version: 66.12
glider: 199
mission: 5
dive: 413
start: 9 22 114 17 40 14
data:
$ID,199
$MISSION,5
$DIVE,413
$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,32
$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
$GPS1,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.66
$_SM_ANGLEo,-15.8
$GPS2,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,170.3,249459,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-184.8,2542,2357,1878,1780,0.0,0.0,0,30,0.00,0.00,-11.85,0.000,16386,0.000,0.000,2541,2354,2549,2589,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.72,-184.8,2542,2354,2589,2513,18.4,0.0,1,62,1.02,2.42,-21.08,0.000,20996,0.086,0.101,2196,956,3965,4024,3906,0,0,0,0,0,0,14.21,14.23,14.53
$GC,267,-0.72,-184.8,2197,957,4023,3911,82.8,-21.2,48,273,0.00,2.50,0.00,0.000,1030,0.000,0.091,2186,2360,3966,4024,3909,0,0,0,0,0,0,28.83,14.17,28.83
$GC,573,-0.72,-184.8,2187,2361,4023,3909,145.4,-18.7,79,577,0.00,2.42,0.00,0.000,516,0.000,0.079,2187,956,3966,4024,3908,0,0,0,0,0,0,28.83,14.28,28.83
$GC,623,-0.72,-184.8,2187,953,4023,3909,154.3,-16.8,89,627,0.00,2.50,0.00,0.000,1030,0.000,0.093,2176,2364,3966,4023,3909,0,0,0,0,0,0,28.83,14.26,28.83
$GC,932,-0.72,-184.8,2175,2365,4025,3910,210.6,-17.8,121,937,0.00,2.45,0.00,0.000,516,0.000,0.079,2176,951,3966,4024,3909,0,0,0,0,0,0,28.83,14.28,28.83
$GC,992,-0.72,-184.8,2177,949,4023,3909,220.8,-15.7,133,997,0.15,2.50,0.00,0.000,3078,0.292,0.093,2193,2361,3966,4024,3909,0,0,0,0,0,0,13.95,14.27,28.83
$GC,1313,-0.72,-184.8,2194,2362,4025,3910,266.1,-13.3,158,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2358,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1613,-0.72,-184.8,2194,2362,4023,3909,303.4,-11.9,168,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2362,3966,4024,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1913,-0.72,-184.8,2195,2362,4024,3909,340.7,-12.6,178,1917,0.00,2.42,0.00,0.000,516,0.000,0.082,2194,957,3966,4023,3909,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1977,-0.72,-184.8,2195,958,4023,3909,348.8,-12.0,191,1982,0.00,2.47,0.00,0.000,1030,0.000,0.094,2185,2360,3965,4023,3908,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2304,-0.72,-184.8,2185,2361,4025,3909,389.0,-12.2,206,2309,0.00,2.42,0.00,0.000,516,0.000,0.081,2185,948,3966,4024,3909,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2334,-0.72,-184.8,2182,949,4025,3909,393.0,-12.9,212,2339,0.00,2.50,0.00,0.000,1030,0.000,0.093,2179,2360,3966,4023,3909,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2666,-0.72,-184.8,2175,2361,4025,3909,435.7,-13.1,228,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,-0.72,-184.8,2175,2361,4025,3910,474.7,-13.0,238,2969,0.00,2.42,0.00,0.000,516,0.000,0.080,2175,952,3965,4023,3908,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3014,-0.72,-184.8,2177,953,4023,3909,481.0,-12.3,248,3019,0.15,2.50,0.00,0.000,3078,0.278,0.093,2195,2363,3966,4024,3909,0,0,0,0,0,0,13.95,14.26,28.83
$GC,3326,-0.72,-184.8,2195,2364,4025,3908,516.0,-11.2,260,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2363,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3624,-0.72,-184.8,2194,2364,4025,3910,549.1,-10.9,270,3629,0.00,2.42,0.00,0.000,516,0.000,0.080,2195,957,3966,4024,3909,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3664,-0.72,-184.8,2195,957,4025,3910,553.4,-11.0,278,3669,0.00,2.47,0.00,0.000,1030,0.000,0.093,2186,2360,3966,4024,3909,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3986,-0.72,-184.8,2187,2361,4023,3909,589.5,-11.3,292,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2360,3966,4023,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4284,-0.72,-184.8,2187,2361,4023,3910,623.7,-11.4,302,4289,0.00,2.42,0.00,0.000,516,0.000,0.080,2185,950,3966,4023,3909,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4324,-0.72,-184.8,2187,950,4021,3910,628.3,-11.5,310,4329,0.00,2.50,0.00,0.000,1030,0.000,0.093,2176,2360,3966,4024,3909,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4646,-0.72,-184.8,2176,2360,4025,3911,667.0,-12.1,324,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2361,3964,4023,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4944,-0.72,-184.8,2176,2361,4024,3911,703.5,-12.1,334,4949,0.00,2.42,0.00,0.000,516,0.000,0.079,2176,956,3966,4023,3910,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4974,-0.72,-184.8,2177,956,4023,3911,707.1,-12.0,340,4979,0.15,2.47,0.00,0.000,3078,0.274,0.093,2195,2360,3967,4024,3911,0,0,0,0,0,0,13.94,14.27,28.83
$GC,5304,-0.72,-184.8,2197,2361,4023,3911,742.4,-10.5,356,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2360,3967,4024,3911,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5392,begin apogee
$GC,5398,-0.14,0.0,2197,2608,4023,3912,751.8,-10.5,359,5636,0.75,0.00,232.38,1.598,10246,0.259,0.000,2382,2608,3224,3275,3174,0,0,0,0,0,0,13.94,28.83,12.84
$STATE,5637,end apogee,CONTROL_FINISHED_OK
$STATE,5637,begin climb
$GC,5639,0.72,184.8,2382,2609,3275,3173,762.4,0.0,367,5816,0.93,2.30,165.62,1.873,10500,0.120,0.111,2660,3763,2464,2525,2404,0,0,0,0,0,0,13.55,13.17,12.40
$GC,5956,0.72,184.8,2663,3763,2516,2397,734.9,14.7,431,5961,0.00,2.05,0.00,0.000,1030,0.000,0.067,2671,2594,2456,2517,2396,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6266,0.72,184.8,2672,2600,2516,2395,695.1,12.9,443,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2598,2455,2517,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,0.72,184.8,2672,2598,2516,2395,656.8,12.7,453,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2597,2455,2517,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6866,0.72,184.8,2670,2598,2518,2395,618.8,12.8,463,6871,0.00,2.10,0.00,0.000,260,0.000,0.114,2668,3767,2455,2516,2394,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6906,0.72,184.8,2671,3768,2518,2395,613.0,15.3,471,6911,0.00,2.00,0.00,0.000,1030,0.000,0.071,2679,2604,2455,2516,2394,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7228,0.72,184.8,2680,2605,2516,2394,571.1,12.9,485,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2455,2516,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,0.72,184.8,2680,2605,2516,2394,531.7,13.1,495,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2604,2455,2516,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7826,0.72,184.8,2679,2605,2518,2395,492.9,13.0,505,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2455,2517,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8126,0.72,184.8,2679,2604,2523,2395,454.3,12.8,515,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2455,2517,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8428,0.72,184.8,2679,2606,2518,2395,416.7,12.4,525,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2455,2516,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,0.72,184.8,2679,2605,2518,2395,378.9,12.6,535,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2455,2517,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,0.72,184.8,2679,2605,2518,2394,341.5,12.2,545,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2455,2516,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9326,0.72,184.8,2679,2605,2518,2394,306.1,11.9,555,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2605,2455,2516,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9627,0.75,184.8,2679,2605,2517,2395,272.3,10.9,565,9631,0.00,2.12,0.00,0.000,260,0.000,0.115,2679,3768,2455,2517,2394,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9676,0.75,184.8,2681,3769,2516,2394,266.3,11.6,575,9681,0.00,2.00,0.00,0.000,1030,0.000,0.072,2688,2598,2454,2516,2393,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9987,0.80,242.6,2688,2597,2518,2395,234.3,9.2,597,10038,0.00,0.00,49.90,1.421,8198,0.000,0.000,2688,2597,2242,2308,2176,0,0,0,0,0,0,28.83,28.83,13.52
$GC,10338,0.87,312.1,2688,2598,2293,2150,201.5,8.7,632,10407,0.00,2.50,61.58,1.447,8708,0.000,0.080,2698,1173,1945,2024,1867,0,0,0,0,0,0,28.83,14.14,13.45
$GC,10447,0.92,360.0,2700,1173,2016,1859,190.9,9.6,649,10498,0.00,2.58,43.38,1.379,9222,0.000,0.091,2699,2604,1753,1835,1672,0,0,0,0,0,0,28.83,14.12,13.33
$GC,10797,0.92,360.0,2698,2605,1822,1652,151.2,11.6,689,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2604,1736,1821,1651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11098,0.96,360.0,2699,2605,1822,1650,118.6,10.7,719,11103,0.12,2.45,0.00,0.000,2564,0.148,0.076,2760,1201,1734,1820,1649,0,0,0,0,0,0,14.34,14.27,28.83
$GC,11163,0.96,360.0,2759,1201,1821,1650,110.4,12.7,732,11169,0.00,2.50,0.00,0.000,1030,0.000,0.092,2758,2601,1734,1820,1648,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11468,1.03,360.0,2760,2602,1820,1649,74.0,9.8,763,11473,0.00,2.45,0.00,0.000,516,0.000,0.079,2770,1200,1733,1819,1648,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11523,1.06,360.0,2771,1199,1818,1649,68.2,10.9,774,11529,0.00,2.50,0.00,0.000,1030,0.000,0.091,2770,2600,1732,1818,1646,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11828,1.26,558.1,2771,2600,1818,1646,48.8,3.3,805,11936,0.20,2.45,99.43,0.313,10756,0.118,0.077,2854,1197,953,1022,884,0,0,0,0,0,0,14.16,14.20,13.97
$GC,12016,1.26,558.1,2855,1198,1033,885,29.3,12.1,842,12022,0.00,2.53,0.00,0.000,1030,0.000,0.093,2854,2605,960,1035,885,0,0,0,0,0,0,28.83,14.11,28.83
$FREEZE,8.60,-1.419,-1.444,2,28,0
$STATE,12249,end climb,FINISH_DEPTH_REACHED
$STATE,12249,begin subsurface finish
$FINISH1,8.6,1.021216,351
$GC,12255,0.35,350.7,2855,2606,1034,886,8.6,8.5,866,12282,1.12,2.47,-21.60,0.000,20996,0.235,0.096,2557,1189,1801,1877,1725,0,0,0,0,0,0,13.93,14.19,14.49
$FINISH2,8.1
$STATE,12283,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12283,begin surface
$RAFOS_CLK,175
$RAFOS_FIX,7440.831543,-14313.460938,210914,202035,2,255,0.12
$IRIDIUM_FIX,7358.04,-14409.74,180914,184525
$TT8_MAMPS,0.045689,0.045689
$HUMID,50.74
$INTERNAL_PRESSURE,8.54363
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3966264
$24V_AH,12.40,202.812
$10V_AH,12.32,0.000
$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,4.600,82.200,652.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9774.668,677.978,1759.723,200.453,0.000,1391.427,0.000,1304.208,1492.000,0.535,0.000
$DEVICE_MAMPS,292.230,119.340,1873.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12337.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.626,0.000,0.000,0.000
$MEM,129144
$DATA_FILE_SIZE,30038,871
$CAP_FILE_SIZE,130851,0
$CFSIZE,2097872896,2004418560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12252.12,0x2378b6,5,5
$SOUNDSPEED,1450.6
$GPS,210914,200335,7440.832,-14313.461,0,2255.0,0,23.5