version: 66.12
glider: 199
mission: 5
dive: 23
start: 7 29 114 7 27 14
data:
$ID,199
$MISSION,5
$DIVE,23
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-21647.561
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,290714,071742,7055.829,-14428.689,35,0.8,55,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.7
$GPS2,290714,072657,7055.797,-14428.614,5,0.8,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,308.1,88359,-21.9,-11.905,-25.13,1887
$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,-0.87,-145.9,195,2198,583,511,0.0,0.0,0,74,0.00,0.00,-52.83,0.000,16386,0.000,0.000,193,2199,1882,1887,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.87,-145.9,193,2199,1889,1878,3.0,-2.9,5,138,11.12,2.58,-41.28,0.000,18948,0.481,0.147,2185,796,3947,4001,3893,0,0,0,0,0,0,14.06,14.24,14.48
$GC,232,-0.78,-145.9,2187,796,4000,3896,40.7,-24.0,33,240,0.17,2.50,0.00,0.000,3078,0.365,0.105,2209,2205,3948,4001,3896,0,0,0,0,0,0,14.17,14.29,28.83
$GC,544,-0.75,-145.9,2208,2207,4002,3899,102.9,-17.7,65,552,0.00,2.53,0.00,0.000,260,0.000,0.132,2200,3615,3949,4001,3898,0,0,0,0,0,0,28.83,14.38,28.83
$GC,591,-0.72,-145.9,2199,3616,4003,3898,111.8,-18.8,74,602,0.15,2.45,0.00,0.000,3078,0.311,0.092,2229,2191,3949,4001,3898,0,0,0,0,0,0,14.26,14.36,28.83
$GC,896,-0.72,-145.9,2230,2192,4002,3898,158.5,-14.6,105,904,0.00,2.55,0.00,0.000,260,0.000,0.132,2219,3612,3951,4004,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,988,-0.72,-145.9,2221,3612,4000,3898,172.4,-14.8,123,996,0.00,2.42,0.00,0.000,1030,0.000,0.093,2219,2200,3949,4001,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1300,-0.74,-145.9,2219,2200,4003,3898,212.5,-12.3,155,1308,0.00,2.55,0.00,0.000,260,0.000,0.132,2209,3619,3949,4001,3897,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1416,-0.74,-145.9,2208,3620,4002,3898,227.9,-13.0,178,1428,0.00,2.45,0.00,0.000,1030,0.000,0.093,2209,2194,3948,4000,3897,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1723,-0.76,-145.9,2208,2195,4002,3897,264.0,-11.6,201,1731,0.00,2.55,0.00,0.000,260,0.000,0.133,2198,3618,3948,4001,3896,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1845,-0.76,-145.9,2198,3618,4002,3892,279.7,-13.0,225,1854,0.00,2.42,0.00,0.000,1030,0.000,0.093,2198,2200,3948,4001,3896,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2178,-0.76,-145.9,2199,2207,4001,3895,319.5,-11.8,241,2186,0.00,2.55,0.00,0.000,260,0.000,0.132,2187,3612,3947,4001,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2264,-0.76,-145.9,2189,3613,4000,3895,330.9,-13.6,258,2275,0.15,2.42,0.00,0.000,3078,0.295,0.093,2218,2200,3948,4001,3895,0,0,0,0,0,0,14.36,14.46,28.83
$GC,2570,-0.79,-145.9,2219,2198,4001,3894,363.6,-10.4,269,2578,0.00,2.55,0.00,0.000,260,0.000,0.132,2209,3619,3947,4001,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2672,-0.82,-145.9,2209,3621,4002,3895,375.5,-11.7,289,2679,0.00,2.45,0.00,0.000,1030,0.000,0.093,2209,2191,3947,4001,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2994,-0.84,-145.9,2208,2192,4002,3895,411.3,-11.1,303,3003,0.00,2.55,0.00,0.000,260,0.000,0.132,2198,3613,3947,4001,3893,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3112,-0.84,-145.9,2199,3618,4000,3892,425.6,-11.6,326,3122,0.00,2.42,0.00,0.000,1030,0.000,0.093,2198,2199,3947,4001,3893,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3418,-0.87,-145.9,2198,2199,4001,3894,460.6,-11.3,337,3425,0.00,2.55,0.00,0.000,260,0.000,0.132,2190,3619,3947,4001,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3504,-0.87,-145.9,2189,3619,3994,3894,471.4,-12.2,354,3515,0.00,2.42,0.00,0.000,1030,0.000,0.091,2188,2200,3947,4001,3893,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,3748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3748,begin apogee
$GC,3752,-0.16,0.0,2185,2809,4000,3894,500.1,-11.6,363,3894,0.93,0.00,132.73,2.093,10246,0.294,0.000,2414,2808,3349,3402,3297,0,0,0,0,1,0,14.37,28.83,12.85
$STATE,3896,end apogee,CONTROL_FINISHED_OK
$STATE,3896,begin climb
$GC,3897,0.87,145.9,2415,2809,3410,3298,504.0,0.0,367,4042,1.10,0.00,133.48,1.668,10502,0.139,0.000,2743,2808,2753,2802,2704,0,0,0,0,0,0,13.73,28.83,12.97
$GC,4319,0.79,145.9,2742,2809,2789,2679,455.3,15.8,397,4327,0.00,2.55,0.00,0.000,516,0.000,0.104,2754,1394,2732,2787,2678,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4376,0.72,145.9,2753,1394,2789,2679,446.6,15.0,408,4386,0.22,2.55,0.00,0.000,5126,0.315,0.110,2707,2800,2731,2786,2677,0,0,0,0,0,0,14.05,14.14,28.83
$GC,4682,0.67,145.9,2706,2801,2788,2679,404.4,13.8,419,4690,0.00,2.50,0.00,0.000,516,0.000,0.103,2716,1388,2732,2787,2678,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4754,0.63,145.9,2716,1389,2788,2679,394.7,13.5,433,4762,0.17,2.55,0.00,0.000,5126,0.296,0.112,2680,2807,2732,2786,2678,0,0,0,0,0,0,14.22,14.30,28.83
$GC,5076,0.61,145.9,2680,2807,2788,2679,354.8,12.4,447,5084,0.00,2.47,0.00,0.000,516,0.000,0.102,2689,1395,2732,2787,2678,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5164,0.61,149.7,2689,1396,2788,2679,344.5,11.7,464,5173,0.00,2.50,0.00,0.000,1030,0.000,0.112,2689,2802,2732,2787,2678,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5469,0.58,149.7,2688,2803,2788,2679,306.6,12.3,475,5477,0.12,2.47,0.00,0.000,4612,0.311,0.100,2670,1391,2732,2787,2678,0,0,0,0,0,0,14.37,14.45,28.83
$GC,5586,0.62,183.3,2671,1392,2786,2679,293.9,10.1,498,5627,0.00,2.53,32.70,1.434,9222,0.000,0.112,2670,2806,2592,2652,2532,0,0,0,0,0,0,28.83,14.47,13.69
$GC,5931,0.62,183.3,2671,2807,2643,2513,252.0,12.2,515,5939,0.00,2.50,0.00,0.000,516,0.000,0.103,2680,1388,2577,2643,2512,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6063,0.63,197.9,2680,1389,2643,2512,236.7,11.1,541,6080,0.00,2.53,11.15,1.294,9222,0.000,0.112,2680,2802,2540,2606,2474,0,0,0,0,0,0,28.83,14.40,13.78
$GC,6375,0.65,208.7,2682,2803,2594,2459,199.7,11.3,573,6391,0.00,2.53,3.78,0.939,8708,0.000,0.103,2690,1400,2501,2571,2431,0,0,0,0,0,0,28.83,14.36,13.76
$GC,6451,0.67,224.6,2691,1401,2582,2443,191.5,11.0,587,6480,0.00,2.50,22.65,1.279,9222,0.000,0.112,2690,2804,2429,2499,2359,0,0,0,0,0,0,28.83,14.39,13.72
$GC,6774,0.70,250.4,2689,2804,2483,2337,155.6,10.5,621,6804,0.00,2.60,22.42,1.249,8708,0.000,0.104,2698,1394,2315,2388,2242,0,0,0,0,0,0,28.83,14.22,13.71
$GC,6953,0.77,287.4,2700,1392,2377,2226,138.0,9.9,655,6994,0.00,2.53,33.12,1.226,9222,0.000,0.112,2699,2798,2168,2248,2088,0,0,0,0,0,0,28.83,14.31,13.64
$GC,7289,0.83,316.1,2700,2799,2234,2064,101.7,10.3,691,7323,0.12,2.55,25.65,1.206,10756,0.171,0.106,2748,1393,2044,2135,1954,0,0,0,0,0,0,14.33,14.13,13.69
$GC,7457,0.85,328.3,2748,1394,2129,1939,82.2,11.2,723,7473,0.00,2.55,3.10,0.210,9222,0.000,0.112,2748,2803,2010,2103,1918,0,0,0,0,0,0,28.83,14.26,14.21
$GC,7768,0.90,374.1,2748,2802,2118,1942,46.1,9.4,755,7802,0.00,2.53,26.23,0.303,8708,0.000,0.107,2759,1395,1823,1913,1733,0,0,0,0,0,0,28.83,14.28,14.21
$GC,7901,1.00,427.4,2758,1396,1932,1751,33.9,9.0,780,7938,0.00,2.53,30.00,0.267,9222,0.000,0.113,2758,2800,1604,1701,1507,0,0,0,0,0,0,28.83,14.34,14.22
$GC,8232,1.36,650.0,2759,2801,1715,1527,11.9,-0.2,815,8360,0.43,1.83,118.90,0.207,10500,0.116,0.137,2903,3770,696,767,626,0,0,0,0,0,0,14.41,14.25,14.21
$STATE,8403,end climb,SURFACE_DEPTH_REACHED
$STATE,8403,begin surface coast
$FINISH,0.7,1.011906
$STATE,8423,end surface coast,CONTROL_FINISHED_OK
$STATE,8423,begin surface
$SM_CCo,8446,21.83,0.194,0,0,537,689.05
$SM_GC,1.68,8.30,2.83,21.83,0.099,0.103,0.194,196,2211,537,-7.06,0.96,689.05,0,0,0,0,0,0,14.32,14.30,14.25
$RAFOS_CLK,280
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14430.80,290714,044538
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.52
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4014284
$TM_FREEKB,7711584
$24V_AH,12.85,54.150
$10V_AH,12.64,0.000
$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,23.000,96.150,595.900,21.825,0.000,0.000,0.000,346.575,0.000,0.000,26.794,0.000,5869.222,774.700,2305.708,74.116,0.000,1888.681,0.000,1249.790,1470.000,0.538,0.000
$DEVICE_MAMPS,481.185,146.880,2093.040,193.545,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8448.000,8474.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.660,1000.000,0.000,0.000
$MEM,302932
$DATA_FILE_SIZE,30030,847
$CAP_FILE_SIZE,132348,0
$CFSIZE,2097872896,2088632320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9388.33,0x2378b6,7,5
$SOUNDSPEED,1449.9
$EKF,8540,4256.807129,-8669.650391,0.714898,-0.039283,-0.035435,-0.004894,0.000121,0.001137,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.067,148.15,1
$GPS,290714,094931,7056.542,-14429.157,13,0.8,33,22.3