version: 66.12
glider: 199
mission: 5
dive: 21
start: 7 29 114 2 46 14
data:
$ID,199
$MISSION,5
$DIVE,21
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,480
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,115
$T_MISSION,145
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,688.85968
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21644.746
$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,2470
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3349
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,3
$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
$GPS1,290714,023731,7054.554,-14427.427,2,0.8,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.4
$GPS2,290714,024557,7054.499,-14427.539,4,0.8,25,22.3
$SPEED_LIMITS,0.145,0.255
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,314.6,90726,-22.4,-12.174,-25.50,1846
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.88,-145.9,200,2193,577,516,0.0,0.0,0,85,0.00,0.00,-63.90,0.000,16386,0.000,0.000,199,2193,2159,2165,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.88,-145.9,199,2194,2168,2154,3.4,-3.5,6,142,10.88,2.65,-33.80,0.000,18692,0.474,0.157,2167,3608,3944,4000,3889,0,0,0,0,0,0,14.05,14.21,14.48
$GC,366,-0.79,-145.9,2168,3608,4000,3893,79.0,-25.4,59,374,0.20,2.47,0.00,0.000,3078,0.330,0.098,2207,2188,3946,4000,3892,0,0,0,0,0,0,14.21,14.33,28.83
$GC,678,-0.79,-145.9,2207,2188,4001,3894,134.8,-16.7,91,686,0.00,2.58,0.00,0.000,260,0.000,0.134,2198,3612,3946,4000,3893,0,0,0,0,0,0,28.83,14.38,28.83
$GC,804,-0.77,-145.9,2199,3613,4000,3893,157.3,-16.9,116,814,0.00,2.45,0.00,0.000,1030,0.000,0.097,2198,2198,3946,4000,3893,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1110,-0.77,-145.9,2198,2196,4001,3894,202.7,-13.5,147,1118,0.00,2.55,0.00,0.000,260,0.000,0.135,2187,3613,3946,4000,3893,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1187,-0.77,-145.9,2189,3612,3999,3894,214.0,-15.1,162,1198,0.15,2.45,0.00,0.000,3078,0.310,0.097,2217,2199,3946,4000,3893,0,0,0,0,0,0,14.35,14.45,28.83
$GC,1493,-0.80,-145.9,2217,2199,3999,3894,249.4,-11.2,193,1501,0.00,2.55,0.00,0.000,260,0.000,0.136,2208,3612,3946,4000,3893,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1579,-0.80,-145.9,2207,3613,4001,3894,260.2,-12.4,210,1591,0.00,2.47,0.00,0.000,1030,0.000,0.097,2208,2202,3946,4000,3893,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1885,-0.82,-145.9,2208,2202,4001,3893,295.2,-11.3,221,1893,0.00,2.53,0.00,0.000,260,0.000,0.136,2196,3612,3948,4000,3896,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1967,-0.82,-145.9,2199,3613,3998,3892,305.6,-12.7,237,1975,0.00,2.42,0.00,0.000,1030,0.000,0.096,2197,2203,3945,3999,3892,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2279,-0.82,-145.9,2199,2203,3999,3892,342.9,-11.8,249,2288,0.00,2.55,0.00,0.000,260,0.000,0.136,2187,3618,3945,4000,3891,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2357,-0.82,-145.9,2185,3619,4001,3892,353.1,-13.2,264,2365,0.00,2.42,0.00,0.000,1030,0.000,0.096,2186,2202,3945,4000,3891,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2674,-0.82,-145.9,2195,2202,3999,3892,392.7,-12.3,277,2683,0.00,2.47,0.00,0.000,260,0.000,0.134,2176,3613,3945,3999,3891,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2802,-0.82,-145.9,2176,3613,4001,3892,410.0,-13.8,302,2811,0.00,2.42,0.00,0.000,1030,0.000,0.096,2176,2195,3948,3999,3897,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,2889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2889,begin apogee
$GC,2893,-0.16,0.0,2172,2806,4001,3892,421.3,-12.7,309,3034,0.98,0.00,130.70,2.007,10246,0.302,0.000,2413,2805,3349,3402,3296,0,0,0,0,1,0,14.43,28.83,12.89
$STATE,3037,end apogee,CONTROL_FINISHED_OK
$STATE,3037,begin climb
$GC,3038,0.88,145.9,2413,2806,3411,3299,425.6,0.0,313,3187,1.12,1.83,133.18,1.574,10500,0.148,0.132,2754,3766,2740,2788,2693,0,0,0,0,0,0,13.76,13.60,13.03
$GC,3287,0.77,145.9,2749,3766,2781,2686,403.3,17.4,355,3295,0.17,1.70,0.00,0.000,5126,0.324,0.093,2722,2800,2733,2782,2685,0,0,0,0,0,0,13.84,13.98,28.83
$GC,3619,0.72,145.9,2721,2801,2784,2683,356.0,13.9,371,3627,0.00,2.50,0.00,0.000,516,0.000,0.108,2731,1390,2733,2782,2684,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3676,0.67,145.9,2732,1390,2782,2683,348.5,12.6,382,3688,0.20,2.55,0.00,0.000,5126,0.308,0.114,2688,2799,2732,2782,2683,0,0,0,0,0,0,14.14,14.23,28.83
$GC,3981,0.65,145.9,2689,2800,2784,2684,310.7,12.2,393,3989,0.00,2.50,0.00,0.000,516,0.000,0.106,2698,1387,2733,2783,2683,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4068,0.66,156.0,2698,1388,2784,2684,300.5,11.6,410,4080,0.00,2.53,3.08,0.817,9222,0.000,0.115,2698,2800,2711,2765,2658,0,0,0,0,0,0,28.83,14.36,13.68
$GC,4385,0.62,156.0,2700,2800,2779,2671,262.2,12.6,421,4393,0.00,2.55,1.88,0.226,8708,0.000,0.104,2709,1392,2714,2769,2659,0,0,0,0,0,0,28.83,14.40,14.34
$GC,4482,0.61,165.5,2709,1393,2787,2667,249.0,11.6,440,4506,0.20,2.53,14.77,1.331,13318,0.297,0.114,2665,2806,2666,2724,2609,0,0,0,0,0,0,14.31,14.40,13.77
$GC,4800,0.65,196.3,2666,2806,2718,2595,214.5,10.5,473,4835,0.00,2.55,27.38,1.314,8708,0.000,0.103,2674,1392,2538,2603,2474,0,0,0,0,0,0,28.83,14.14,13.63
$GC,4914,0.71,225.2,2676,1392,2594,2461,202.6,10.6,494,4951,0.00,2.55,25.33,1.293,9222,0.000,0.114,2674,2799,2417,2486,2349,0,0,0,0,0,0,28.83,14.20,13.57
$GC,5245,0.79,271.1,2674,2799,2487,2336,165.7,9.6,529,5294,0.15,2.65,41.25,1.261,10756,0.164,0.106,2731,1393,2231,2307,2155,0,0,0,0,0,0,14.26,13.99,13.52
$GC,5468,0.79,276.1,2731,1389,2295,2135,139.3,11.9,571,5477,0.00,2.58,0.00,0.000,1030,0.000,0.115,2731,2801,2213,2293,2134,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5781,0.81,291.4,2731,2798,2295,2134,100.8,11.3,603,5809,0.00,2.58,16.15,1.173,8708,0.000,0.107,2741,1399,2147,2228,2066,0,0,0,0,0,0,28.83,14.16,13.70
$GC,5903,0.83,306.6,2742,1400,2221,2056,86.8,11.3,626,5916,0.00,2.55,5.43,0.273,9222,0.000,0.114,2741,2807,2098,2183,2013,0,0,0,0,0,0,28.83,14.23,14.05
$GC,6211,0.90,365.3,2741,2808,2211,2046,52.6,8.9,657,6254,0.00,2.60,34.00,0.320,8708,0.000,0.107,2751,1396,1860,1949,1772,0,0,0,0,0,0,28.83,14.26,14.17
$GC,6358,1.01,416.7,2751,1396,1969,1787,39.0,9.3,684,6395,0.12,2.55,29.20,0.278,11270,0.174,0.116,2791,2808,1648,1742,1554,0,0,0,0,0,0,14.34,14.32,14.19
$GC,6689,1.34,651.7,2792,2808,1754,1574,13.1,-0.9,719,6826,0.30,1.75,125.43,0.209,10500,0.131,0.137,2896,3769,691,764,618,0,0,0,0,0,0,14.38,14.21,14.20
$STATE,6869,end climb,SURFACE_DEPTH_REACHED
$STATE,6869,begin surface coast
$FINISH,0.8,1.018993
$STATE,6879,end surface coast,CONTROL_FINISHED_OK
$STATE,6879,begin surface
$SM_CCo,6902,21.12,0.192,0,0,539,689.05
$SM_GC,2.80,8.43,2.85,21.12,0.114,0.108,0.192,203,2206,539,-7.05,0.74,689.05,0,0,0,0,0,0,14.28,14.28,14.23
$RAFOS_CLK,109
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7019.90,-14433.08,290714,003228
$TT8_MAMPS,0.047936,0.047936
$HUMID,51.10
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4014496
$TM_FREEKB,7738944
$24V_AH,12.89,48.756
$10V_AH,12.65,0.000
$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,22.900,80.000,587.750,21.125,0.000,0.000,0.000,314.425,0.000,0.000,26.176,0.000,4565.283,747.102,2053.501,66.768,0.000,1747.011,0.000,1107.873,1494.000,0.537,0.000
$DEVICE_MAMPS,473.535,156.825,2006.595,192.015,0.000,0.000,0.000,186.660,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6899.000,6922.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.099,1000.000,0.000,0.000
$MEM,303792
$DATA_FILE_SIZE,26667,750
$CAP_FILE_SIZE,116168,0
$CFSIZE,2097872896,2089189376
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7716.30,0x2378b6,7,5
$INTR,1,6728.47,0x234484,1,24
$SOUNDSPEED,1449.1
$EKF,6985,4255.371582,-8668.057617,0.828255,-0.038634,-0.293914,-0.104171,0.000089,0.000836,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.076,169.03,1
$GPS,290714,044236,7055.085,-14427.942,3,0.8,23,22.3