version: 66.12
glider: 199
mission: 5
dive: 27
start: 7 29 114 17 43 11
data:
$ID,199
$MISSION,5
$DIVE,27
$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,-21653.664
$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,22
$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
$GPS1,290714,173333,7058.684,-14430.915,16,0.8,36,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.4
$GPS2,290714,174253,7058.618,-14430.947,4,1.0,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,298.4,83239,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.87,-145.9,180,2198,582,509,0.0,0.0,0,87,0.00,0.00,-65.53,0.000,16386,0.000,0.000,179,2198,2201,2211,2192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.87,-145.9,180,2199,2214,2193,3.3,-3.4,6,144,10.90,2.62,-32.83,0.000,19204,0.468,0.153,2174,3605,3948,4002,3894,0,0,0,0,0,0,14.07,14.24,14.47
$GC,368,-0.78,-145.9,2174,3605,4004,3895,79.9,-24.0,59,376,0.20,2.45,0.00,0.000,3078,0.332,0.093,2214,2197,3948,4002,3894,0,0,0,0,0,0,14.23,14.35,28.83
$GC,680,-0.78,-145.9,2215,2196,4002,3895,135.3,-16.7,91,689,0.00,2.55,0.00,0.000,260,0.000,0.130,2205,3614,3950,4002,3898,0,0,0,0,0,0,28.83,14.38,28.83
$GC,768,-0.75,-145.9,2205,3614,4004,3902,150.3,-16.7,108,777,0.00,2.42,0.00,0.000,1030,0.000,0.091,2205,2198,3949,4003,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1073,-0.75,-145.9,2205,2198,4005,3895,195.2,-13.4,139,1081,0.00,2.55,0.00,0.000,260,0.000,0.130,2196,3615,3948,4002,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1115,-0.75,-145.9,2196,3615,4002,3895,201.4,-14.7,147,1123,0.12,2.42,0.00,0.000,3078,0.314,0.090,2219,2198,3948,4002,3895,0,0,0,0,0,0,14.35,14.45,28.83
$GC,1428,-0.78,-145.9,2220,2199,4002,3896,238.5,-11.6,179,1435,0.00,2.53,0.00,0.000,260,0.000,0.132,2209,3612,3948,4002,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1479,-0.78,-145.9,2210,3613,4002,3895,245.0,-12.6,189,1489,0.00,2.42,0.00,0.000,1030,0.000,0.090,2209,2197,3948,4002,3894,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1794,-0.80,-145.9,2211,2198,4002,3897,281.8,-11.5,203,1802,0.00,2.53,0.00,0.000,260,0.000,0.131,2199,3612,3945,3998,3893,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1871,-0.80,-145.9,2199,3613,4004,3894,291.5,-13.2,218,1879,0.00,2.42,0.00,0.000,1030,0.000,0.092,2199,2195,3948,4002,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2189,-0.80,-145.9,2200,2195,4002,3893,328.9,-11.7,231,2196,0.00,2.55,0.00,0.000,260,0.000,0.132,2188,3619,3947,4002,3892,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2260,-0.80,-145.9,2188,3620,4004,3893,338.1,-13.2,245,2270,0.00,2.47,0.00,0.000,1030,0.000,0.091,2186,2175,3947,4002,3892,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2584,-0.80,-145.9,2188,2176,4003,3892,377.0,-12.0,259,2592,0.00,2.58,0.00,0.000,260,0.000,0.130,2177,3617,3946,4002,3891,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2651,-0.80,-145.9,2178,3617,4003,3892,385.9,-13.3,272,2659,0.15,2.42,0.00,0.000,3078,0.314,0.091,2207,2195,3946,4002,3891,0,0,0,0,0,0,14.44,14.54,28.83
$GC,2978,-0.82,-145.9,2207,2196,4004,3897,421.5,-10.8,287,2986,0.00,2.53,0.00,0.000,260,0.000,0.131,2198,3612,3946,4002,3890,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3045,-0.82,-145.9,2199,3613,4002,3891,429.4,-11.6,300,3053,0.00,2.40,0.00,0.000,1030,0.000,0.090,2198,2198,3946,4002,3890,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3373,-0.84,-145.9,2197,2199,4004,3891,466.9,-11.5,315,3381,0.00,2.53,0.00,0.000,260,0.000,0.130,2187,3621,3946,4002,3890,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3400,-0.84,-145.9,2187,3622,4008,3890,470.2,-12.5,320,3409,0.00,2.40,0.00,0.000,1030,0.000,0.090,2187,2201,3946,4002,3890,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,3674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3674,begin apogee
$GC,3678,-0.16,0.0,2183,2802,4004,3890,502.9,-11.7,330,3866,0.90,0.00,182.82,1.455,10246,0.295,0.000,2410,2801,3347,3401,3293,0,0,0,0,0,0,14.45,28.83,13.21
$STATE,3867,end apogee,CONTROL_FINISHED_OK
$STATE,3867,begin climb
$GC,3868,0.87,145.9,2409,2802,3397,3287,508.5,0.0,336,4011,1.12,1.85,127.70,1.669,10500,0.161,0.130,2739,3770,2740,2789,2692,0,0,0,0,0,0,13.80,13.59,12.98
$GC,4085,0.76,145.9,2738,3771,2777,2680,487.8,17.6,372,4094,0.15,1.73,0.00,0.000,5126,0.328,0.090,2719,2795,2727,2777,2678,0,0,0,0,0,0,13.77,13.91,28.83
$GC,4418,0.70,145.9,2721,2797,2777,2677,438.6,14.8,388,4426,0.00,2.47,0.00,0.000,516,0.000,0.103,2728,1397,2727,2777,2677,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4485,0.66,145.9,2728,1398,2779,2678,429.1,14.3,401,4495,0.20,2.53,0.00,0.000,5126,0.306,0.110,2687,2801,2726,2777,2676,0,0,0,0,0,0,14.17,14.23,28.83
$GC,4814,0.62,145.9,2688,2801,2777,2676,386.1,12.7,416,4822,0.00,2.47,0.00,0.000,516,0.000,0.101,2695,1394,2726,2777,2676,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4881,0.60,145.9,2697,1391,2777,2676,378.2,11.9,429,4891,0.12,2.50,0.00,0.000,5126,0.308,0.110,2671,2801,2726,2777,2675,0,0,0,0,0,0,14.27,14.37,28.83
$GC,5210,0.58,146.3,2667,2801,2778,2676,339.4,11.9,444,5219,0.00,2.45,0.00,0.000,516,0.000,0.100,2680,1394,2726,2777,2675,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5282,0.59,154.1,2681,1395,2777,2676,331.1,11.5,458,5291,0.00,2.47,0.00,0.000,1030,0.000,0.111,2680,2798,2726,2777,2675,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5606,0.57,154.1,2680,2799,2778,2676,291.7,12.2,472,5614,0.00,2.45,0.00,0.000,516,0.000,0.100,2690,1386,2725,2777,2673,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5703,0.59,171.3,2691,1386,2778,2676,280.4,11.0,491,5730,0.00,2.50,21.20,1.432,9222,0.000,0.111,2690,2802,2650,2706,2594,0,0,0,0,0,0,28.83,14.48,13.76
$GC,6034,0.56,171.3,2690,2802,2687,2565,237.9,12.9,512,6042,0.15,2.47,0.00,0.000,4612,0.308,0.100,2668,1387,2625,2686,2564,0,0,0,0,0,0,14.32,14.42,28.83
$GC,6117,0.59,194.1,2668,1388,2687,2564,228.9,10.7,528,6145,0.00,2.50,19.23,1.355,9222,0.000,0.112,2668,2798,2545,2609,2482,0,0,0,0,0,0,28.83,14.40,13.74
$GC,6439,0.63,221.0,2669,2798,2600,2466,192.5,10.4,562,6470,0.00,2.58,23.33,1.323,8708,0.000,0.101,2678,1392,2438,2508,2369,0,0,0,0,0,0,28.83,14.22,13.71
$GC,6529,0.68,243.5,2684,1393,2493,2352,183.0,10.7,578,6559,0.00,2.53,19.45,1.306,9222,0.000,0.111,2678,2801,2345,2415,2276,0,0,0,0,0,0,28.83,14.26,13.63
$GC,6853,0.74,278.2,2682,2801,2406,2259,148.3,10.0,612,6896,0.00,2.53,31.70,1.284,8708,0.000,0.099,2689,1394,2198,2277,2120,0,0,0,0,0,0,28.83,14.10,13.63
$GC,7060,0.85,327.5,2688,1395,2272,2108,128.0,9.2,651,7116,0.17,2.55,44.42,1.279,11270,0.148,0.112,2746,2808,2000,2089,1911,0,0,0,0,0,0,14.28,14.24,13.50
$GC,7420,0.85,327.5,2747,2808,2078,1888,78.8,13.0,690,7428,0.00,2.53,0.00,0.000,516,0.000,0.103,2756,1389,1981,2078,1885,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7602,0.86,340.9,2758,1390,2077,1887,56.6,11.2,726,7616,0.00,2.53,3.30,0.213,9222,0.000,0.112,2757,2801,1960,2052,1868,0,0,0,0,0,0,28.83,14.33,14.22
$GC,7912,0.94,403.8,2756,2801,2068,1891,25.3,8.5,758,7953,0.00,2.58,33.88,0.248,8708,0.000,0.103,2767,1388,1698,1793,1603,0,0,0,0,0,0,28.83,14.33,14.27
$GC,8143,1.28,619.4,2767,1389,1809,1620,14.4,0.2,802,8263,0.35,2.53,113.55,0.215,11270,0.120,0.110,2884,2805,823,904,743,0,0,0,0,0,0,14.40,14.38,14.16
$STATE,8371,end climb,SURFACE_DEPTH_REACHED
$STATE,8371,begin surface coast
$FINISH,0.7,1.005200
$STATE,8391,end surface coast,CONTROL_FINISHED_OK
$STATE,8391,begin surface
$SM_CCo,8412,37.70,0.188,0,0,537,689.05
$SM_GC,2.03,8.25,1.08,37.70,0.099,0.089,0.188,192,2201,537,-7.07,0.82,689.05,0,0,0,0,0,0,14.30,14.32,14.21
$RAFOS_CLK,16
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7058.96,-15458.99,290714,150423
$TT8_MAMPS,0.08239,0.08239
$HUMID,52.20
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4013884
$TM_FREEKB,7657504
$24V_AH,12.98,60.206
$10V_AH,12.70,0.000
$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,22.800,95.700,620.575,37.700,0.000,0.000,0.000,350.675,0.000,0.000,27.110,0.000,5850.492,730.966,2352.472,78.705,0.000,1924.511,0.000,1238.488,1496.000,0.538,0.000
$DEVICE_MAMPS,468.180,153.000,1669.230,188.190,0.000,0.000,0.000,188.190,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8416.000,8442.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.568,12.674,0.000,0.000
$MEM,301088
$DATA_FILE_SIZE,29974,839
$CAP_FILE_SIZE,131119,0
$CFSIZE,2097872896,2087583744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9152.14,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,8526,4259.589844,-8672.457031,0.693525,-0.054044,-0.300750,0.002543,0.000123,0.001154,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.049,101.56,1
$GPS,290714,200514,7059.541,-14431.843,17,0.7,37,22.3