version: 66.12
glider: 199
mission: 5
dive: 428
start: 9 25 114 1 13 15
data:
$ID,199
$MISSION,5
$DIVE,428
$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,29
$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,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,2.39
$_SM_ANGLEo,4.6
$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,-184.8,2555,2358,621,532,0.0,0.0,0,80,0.00,0.00,-61.00,0.000,16386,0.000,0.000,2555,2358,2076,2128,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-184.8,2557,2358,2128,2027,3.1,-1.8,6,141,1.05,2.50,-48.30,0.000,20996,0.074,0.106,2194,956,3964,4024,3905,0,0,0,0,0,0,14.23,14.18,14.53
$GC,256,-0.72,-184.8,2195,956,4023,3908,55.1,-27.7,41,262,0.00,2.50,0.00,0.000,1030,0.000,0.086,2183,2361,3966,4024,3908,0,0,0,0,0,0,28.83,14.17,28.83
$GC,561,-0.72,-184.8,2184,2361,4023,3909,123.1,-19.6,72,566,0.00,2.45,0.00,0.000,516,0.000,0.078,2183,952,3966,4024,3908,0,0,0,0,0,0,28.83,14.26,28.83
$GC,616,-0.72,-184.8,2183,952,4025,3909,133.4,-18.2,83,622,0.12,2.50,0.00,0.000,3078,0.304,0.090,2195,2360,3966,4024,3908,0,0,0,0,0,0,13.88,14.18,28.83
$GC,921,-0.72,-184.8,2196,2361,4023,3909,186.2,-16.5,114,926,0.00,2.45,0.00,0.000,516,0.000,0.078,2195,947,3966,4024,3908,0,0,0,0,0,0,28.83,14.27,28.83
$GC,961,-0.72,-184.8,2196,947,4024,3909,192.6,-15.4,122,966,0.00,2.53,0.00,0.000,1030,0.000,0.091,2185,2365,3966,4024,3908,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1271,-0.72,-184.8,2187,2366,4023,3909,242.0,-14.8,154,1276,0.00,2.45,0.00,0.000,516,0.000,0.078,2186,950,3966,4024,3908,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1306,-0.72,-184.8,2186,951,4024,3909,247.1,-14.6,161,1312,0.00,2.50,0.00,0.000,1030,0.000,0.091,2176,2360,3966,4024,3908,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1633,-0.72,-184.8,2176,2361,4025,3909,294.5,-14.4,174,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2360,3966,4024,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1932,-0.72,-184.8,2176,2361,4025,3909,335.9,-13.5,184,1936,0.00,2.42,0.00,0.000,516,0.000,0.080,2176,957,3966,4024,3908,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1991,-0.72,-184.8,2177,958,4024,3909,343.7,-12.6,196,1996,0.15,2.50,0.00,0.000,3078,0.276,0.093,2194,2360,3965,4023,3908,0,0,0,0,0,0,13.96,14.28,28.83
$GC,2322,-0.72,-184.8,2197,2361,4023,3909,382.0,-11.4,212,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2360,3966,4024,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2622,-0.72,-184.8,2195,2361,4025,3909,416.1,-11.4,222,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2360,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.72,-184.8,2195,2361,4025,3909,449.5,-11.1,232,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2360,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.72,-184.8,2195,2361,4025,3909,482.9,-11.0,242,3226,0.00,2.45,0.00,0.000,516,0.000,0.079,2195,946,3966,4024,3908,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3261,-0.72,-184.8,2197,947,4023,3908,487.2,-10.9,250,3266,0.00,2.53,0.00,0.000,1030,0.000,0.093,2187,2366,3966,4024,3908,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3584,-0.72,-184.8,2188,2366,4023,3909,524.0,-11.4,264,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2365,3966,4024,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-0.72,-184.8,2186,2366,4025,3908,557.4,-11.1,274,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2365,3966,4024,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.72,-184.8,2186,2366,4025,3909,590.7,-11.1,284,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2365,3966,4024,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,-0.72,-184.8,2188,2366,4023,3909,624.1,-11.2,294,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2365,3964,4019,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.72,-184.8,2186,2366,4025,3909,657.4,-11.1,304,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2365,3966,4024,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.72,-184.8,2186,2366,4025,3910,690.9,-11.2,314,5086,0.00,2.47,0.00,0.000,516,0.000,0.080,2187,946,3966,4024,3908,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5131,-0.72,-184.8,2187,947,4025,3910,696.6,-11.3,324,5136,0.00,2.53,0.00,0.000,1030,0.000,0.093,2176,2367,3966,4024,3909,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5442,-0.72,-184.8,2176,2368,4024,3910,732.8,-11.8,336,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2367,3966,4024,3909,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5595,-0.14,0.0,2176,2603,4023,3910,751.0,-12.3,341,5833,0.85,0.00,233.43,1.610,10246,0.265,0.000,2383,2602,3227,3277,3177,0,0,0,0,0,0,13.90,28.83,12.83
$STATE,5834,end apogee,CONTROL_FINISHED_OK
$STATE,5834,begin climb
$GC,5836,0.72,184.8,2383,2603,3274,3174,763.1,0.0,349,6014,0.93,0.00,168.62,1.980,10502,0.119,0.000,2664,2602,2465,2527,2403,0,0,0,0,0,0,13.55,28.83,12.37
$GC,6312,0.72,184.8,2665,2603,2524,2387,721.1,12.2,385,6316,0.00,2.10,0.00,0.000,260,0.000,0.112,2664,3766,2455,2524,2386,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6342,0.72,184.8,2664,3766,2525,2387,716.8,14.3,391,6347,0.00,2.00,0.00,0.000,1030,0.000,0.067,2672,2592,2454,2523,2386,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6674,0.72,184.8,2672,2593,2526,2387,674.4,12.9,407,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2453,2524,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,0.72,184.8,2674,2592,2524,2386,636.3,12.6,417,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2592,2454,2523,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,0.72,184.8,2674,2593,2523,2386,598.5,12.8,427,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2592,2454,2523,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,0.72,184.8,2674,2592,2523,2386,560.2,12.8,437,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2455,2524,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,0.72,184.8,2674,2592,2523,2386,522.0,12.6,447,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2455,2524,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,0.72,184.8,2673,2592,2523,2386,484.1,12.7,457,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2454,2524,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.72,184.8,2674,2592,2524,2386,447.0,12.2,467,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2592,2454,2524,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,0.72,184.8,2674,2592,2524,2386,409.2,12.8,477,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2589,2454,2523,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,0.72,184.8,2672,2592,2525,2386,372.1,12.2,487,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2453,2524,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9372,0.72,184.8,2672,2593,2525,2386,336.0,11.9,497,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2454,2524,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9672,0.72,184.8,2672,2592,2525,2386,301.3,11.5,507,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2592,2454,2524,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,0.76,184.8,2672,2592,2525,2386,269.4,10.5,517,9991,0.00,2.40,0.00,0.000,516,0.000,0.077,2683,1201,2454,2524,2385,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10036,0.82,184.8,2683,1202,2525,2383,263.0,10.3,527,10041,0.00,2.50,0.00,0.000,1030,0.000,0.090,2683,2600,2454,2524,2385,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10346,0.87,237.2,2684,2601,2526,2386,232.7,9.4,551,10397,0.00,2.45,45.33,1.436,8708,0.000,0.073,2693,1197,2252,2320,2185,0,0,0,0,0,0,28.83,14.27,13.52
$GC,10468,0.93,237.2,2692,1198,2314,2173,220.9,10.2,575,10473,0.12,2.53,0.00,0.000,3078,0.142,0.089,2740,2603,2242,2313,2171,0,0,0,0,0,0,14.09,14.09,28.83
$GC,10780,0.95,237.2,2741,2603,2313,2170,184.7,11.1,607,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2602,2240,2313,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11078,1.00,288.1,2741,2603,2311,2170,154.0,9.5,637,11129,0.00,2.47,44.03,1.410,8708,0.000,0.078,2750,1197,2044,2121,1967,0,0,0,0,0,0,28.83,14.21,13.52
$GC,11229,1.00,288.1,2752,1201,2112,1956,137.1,11.6,667,11234,0.00,2.53,0.00,0.000,1030,0.000,0.091,2751,2599,2034,2112,1956,0,0,0,0,0,0,28.83,14.11,28.83
$GC,11541,1.03,288.1,2751,2600,2114,1953,101.7,10.9,699,11546,0.00,2.12,0.00,0.000,260,0.000,0.115,2751,3771,2032,2112,1953,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11661,1.05,288.1,2750,3772,2113,1953,86.8,11.1,723,11666,0.00,2.03,0.00,0.000,1030,0.000,0.073,2760,2593,2032,2112,1952,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11971,1.20,435.8,2760,2594,2113,1952,64.4,5.4,755,12052,0.17,2.47,72.28,0.349,10756,0.128,0.078,2838,1194,1456,1536,1377,0,0,0,0,0,0,14.13,14.20,13.95
$GC,12250,1.26,499.3,2836,1195,1551,1382,36.7,9.0,810,12290,0.00,2.53,35.05,0.270,9222,0.000,0.091,2836,2599,1193,1274,1112,0,0,0,0,0,0,28.83,14.14,13.98
$FREEZE,8.81,-0.228,-1.475,2,43,0
$FREEZE,8.16,-0.228,-1.474,2,43,0
$FREEZE,7.72,-0.471,-1.468,2,43,0
$FREEZE,7.09,-0.471,-1.468,2,43,0
$FREEZE,6.62,-0.616,-1.463,2,43,0
$FREEZE,5.98,-0.616,-1.463,2,43,0
$GC,12595,1.36,603.1,2838,2599,1283,1128,10.4,7.3,849,12656,0.12,2.47,54.22,0.200,10756,0.139,0.077,2892,1194,768,833,703,0,0,0,0,0,0,14.23,14.18,14.02
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$STATE,13120,end climb,NO_VERTICAL_VELOCITY
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$STATE,13134,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13134,begin surface
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$XPDR_PINGS,0
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$24V_AH,12.37,208.428
$10V_AH,12.31,0.000
$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,304.470,123.165,1979.820,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.328,0.000,0.000,0.000
$MEM,121460
$DATA_FILE_SIZE,30045,920
$CAP_FILE_SIZE,140839,0
$CFSIZE,2097872896,2001436672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,230914,000404,7443.128,-14247.075,181,99.0,181,23.5