version: 66.12
glider: 199
mission: 5
dive: 310
start: 9 7 114 12 58 39
data:
$ID,199
$MISSION,5
$DIVE,310
$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,-25262.102
$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,31
$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
$GPS1,070914,124654,7449.375,-14716.405,40,0.8,60,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-71.4
$GPS2,070914,125822,7449.460,-14716.181,4,1.0,24,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,355.2,195286,-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,-175.1,203,2363,509,495,0.0,0.0,0,61,0.00,0.00,-41.53,0.000,16386,0.000,0.000,202,2363,1514,1547,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.72,-175.1,203,2363,1545,1483,3.1,-2.1,4,151,11.15,2.50,-69.75,0.000,18948,0.467,0.099,2188,953,3945,4002,3889,0,0,0,0,0,0,13.85,14.21,14.48
$GC,377,-0.72,-175.1,2189,953,4002,3894,83.4,-23.8,67,383,0.00,2.53,0.00,0.000,1030,0.000,0.093,2180,2361,3947,4002,3893,0,0,0,0,0,0,28.83,14.23,28.83
$GC,682,-0.72,-175.1,2179,2363,4004,3894,150.9,-21.2,98,687,0.00,2.45,0.00,0.000,516,0.000,0.082,2180,957,3948,4002,3894,0,0,0,0,0,0,28.83,14.34,28.83
$GC,877,-0.72,-175.1,2181,957,4002,3894,187.3,-18.0,137,884,0.12,2.50,0.00,0.000,3078,0.316,0.095,2192,2360,3948,4002,3894,0,0,0,0,0,0,14.04,14.30,28.83
$GC,1182,-0.72,-175.1,2194,2361,4002,3894,239.0,-15.8,168,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1504,-0.72,-175.1,2194,2361,4002,3894,285.7,-14.3,184,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1802,-0.72,-175.1,2192,2361,4003,3894,326.7,-13.3,194,1807,0.00,2.45,0.00,0.000,516,0.000,0.083,2192,952,3947,4002,3893,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1847,-0.72,-175.1,2192,952,4004,3894,332.6,-12.7,203,1852,0.00,2.50,0.00,0.000,1030,0.000,0.096,2184,2360,3947,4002,3893,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2162,-0.72,-175.1,2184,2361,4004,3894,375.3,-13.5,216,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2359,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.72,-175.1,2184,2361,4004,3894,415.0,-13.1,226,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2360,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-0.72,-175.1,2184,2361,4004,3894,453.8,-12.9,236,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,-0.72,-175.1,2184,2360,4002,3895,491.9,-12.6,246,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3362,-0.72,-175.1,2185,2360,4002,3894,529.3,-12.5,256,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3662,-0.72,-175.1,2184,2361,4004,3895,566.5,-12.3,266,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3962,-0.72,-175.1,2185,2360,4002,3895,603.2,-12.2,276,3967,0.00,2.42,0.00,0.000,516,0.000,0.082,2184,954,3948,4002,3894,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4012,-0.72,-175.1,2185,954,4002,3895,609.2,-12.0,286,4017,0.00,2.50,0.00,0.000,1030,0.000,0.094,2174,2367,3947,4001,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4322,-0.72,-175.1,2173,2368,4004,3894,648.5,-12.7,298,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2367,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,-0.72,-175.1,2174,2368,4004,3896,686.4,-12.6,308,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2367,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4923,-0.72,-175.1,2175,2368,4002,3895,724.4,-12.7,318,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2367,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5131,begin apogee
$GC,5136,-0.14,0.0,2174,2610,4002,3896,751.1,-12.7,325,5365,0.85,0.00,225.80,1.603,10246,0.276,0.000,2383,2609,3228,3280,3177,0,0,0,0,0,0,14.15,28.83,12.94
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5368,0.72,175.1,2383,2610,3279,3174,761.0,0.0,332,5534,0.95,2.75,155.77,1.934,10756,0.133,0.079,2675,1198,2506,2571,2441,0,0,0,0,0,0,13.57,13.21,12.47
$GC,5559,0.72,175.1,2677,1199,2568,2433,752.4,11.3,370,5564,0.00,2.67,0.00,0.000,1030,0.000,0.091,2675,2594,2499,2568,2431,0,0,0,0,0,0,28.83,13.40,28.83
$GC,5886,0.72,175.1,2675,2595,2568,2429,709.6,13.3,385,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2594,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,0.72,175.1,2675,2595,2567,2429,670.1,13.2,395,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2594,2497,2567,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6485,0.72,175.1,2674,2595,2568,2429,630.7,13.2,405,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2594,2497,2567,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6784,0.72,175.1,2675,2600,2568,2429,591.1,13.3,415,6789,0.00,2.10,0.00,0.000,260,0.000,0.114,2679,3776,2497,2567,2428,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6804,0.72,175.1,2674,3777,2568,2429,588.1,14.6,419,6809,0.00,2.00,0.00,0.000,1030,0.000,0.071,2684,2590,2497,2567,2428,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7114,0.72,175.1,2686,2591,2567,2429,546.0,13.4,431,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2590,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7415,0.72,175.1,2685,2591,2567,2428,505.9,13.4,441,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2590,2497,2567,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7714,0.72,175.1,2686,2591,2566,2429,466.1,13.2,451,7719,0.00,2.15,0.00,0.000,260,0.000,0.114,2685,3772,2497,2567,2428,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7734,0.72,175.1,2686,3772,2566,2429,463.2,14.6,455,7739,0.00,2.00,0.00,0.000,1030,0.000,0.072,2693,2593,2497,2566,2428,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8044,0.72,175.1,2693,2594,2568,2429,420.6,13.8,467,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2593,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8345,0.72,175.1,2694,2594,2566,2427,380.2,13.4,477,8349,0.00,2.15,0.00,0.000,260,0.000,0.115,2693,3776,2497,2566,2428,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8369,0.72,175.1,2693,3777,2568,2429,376.5,14.7,482,8376,0.08,2.03,0.00,0.000,5126,0.269,0.072,2671,2606,2497,2567,2428,0,0,0,0,0,0,14.22,14.50,28.83
$GC,8676,0.72,175.1,2670,2606,2566,2429,340.3,11.7,493,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2606,2497,2567,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8974,0.72,175.1,2671,2607,2568,2429,304.9,11.8,503,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2606,2497,2567,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,0.76,175.1,2671,2606,2568,2429,272.0,10.7,513,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2606,2497,2566,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9576,0.81,222.6,2671,2606,2568,2429,242.0,9.5,527,9620,0.00,2.12,40.12,1.426,8452,0.000,0.116,2671,3768,2314,2384,2245,0,0,0,0,0,0,28.83,14.33,13.69
$GC,9660,0.81,222.6,2671,3769,2377,2238,232.5,12.0,544,9666,0.00,2.05,0.00,0.000,1030,0.000,0.073,2678,2603,2306,2376,2236,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9965,0.88,296.9,2679,2603,2376,2233,205.2,8.3,575,10031,0.12,0.00,63.88,1.443,10502,0.148,0.000,2723,2603,2020,2104,1937,0,0,0,0,0,0,14.40,28.83,13.50
$GC,10336,0.88,296.9,2722,2603,2092,1909,160.8,12.3,618,10341,0.00,2.15,0.00,0.000,260,0.000,0.117,2723,3770,1999,2091,1908,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10366,0.88,296.9,2724,3770,2090,1908,156.9,13.9,624,10371,0.00,2.03,0.00,0.000,1030,0.000,0.074,2732,2596,1999,2090,1908,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10676,0.88,296.9,2732,2596,2092,1908,120.8,11.7,656,10681,0.00,2.15,0.00,0.000,260,0.000,0.117,2732,3771,2000,2094,1906,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10706,0.88,296.9,2733,3771,2090,1907,116.9,13.3,662,10711,0.00,2.03,0.00,0.000,1030,0.000,0.074,2741,2593,1998,2090,1906,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11023,0.94,351.1,2741,2594,2092,1905,84.1,9.2,694,11054,0.00,2.17,25.02,0.410,8452,0.000,0.116,2741,3770,1797,1881,1713,0,0,0,0,0,0,28.83,14.20,13.96
$GC,11139,0.94,351.1,2740,3772,1894,1735,71.2,11.5,717,11145,0.00,2.08,1.85,0.236,9222,0.000,0.074,2750,2605,1798,1881,1715,0,0,0,0,0,0,28.83,14.20,14.05
$GC,11445,1.10,513.1,2749,2605,1898,1732,47.0,4.4,748,11538,0.12,2.55,85.32,0.311,10756,0.158,0.082,2807,1200,1141,1219,1064,0,0,0,0,0,0,14.18,14.09,13.94
$GC,11762,1.24,653.4,2807,1200,1237,1060,24.0,5.4,811,11843,0.00,2.55,73.32,0.243,9222,0.000,0.093,2808,2601,564,604,525,0,0,0,0,0,0,28.83,14.10,13.94
$FREEZE,8.89,-0.797,-1.471,2,1,0
$FREEZE,8.29,-1.234,-1.446,2,1,0
$FREEZE,7.71,-1.235,-1.445,2,1,0
$FREEZE,6.98,-1.231,-1.445,2,1,0
$FREEZE,6.06,-0.795,-1.451,2,1,0
$FREEZE,5.31,-1.236,-1.425,2,1,0
$FREEZE,4.39,-1.235,-1.443,2,1,0
$FREEZE,3.77,-1.239,-1.424,2,1,0
$FREEZE,3.07,-1.240,-1.405,2,1,0
$FREEZE,2.31,-1.241,-1.405,2,1,0
$FREEZE,1.91,-1.219,-1.421,2,1,0
$STATE,12086,end climb,SURFACE_DEPTH_REACHED
$STATE,12086,begin surface coast
$FREEZE,1.84,-1.240,-1.422,2,1,0
$FREEZE,1.89,-1.243,-1.422,2,1,0
$FREEZE,1.84,-1.243,-1.441,2,1,0
$FINISH,1.8,1.021236
$STATE,12116,end surface coast,CONTROL_FINISHED_OK
$STATE,12118,begin surface
$SM_CCo,12214,8.80,0.202,0,0,498,669.67
$SM_GC,3.47,8.05,0.43,8.80,0.098,0.090,0.202,198,2359,498,-6.94,1.16,669.67,0,0,0,0,0,0,14.28,14.32,14.13
$RAFOS_CLK,63
$RAFOS_FIX,7447.420410,-14714.666992,070914,121221,3,255,0.13
$IRIDIUM_FIX,7358.04,-14726.71,070914,054502
$TT8_MAMPS,0.078645,0.078645
$HUMID,49.09
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,1
$SC_FREEKB,3979824
$24V_AH,12.47,164.760
$10V_AH,12.61,0.000
$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,21.450,60.450,671.100,8.800,0.000,0.000,0.000,451.500,0.250,0.000,25.753,0.000,9722.679,729.484,2179.627,279.567,0.000,1903.583,0.000,1276.636,1497.000,0.537,0.000
$DEVICE_MAMPS,466.650,120.105,1933.920,201.960,0.000,0.000,0.000,185.130,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12165.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.163,0.000,0.000,0.000
$MEM,184108
$DATA_FILE_SIZE,30018,855
$CAP_FILE_SIZE,136026,0
$CFSIZE,2097872896,2024538112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12952.82,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,070914,125822,7449.460,-14716.181,181,99.0,181,22.3