434,2,1,0
$FREEZE,1.76,-1.218,-1.434,2,1,0
$FREEZE,1.70,-1.218,-1.434,2,1,0
$FREEZE,1.72,-1.218,-1.434,2,1,0
$FREEZE,1.70,-1.218,-1.434,2,1,0
$FREEZE,1.82,-1.218,-1.434,2,1,0
$FREEZE,1.76,-1.218,-1.434,2,1,0
$FREEZE,1.74,-1.218,-1.434,2,1,0
$FREEZE,1.68,-1.218,-1.434,2,1,0
$FREEZE,1.77,-1.218,-1.434,2,1,0
$FREEZE,1.80,-1.218,-1.434,2,1,0
$FREEZE,1.72,-1.218,-1.434,2,1,0
$FREEZE,1.71,-1.218,-1.434,2,1,0
$FINISH,1.7,1.021140
$STATE,7898,end surface coast,NO_VERTICAL_VELOCITY
$STATE,7898,begin surface
$SM_CCo,7912,372.12,0.179,0,0,499,669.67
$SM_GC,1.54,6.47,0.45,372.12,0.069,0.091,0.179,189,2351,499,-6.95,0.62,669.67,0,0,0,0,0,0,14.40,14.42,14.09
$RAFOS_CLK,299
$RAFOS_FIX,7439.897461,-14702.477539,030914,202018,2,255,0.12
$IRIDIUM_FIX,7350.26,-14721.22,050914,130802
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.57
$INTERNAL_PRESSURE,8.41667
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3981596
$24V_AH,13.97,159.988
$10V_AH,13.73,0.000
$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,15.000,71.275,8.875,372.125,0.000,0.000,0.000,263.000,0.000,0.000,24.926,0.000,5461.757,614.769,2444.906,209.202,0.000,1649.135,0.000,1665.160,1499.000,0.536,0.000
$DEVICE_MAMPS,271.575,121.635,201.960,179.010,0.000,0.000,0.000,165.240,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7569.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,52.850,0.000,0.000,0.000
$MEM,191580
$DATA_FILE_SIZE,36675,1122
$CAP_FILE_SIZE,137591,0
$CFSIZE,2097872896,2026995712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8600.98,0x2378b6,7,5
$SOUNDSPEED,1431.7
$GPS,050914,175514,7430.559,-14724.084,13,0.8,33,22.1