version: 66.12
glider: 199
mission: 5
dive: 407
start: 9 21 114 20 36 33
data:
$ID,199
$MISSION,5
$DIVE,407
$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,190
$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,-26990.244
$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,35
$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
$GPS1,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.86
$_SM_ANGLEo,-12.8
$GPS2,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,9
$TGT_LATLONG,7330.000,-14445.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,176.7,139737,-18.9,-11.628,-22.41,2446
$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,-184.8,2553,2365,1874,1761,0.0,0.0,0,31,0.00,0.00,-12.18,0.000,16386,0.000,0.000,2552,2369,2633,2669,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.72,-184.8,2552,2363,2671,2600,22.0,0.0,1,58,1.02,2.53,-18.48,0.000,20740,0.077,0.129,2185,3772,3962,4020,3904,0,0,0,0,0,0,14.25,14.17,14.55
$GC,273,-0.72,-184.8,2185,3773,4022,3907,91.2,-22.4,49,278,0.00,2.42,0.00,0.000,1030,0.000,0.070,2185,2357,3963,4021,3906,0,0,0,0,0,0,28.83,14.25,28.83
$GC,583,-0.72,-184.8,2186,2355,4021,3907,150.5,-17.4,81,588,0.00,2.42,0.00,0.000,516,0.000,0.082,2185,953,3964,4021,3907,0,0,0,0,0,0,28.83,14.28,28.83
$GC,633,-0.72,-184.8,2186,954,4021,3907,159.2,-16.4,91,638,0.00,2.50,0.00,0.000,1030,0.000,0.093,2175,2361,3964,4021,3907,0,0,0,0,0,0,28.83,14.26,28.83
$GC,943,-0.72,-184.8,2176,2362,4023,3908,214.0,-17.7,123,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2362,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-0.72,-184.8,2176,2362,4021,3907,265.0,-15.5,149,1268,0.00,2.45,0.00,0.000,516,0.000,0.081,2175,953,3963,4021,3905,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1358,-0.72,-184.8,2175,954,4022,3908,278.8,-14.2,168,1363,0.15,2.50,0.00,0.000,3078,0.291,0.094,2194,2362,3964,4021,3907,0,0,0,0,0,0,13.95,14.27,28.83
$GC,1685,-0.72,-184.8,2194,2363,4022,3908,321.0,-12.5,183,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2362,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1983,-0.72,-184.8,2194,2363,4022,3907,357.2,-11.9,193,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2363,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.72,-184.8,2194,2363,4022,3914,392.3,-11.7,203,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2363,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,-0.72,-184.8,2195,2363,4022,3908,427.3,-11.5,213,2588,0.00,2.45,0.00,0.000,516,0.000,0.080,2195,951,3963,4021,3906,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2648,-0.72,-184.8,2195,952,4022,3907,434.8,-10.8,226,2653,0.00,2.50,0.00,0.000,1030,0.000,0.093,2186,2367,3964,4021,3907,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2975,-0.72,-184.8,2186,2368,4022,3907,473.5,-11.9,241,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2367,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,-0.72,-184.8,2186,2368,4022,3907,509.2,-11.8,251,3278,0.00,2.42,0.00,0.000,516,0.000,0.079,2186,954,3964,4021,3907,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3308,-0.72,-184.8,2186,954,4022,3907,513.3,-11.8,258,3313,0.00,2.47,0.00,0.000,1030,0.000,0.093,2176,2360,3964,4021,3907,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3635,-0.72,-184.8,2176,2364,4022,3908,552.9,-12.2,273,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2358,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-0.72,-184.8,2177,2362,4021,3908,589.2,-12.0,283,3938,0.00,2.42,0.00,0.000,516,0.000,0.080,2176,953,3964,4021,3907,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3973,-0.72,-184.8,2177,954,4020,3907,594.1,-12.5,291,3978,0.15,2.50,0.00,0.000,3078,0.279,0.093,2195,2366,3964,4021,3907,0,0,0,0,0,0,13.96,14.28,28.83
$GC,4295,-0.72,-184.8,2195,2366,4022,3908,628.4,-10.7,305,4300,0.00,2.42,0.00,0.000,516,0.000,0.079,2196,953,3964,4021,3908,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4320,-0.72,-184.8,2195,954,4022,3908,631.2,-11.2,310,4326,0.00,2.50,0.00,0.000,1030,0.000,0.093,2186,2365,3964,4021,3908,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4625,-0.72,-184.8,2184,2367,4022,3909,665.3,-11.1,321,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2366,3964,4021,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4925,-0.72,-184.8,2187,2367,4022,3908,698.4,-11.1,331,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2366,3964,4021,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5225,-0.72,-184.8,2187,2366,4022,3909,731.4,-11.1,341,5230,0.00,2.45,0.00,0.000,516,0.000,0.079,2187,946,3964,4021,3908,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5290,-0.72,-184.8,2187,947,4022,3909,738.5,-10.3,354,5295,0.00,2.50,0.00,0.000,1030,0.000,0.093,2177,2361,3964,4020,3909,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,5403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5403,begin apogee
$GC,5408,-0.14,0.0,2175,2604,4022,3910,751.5,-11.5,362,5646,0.82,0.00,233.35,1.707,10246,0.265,0.000,2379,2604,3227,3279,3175,0,0,0,0,0,0,13.93,28.83,12.74
$STATE,5647,end apogee,CONTROL_FINISHED_OK
$STATE,5647,begin climb
$GC,5650,0.72,184.8,2378,2605,3279,3173,761.1,0.0,370,5827,0.98,2.33,169.00,2.018,10500,0.144,0.111,2661,3763,2469,2534,2404,0,0,0,0,0,0,13.46,13.14,12.33
$GC,5894,0.72,184.8,2661,3763,2525,2397,744.0,14.5,419,5898,0.00,2.10,0.00,0.000,1030,0.000,0.067,2670,2596,2459,2523,2395,0,0,0,0,0,0,28.83,13.52,28.83
$GC,6220,0.72,184.8,2671,2596,2523,2392,701.0,13.1,434,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2457,2523,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6519,0.72,184.8,2671,2597,2523,2392,662.3,13.0,444,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2457,2523,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6819,0.72,184.8,2671,2597,2523,2391,623.6,12.9,454,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2456,2522,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7119,0.72,184.8,2671,2596,2523,2391,585.1,12.8,464,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2460,2530,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7419,0.72,184.8,2671,2597,2523,2391,547.2,12.6,474,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7719,0.72,184.8,2671,2596,2523,2391,509.5,12.5,484,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8019,0.72,184.8,2671,2597,2523,2391,472.7,12.2,494,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8319,0.72,184.8,2670,2597,2525,2391,436.3,12.2,504,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2454,2519,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8619,0.72,184.8,2671,2597,2523,2391,400.5,11.9,514,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2597,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8919,0.72,184.8,2670,2597,2525,2390,365.1,11.9,524,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9219,0.74,184.8,2671,2597,2523,2391,330.6,11.1,534,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9519,0.76,184.8,2670,2597,2525,2391,297.0,11.0,544,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2596,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9819,0.80,184.8,2671,2596,2523,2391,265.7,10.7,554,9824,0.00,2.12,0.00,0.000,260,0.000,0.116,2670,3764,2456,2523,2390,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9879,0.80,184.8,2671,3765,2523,2391,258.6,11.3,566,9884,0.00,1.98,0.00,0.000,1030,0.000,0.073,2679,2595,2456,2523,2389,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10189,0.88,263.8,2680,2595,2523,2390,230.3,8.3,596,10260,0.12,0.00,67.07,1.360,10502,0.148,0.000,2728,2595,2148,2219,2077,0,0,0,0,0,0,14.45,28.83,13.60
$GC,10559,0.88,263.8,2728,2595,2211,2056,186.1,11.2,638,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2595,2131,2209,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10859,0.88,263.8,2726,2595,2211,2053,152.7,11.1,668,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2594,2131,2209,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11159,0.93,313.4,2729,2595,2209,2054,122.3,9.5,698,11204,0.00,0.00,43.33,1.318,8198,0.000,0.000,2728,2594,1951,2032,1870,0,0,0,0,0,0,28.83,28.83,13.62
$GC,11501,1.00,313.4,2727,2595,2014,1845,86.3,10.0,732,11506,0.00,2.45,0.00,0.000,516,0.000,0.079,2739,1187,1928,2013,1843,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11551,1.05,370.7,2739,1188,2014,1844,81.4,9.2,742,11582,0.00,2.53,26.92,0.400,9222,0.000,0.092,2739,2597,1717,1802,1633,0,0,0,0,0,0,28.83,14.10,13.93
$GC,11881,1.21,522.8,2740,2597,1816,1654,51.9,5.2,778,11974,0.22,2.50,82.10,0.323,10756,0.115,0.080,2833,1202,1098,1177,1019,0,0,0,0,0,0,14.18,14.16,13.93
$GC,12044,1.26,577.9,2834,1203,1190,1020,37.8,9.3,809,12080,0.00,2.53,30.70,0.281,9222,0.000,0.090,2833,2600,874,944,804,0,0,0,0,0,0,28.83,14.13,13.95
$FREEZE,8.46,-1.413,-1.452,2,22,0
$STATE,12387,end climb,FINISH_DEPTH_REACHED
$STATE,12387,begin subsurface finish
$FINISH1,8.5,1.021336,344
$GC,12393,0.34,344.4,2834,2600,954,812,8.5,6.1,847,12425,1.05,2.47,-24.02,0.000,20996,0.224,0.099,2554,1197,1829,1897,1761,0,0,0,0,0,0,13.89,14.14,14.41
$FINISH2,8.6
$STATE,12425,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12425,begin surface
$RAFOS_CLK,14
$RAFOS_FIX,7440.831543,-14313.460938,210914,202035,2,255,0.12
$IRIDIUM_FIX,7358.04,-14409.74,180914,184525
$TT8_MAMPS,0.078645,0.078645
$HUMID,50.23
$INTERNAL_PRESSURE,8.55339
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3967040
$24V_AH,12.33,200.671
$10V_AH,12.26,0.000
$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,4.525,63.025,652.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9992.835,648.872,1731.994,189.056,0.000,1343.204,0.000,1278.760,1435.000,0.535,0.000
$DEVICE_MAMPS,290.700,128.520,2018.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12482.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.736,0.000,0.000,0.000
$MEM,132240
$DATA_FILE_SIZE,30030,853
$CAP_FILE_SIZE,126802,0
$CFSIZE,2097872896,2005565440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12389.54,0x2378b6,5,5
$SOUNDSPEED,1450.6
$GPS,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5