version: 66.12
glider: 199
mission: 5
dive: 427
start: 9 24 114 21 32 36
data:
$ID,199
$MISSION,5
$DIVE,427
$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,4
$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,-29916.861
$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,19
$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,48
$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
$GPS1,230914,000404,7443.128,-14247.075,181,99.0,181,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-58.4
$GPS2,230914,000404,7443.128,-14247.075,181,99.0,181,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,173.2,257427,-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,-184.8,193,2358,535,468,0.0,0.0,0,81,0.00,0.00,-61.03,0.000,16386,0.000,0.000,192,2358,1957,1968,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.72,-184.8,193,2358,1968,1948,3.1,-0.3,6,147,11.60,2.60,-44.75,0.000,18692,0.480,0.134,2184,3771,3962,4022,3903,0,0,0,0,0,0,13.90,14.11,14.57
$GC,317,-0.72,-184.8,2184,3772,4024,3906,76.2,-26.4,53,323,0.00,2.45,0.00,0.000,1030,0.000,0.069,2184,2357,3964,4023,3906,0,0,0,0,0,0,28.83,14.23,28.83
$GC,622,-0.72,-184.8,2184,2356,4024,3907,139.9,-18.5,84,627,0.00,2.42,0.00,0.000,516,0.000,0.080,2184,953,3964,4022,3906,0,0,0,0,0,0,28.83,14.25,28.83
$GC,677,-0.72,-184.8,2186,954,4022,3911,149.8,-17.2,95,683,0.00,2.50,0.00,0.000,1030,0.000,0.092,2174,2358,3964,4023,3906,0,0,0,0,0,0,28.83,14.14,28.83
$GC,982,-0.72,-184.8,2176,2359,4022,3907,204.9,-17.9,126,987,0.00,2.45,0.00,0.000,516,0.000,0.080,2174,953,3964,4023,3906,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1007,-0.72,-184.8,2176,952,4022,3907,209.2,-18.1,131,1013,0.17,2.50,0.00,0.000,3078,0.293,0.092,2198,2361,3964,4023,3906,0,0,0,0,0,0,13.82,14.15,28.83
$GC,1322,-0.72,-184.8,2198,2361,4024,3907,254.7,-12.4,161,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2360,3964,4022,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-0.72,-184.8,2205,2361,4022,3907,292.0,-12.7,171,1627,0.00,2.45,0.00,0.000,516,0.000,0.081,2198,958,3964,4022,3906,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1682,-0.72,-184.8,2198,954,4024,3907,299.4,-12.1,183,1687,0.00,2.47,0.00,0.000,1030,0.000,0.093,2190,2361,3964,4022,3906,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2014,-0.72,-184.8,2191,2362,4023,3907,340.7,-12.3,199,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2361,3963,4021,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2312,-0.72,-184.8,2190,2362,4022,3908,377.2,-12.0,209,2317,0.00,2.47,0.00,0.000,516,0.000,0.080,2189,946,3964,4022,3907,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2352,-0.72,-184.8,2189,946,4024,3907,382.1,-11.8,217,2357,0.00,2.53,0.00,0.000,1030,0.000,0.093,2180,2364,3964,4022,3906,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2674,-0.72,-184.8,2179,2365,4024,3907,422.8,-12.7,231,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2364,3964,4023,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-0.72,-184.8,2181,2365,4022,3906,459.7,-12.1,241,2977,0.00,2.45,0.00,0.000,516,0.000,0.079,2180,955,3964,4022,3906,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3002,-0.72,-184.8,2179,956,4024,3907,463.3,-11.9,247,3007,0.15,2.50,0.00,0.000,3078,0.281,0.091,2199,2362,3964,4022,3906,0,0,0,0,0,0,13.93,14.26,28.83
$GC,3332,-0.72,-184.8,2199,2362,4024,3907,498.5,-10.7,263,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2361,3964,4022,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3633,-0.72,-184.8,2200,2363,4022,3908,530.2,-10.6,273,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2361,3964,4022,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-0.72,-184.8,2198,2362,4023,3908,562.9,-10.9,283,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2361,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4233,-0.72,-184.8,2198,2362,4024,3909,595.4,-10.9,293,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2361,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4533,-0.72,-184.8,2199,2362,4022,3909,627.9,-10.7,303,4537,0.00,2.42,0.00,0.000,516,0.000,0.079,2199,955,3965,4023,3908,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4558,-0.72,-184.8,2201,955,4022,3909,630.5,-10.4,308,4564,0.00,2.50,0.00,0.000,1030,0.000,0.093,2190,2362,3965,4022,3909,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4863,-0.72,-184.8,2190,2362,4024,3909,663.8,-10.9,319,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2362,3965,4022,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5163,-0.72,-184.8,2190,2362,4024,3910,696.2,-10.9,329,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2362,3965,4022,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5463,-0.72,-184.8,2189,2363,4024,3910,729.0,-11.1,339,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2362,3964,4023,3905,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5670,begin apogee
$GC,5676,-0.14,0.0,2189,2600,4022,3910,751.9,-10.8,346,5914,0.77,0.00,232.90,1.592,10246,0.260,0.000,2380,2599,3227,3277,3177,0,0,0,0,0,0,13.91,28.83,12.83
$STATE,5915,end apogee,CONTROL_FINISHED_OK
$STATE,5915,begin climb
$GC,5917,0.72,184.8,2380,2600,3278,3174,762.3,0.0,354,6094,0.93,2.33,165.45,1.880,10500,0.121,0.111,2660,3760,2465,2527,2403,0,0,0,0,0,0,13.56,13.16,12.39
$GC,6144,0.72,184.8,2659,3761,2523,2399,748.6,13.8,400,6149,0.00,2.10,0.00,0.000,1030,0.000,0.065,2668,2593,2460,2522,2398,0,0,0,0,0,0,28.83,13.53,28.83
$GC,6454,0.72,184.8,2668,2593,2523,2394,709.9,12.4,412,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2593,2458,2522,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6754,0.72,184.8,2670,2593,2522,2395,672.8,12.3,422,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2458,2522,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7054,0.72,184.8,2670,2593,2522,2395,636.6,12.1,432,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2593,2458,2522,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7354,0.72,184.8,2668,2593,2523,2395,599.7,12.3,442,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2593,2458,2522,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7654,0.72,184.8,2668,2593,2519,2395,563.0,12.1,452,7659,0.00,2.12,0.00,0.000,260,0.000,0.113,2668,3769,2458,2522,2394,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7689,0.72,184.8,2668,3769,2523,2395,558.3,13.8,459,7694,0.00,1.98,0.00,0.000,1030,0.000,0.071,2677,2599,2458,2522,2394,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8016,0.72,184.8,2678,2600,2521,2394,518.0,12.3,474,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2458,2522,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8314,0.72,184.8,2677,2600,2523,2395,480.9,12.5,484,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2458,2522,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8615,0.72,184.8,2677,2600,2527,2395,443.1,12.6,494,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2599,2459,2526,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8916,0.72,184.8,2677,2599,2523,2395,405.0,12.7,504,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2597,2458,2523,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9214,0.72,184.8,2679,2599,2522,2395,368.8,11.8,514,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2457,2522,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9514,0.72,184.8,2678,2599,2521,2394,333.0,11.9,524,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2458,2522,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9814,0.72,184.8,2677,2597,2523,2394,298.2,11.4,534,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2457,2521,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10114,0.75,184.8,2679,2600,2521,2393,265.1,10.9,544,10119,0.00,2.42,0.00,0.000,516,0.000,0.076,2688,1198,2458,2522,2394,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10170,0.81,184.8,2688,1199,2523,2395,259.4,10.0,555,10175,0.00,2.50,0.00,0.000,1030,0.000,0.088,2688,2598,2458,2522,2394,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10475,0.89,184.8,2688,2599,2523,2395,228.4,9.6,580,10479,0.10,2.45,0.00,0.000,2564,0.171,0.072,2735,1188,2456,2518,2394,0,0,0,0,0,0,14.42,14.21,28.83
$GC,10547,0.95,244.4,2734,1188,2523,2395,222.1,9.1,594,10606,0.00,2.50,51.58,1.437,9222,0.000,0.088,2734,2600,2223,2290,2157,0,0,0,0,0,0,28.83,14.24,13.48
$GC,10905,0.95,244.4,2736,2601,2281,2142,181.5,11.2,636,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2600,2211,2282,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11205,1.02,244.4,2736,2601,2282,2141,149.0,10.0,666,11210,0.00,2.42,0.00,0.000,516,0.000,0.076,2745,1198,2211,2282,2140,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11287,1.09,312.0,2746,1199,2281,2141,141.3,8.8,682,11351,0.12,2.50,58.55,1.392,11270,0.155,0.090,2787,2608,1957,2032,1882,0,0,0,0,0,0,14.32,14.27,13.56
$GC,11658,1.09,312.0,2787,2609,2014,1854,91.6,13.4,726,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2608,1934,2013,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11958,1.20,429.9,2789,2608,2013,1852,60.3,6.7,756,12023,0.10,2.53,57.42,0.347,10756,0.169,0.077,2836,1197,1478,1557,1399,0,0,0,0,0,0,14.25,14.22,13.96
$GC,12109,1.24,429.9,2836,1198,1573,1408,46.5,10.6,781,12119,0.00,2.53,1.90,0.231,9222,0.000,0.090,2836,2599,1476,1557,1395,0,0,0,0,0,0,28.83,14.16,14.02
$GC,12421,1.53,711.6,2836,2600,1570,1406,26.6,-0.2,813,12553,0.25,2.55,123.40,0.248,11012,0.112,0.078,2934,1194,498,508,489,0,0,0,0,0,0,14.16,14.16,14.01
$FREEZE,8.39,-1.087,-1.455,2,42,0
$FREEZE,7.65,-1.087,-1.454,2,42,0
$FREEZE,6.93,-1.184,-1.451,2,42,0
$FREEZE,6.20,-1.184,-1.450,2,42,0
$FREEZE,5.56,-1.215,-1.448,2,42,0
$FREEZE,4.87,-1.215,-1.448,2,42,0
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$STATE,13044,end climb,NO_VERTICAL_VELOCITY
$STATE,13044,begin subsurface finish
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$FINISH2,2.4
$STATE,13058,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13058,begin surface
$RAFOS_CLK,186
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$IRIDIUM_FIX,7358.04,-14409.74,180914,184525
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$HUMID,51.57
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,12.50
$XPDR_PINGS,1
$SC_FREEKB,3964368
$24V_AH,12.39,208.055
$10V_AH,12.30,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,479.655,133.875,1879.605,0.000,0.000,0.000,0.000,49.725,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.478,0.000,0.000,0.000
$MEM,121872
$DATA_FILE_SIZE,30052,904
$CAP_FILE_SIZE,148910,0
$CFSIZE,2097872896,2001633280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14021.96,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,230914,000404,7443.128,-14247.075,181,99.0,181,23.5