version: 66.12
glider: 199
mission: 5
dive: 353
start: 9 13 114 21 43 21
data:
$ID,199
$MISSION,5
$DIVE,353
$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,-26233.859
$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,16
$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
$GPS1,130914,213454,7520.949,-14428.291,40,0.7,60,23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-73.6
$GPS2,130914,214301,7520.937,-14428.142,3,0.7,23,23.5
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,8
$TGT_LATLONG,7520.000,-14345.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,71.4,20304,-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,-175.1,196,2360,502,494,0.0,0.0,0,60,0.00,0.00,-41.58,0.000,16386,0.000,0.000,193,2361,1522,1547,1497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.72,-175.1,194,2361,1548,1498,3.2,-2.1,4,150,11.18,2.50,-68.50,0.000,18948,0.462,0.110,2190,958,3947,4005,3889,0,0,0,0,0,0,13.84,14.19,14.48
$GC,256,-0.72,-175.1,2190,958,4007,3892,55.3,-27.3,43,263,0.00,2.53,0.00,0.000,1030,0.000,0.093,2182,2362,3949,4006,3892,0,0,0,0,0,0,28.83,14.18,28.83
$GC,562,-0.72,-175.1,2183,2363,4005,3892,125.2,-20.8,74,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2363,3949,4006,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,862,-0.72,-175.1,2182,2364,4008,3893,181.9,-18.6,104,866,0.00,2.45,0.00,0.000,516,0.000,0.080,2182,955,3949,4006,3892,0,0,0,0,0,0,28.83,14.33,28.83
$GC,886,-0.72,-175.1,2183,955,4005,3893,186.4,-17.9,109,893,0.00,2.53,0.00,0.000,1030,0.000,0.094,2171,2365,3949,4007,3892,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1192,-0.72,-175.1,2172,2364,4005,3893,238.5,-15.8,140,1193,0.12,0.00,0.00,0.000,2054,0.310,0.000,2195,2363,3949,4006,3892,0,0,0,0,0,0,14.10,28.83,28.83
$GC,1512,-0.72,-175.1,2194,2365,4007,3893,282.7,-13.4,156,1516,0.00,2.55,0.00,0.000,260,0.000,0.116,2186,3773,3949,4006,3892,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1551,-0.72,-175.1,2185,3774,4008,3893,288.3,-14.7,164,1556,0.00,2.42,0.00,0.000,1030,0.000,0.073,2186,2361,3949,4006,3892,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1873,-0.72,-175.1,2187,2360,4005,3892,329.8,-12.5,178,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3948,4005,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.72,-175.1,2185,2359,4007,3899,366.8,-12.2,188,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3949,4006,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,-0.72,-175.1,2185,2360,4007,3893,403.3,-12.1,198,2477,0.00,2.60,0.00,0.000,260,0.000,0.116,2175,3767,3948,4005,3892,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2516,-0.72,-175.1,2175,3768,4007,3893,409.3,-13.4,207,2521,0.00,2.42,0.00,0.000,1030,0.000,0.072,2175,2357,3948,4005,3892,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2832,-0.72,-175.1,2176,2357,4005,3892,449.6,-12.7,220,2833,0.10,0.00,0.00,0.000,2054,0.302,0.000,2193,2356,3949,4006,3892,0,0,0,0,0,0,14.26,28.83,28.83
$GC,3132,-0.72,-175.1,2194,2357,4005,3893,484.0,-11.3,230,3136,0.00,2.62,0.00,0.000,260,0.000,0.117,2183,3773,3949,4006,3892,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3166,-0.72,-175.1,2183,3773,4007,3893,488.3,-12.4,237,3171,0.00,2.45,0.00,0.000,1030,0.000,0.072,2185,2354,3948,4005,3892,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3493,-0.72,-175.1,2184,2353,4005,3892,527.1,-11.9,252,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2353,3949,4006,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.72,-175.1,2185,2353,4005,3893,562.6,-11.8,262,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2353,3949,4006,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.72,-175.1,2184,2353,4005,3893,597.9,-11.8,272,4096,0.00,2.58,0.00,0.000,260,0.000,0.116,2173,3770,3949,4006,3893,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4146,-0.72,-175.1,2174,3771,4005,3893,605.0,-12.8,283,4153,0.00,2.42,0.00,0.000,1030,0.000,0.071,2173,2350,3949,4006,3893,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4452,-0.72,-175.1,2175,2350,4006,3894,642.6,-12.3,294,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2349,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4752,-0.72,-175.1,2175,2351,4005,3894,679.3,-12.2,304,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2350,3949,4006,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5052,-0.72,-175.1,2173,2350,4007,3895,716.0,-12.2,314,5057,0.00,2.62,0.00,0.000,260,0.000,0.116,2162,3770,3950,4006,3894,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5112,-0.72,-175.1,2162,3771,4007,3895,724.1,-13.2,326,5117,0.17,2.42,0.00,0.000,3078,0.265,0.071,2200,2353,3949,4005,3894,0,0,0,0,0,0,14.08,14.45,28.83
$STATE,5381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5381,begin apogee
$GC,5387,-0.14,0.0,2204,2601,4005,3895,753.1,-10.6,340,5554,0.73,0.00,164.95,2.026,10246,0.257,0.000,2383,2600,3231,3283,3179,0,0,0,0,0,0,14.07,28.83,12.83
$STATE,5555,end apogee,CONTROL_FINISHED_OK
$STATE,5555,begin climb
$GC,5557,0.72,175.1,2384,2601,3277,3174,759.1,0.0,345,5728,0.95,2.35,159.43,2.128,10500,0.148,0.112,2657,3764,2508,2571,2446,0,0,0,0,0,0,13.53,13.14,12.36
$GC,5867,0.72,175.1,2657,3765,2569,2440,733.4,14.3,411,5873,0.00,2.12,0.00,0.000,1030,0.000,0.068,2667,2596,2502,2567,2438,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6199,0.72,175.1,2666,2597,2569,2437,691.6,12.7,427,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2596,2502,2567,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6498,0.72,175.1,2667,2597,2569,2437,653.6,12.6,437,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2596,2501,2567,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6798,0.72,175.1,2668,2596,2567,2436,615.5,12.8,447,6802,0.00,2.42,0.00,0.000,516,0.000,0.080,2677,1189,2504,2573,2436,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6837,0.72,175.1,2678,1189,2566,2436,610.4,12.7,455,6842,0.00,2.50,0.00,0.000,1030,0.000,0.093,2677,2600,2501,2567,2435,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7159,0.72,175.1,2677,2600,2569,2436,567.7,13.4,469,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2600,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7458,0.72,175.1,2677,2600,2569,2443,528.4,13.0,479,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2600,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7758,0.72,175.1,2679,2600,2567,2435,489.9,12.8,489,7762,0.00,2.42,0.00,0.000,516,0.000,0.080,2687,1192,2501,2568,2435,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7782,0.72,175.1,2689,1192,2567,2436,486.7,12.0,494,7789,0.00,2.50,0.00,0.000,1030,0.000,0.092,2687,2600,2501,2568,2435,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8088,0.72,175.1,2687,2602,2569,2436,446.5,13.3,505,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2601,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8389,0.72,175.1,2689,2602,2567,2436,406.7,13.3,515,8394,0.00,2.45,0.00,0.000,516,0.000,0.078,2698,1189,2500,2568,2432,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8419,0.72,175.1,2697,1190,2569,2436,402.6,13.1,521,8424,0.00,2.53,0.00,0.000,1030,0.000,0.091,2698,2607,2501,2567,2436,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8750,0.72,175.1,2699,2607,2567,2436,357.6,13.5,537,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2607,2499,2563,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9049,0.72,175.1,2699,2608,2567,2436,317.8,13.0,547,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2607,2501,2567,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9349,0.72,175.1,2695,2608,2568,2436,281.0,11.7,557,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2607,2501,2568,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9649,0.77,175.1,2697,2608,2569,2436,248.2,10.5,567,9654,0.00,2.47,0.00,0.000,516,0.000,0.078,2708,1194,2501,2567,2435,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9704,0.82,222.8,2709,1194,2567,2436,243.0,9.5,578,9750,0.00,2.53,41.17,1.421,9222,0.000,0.093,2708,2609,2317,2383,2251,0,0,0,0,0,0,28.83,14.30,13.60
$GC,10049,0.86,222.8,2709,2609,2377,2236,204.9,10.5,617,10054,0.00,2.47,0.00,0.000,516,0.000,0.079,2718,1189,2305,2376,2235,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10099,0.91,277.0,2719,1189,2376,2234,199.9,9.2,627,10150,0.00,2.53,46.45,1.430,9222,0.000,0.092,2718,2605,2099,2176,2022,0,0,0,0,0,0,28.83,14.28,13.51
$GC,10449,0.91,277.0,2719,2606,2166,1999,161.1,11.5,667,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2606,2083,2167,1999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10749,0.97,277.0,2719,2605,2166,1999,128.6,10.2,697,10754,0.00,2.45,0.00,0.000,516,0.000,0.080,2728,1198,2082,2167,1998,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10825,1.05,277.0,2728,1199,2168,1999,121.3,9.7,712,10831,0.15,2.50,0.00,0.000,3078,0.144,0.093,2780,2601,2081,2166,1997,0,0,0,0,0,0,14.37,14.32,28.83
$GC,11131,1.10,277.0,2780,2602,2167,1998,83.9,10.3,743,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2601,2081,2166,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11429,1.23,405.7,2781,2601,2166,1996,60.7,5.9,773,11500,0.15,2.15,62.25,0.347,10500,0.145,0.116,2831,3768,1577,1662,1492,0,0,0,0,0,0,14.24,14.17,13.95
$GC,11727,1.41,583.5,2830,3766,1666,1499,39.4,3.7,832,11830,0.15,2.03,92.82,0.285,11270,0.138,0.073,2886,2594,851,910,792,0,0,0,0,0,0,14.20,14.25,13.95
$FREEZE,8.52,-1.172,-1.447,2,1,0
$FREEZE,7.35,-1.171,-1.446,2,1,0
$FREEZE,6.29,-1.171,-1.445,2,1,0
$FREEZE,5.18,-1.171,-1.444,2,1,0
$FREEZE,4.04,-1.170,-1.444,2,1,0
$FREEZE,3.09,-1.170,-1.443,2,1,0
$FREEZE,1.91,-1.169,-1.442,2,1,0
$STATE,12082,end climb,SURFACE_DEPTH_REACHED
$STATE,12083,begin surface coast
$FREEZE,1.60,-1.150,-1.429,2,1,0
$FINISH,1.6,1.021061
$STATE,12093,end surface coast,CONTROL_FINISHED_OK
$STATE,12094,begin surface
$SM_CCo,12111,44.12,0.197,0,0,498,669.67
$SM_GC,2.39,8.43,0.40,44.12,0.109,0.090,0.197,200,2357,498,-6.94,0.90,669.67,0,0,0,0,0,0,14.28,14.34,14.12
$RAFOS_CLK,174
$RAFOS_FIX,7520.099121,-14519.979492,120914,202037,2,255,0.12
$IRIDIUM_FIX,7454.30,-13818.35,130914,180201
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.40
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3974116
$24V_AH,12.36,180.651
$10V_AH,12.37,0.000
$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,22.125,74.425,567.075,44.125,0.000,0.000,0.000,275.550,0.000,0.000,26.007,0.000,9652.557,680.305,2053.536,257.991,0.000,1686.059,0.000,1309.670,1434.000,0.537,0.000
$DEVICE_MAMPS,462.060,120.105,2128.230,196.605,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12148.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.044,0.000,0.000,0.000
$MEM,160400
$DATA_FILE_SIZE,30050,879
$CAP_FILE_SIZE,136305,0
$CFSIZE,2097872896,2016051200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12981.29,0x2378b6,7,5
$SOUNDSPEED,1450.4
$GPS,140914,010724,7520.847,-14421.993,31,0.8,51,23.5