version: 66.12
glider: 199
mission: 5
dive: 28
start: 7 29 114 20 15 4
data:
$ID,199
$MISSION,5
$DIVE,28
$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,-21655.316
$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,25
$R_STBD_OVSHOOT,18
$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
$GPS1,290714,200514,7059.541,-14431.843,17,0.7,37,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.2
$GPS2,290714,201439,7059.520,-14431.948,4,0.8,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,295.9,81525,-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,-145.9,177,2200,573,514,0.0,0.0,0,84,0.00,0.00,-63.40,0.000,16386,0.000,0.000,176,2200,2152,2160,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.87,-145.9,178,2201,2160,2145,3.6,-4.2,6,140,11.25,2.62,-33.25,0.000,19204,0.479,0.148,2172,3604,3947,4002,3892,0,0,0,0,0,0,13.99,14.16,14.42
$GC,334,-0.77,-145.9,2172,3604,4004,3896,71.4,-22.9,53,343,0.20,2.45,0.00,0.000,3078,0.335,0.093,2213,2196,3948,4002,3895,0,0,0,0,0,0,14.13,14.28,28.83
$GC,647,-0.77,-145.9,2213,2196,4004,3897,127.0,-16.8,85,654,0.00,2.58,0.00,0.000,260,0.000,0.129,2204,3616,3949,4002,3897,0,0,0,0,0,0,28.83,14.33,28.83
$GC,713,-0.74,-145.9,2205,3617,4002,3897,139.1,-18.7,98,724,0.00,2.45,0.00,0.000,1030,0.000,0.092,2204,2199,3949,4002,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1018,-0.74,-145.9,2200,2199,4004,3897,186.0,-13.9,129,1026,0.00,2.55,0.00,0.000,260,0.000,0.131,2193,3613,3949,4002,3897,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1111,-0.74,-145.9,2196,3614,4002,3897,199.9,-15.4,147,1118,0.15,2.45,0.00,0.000,3078,0.305,0.093,2224,2191,3952,4009,3896,0,0,0,0,0,0,14.30,14.40,28.83
$GC,1423,-0.76,-145.9,2221,2191,4002,3897,237.2,-11.5,179,1431,0.00,2.55,0.00,0.000,260,0.000,0.132,2214,3609,3949,4002,3896,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1519,-0.76,-145.9,2215,3610,4002,3896,249.2,-12.0,198,1531,0.00,2.42,0.00,0.000,1030,0.000,0.093,2214,2198,3949,4002,3896,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1835,-0.79,-145.9,2215,2199,4002,3895,284.9,-11.3,210,1845,0.00,2.53,0.00,0.000,260,0.000,0.132,2204,3611,3948,4002,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1930,-0.79,-145.9,2203,3612,4003,3895,296.4,-12.1,228,1937,0.00,2.42,0.00,0.000,1030,0.000,0.093,2204,2195,3948,4002,3895,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2262,-0.81,-145.9,2203,2195,4003,3895,334.1,-11.4,244,2269,0.00,2.53,0.00,0.000,260,0.000,0.132,2193,3610,3948,4002,3894,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2384,-0.81,-145.9,2193,3610,4004,3894,349.8,-12.8,268,2391,0.00,2.40,0.00,0.000,1030,0.000,0.092,2194,2201,3948,4002,3894,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2716,-0.81,-145.9,2194,2201,4002,3894,389.8,-12.0,284,2723,0.00,2.53,0.00,0.000,260,0.000,0.131,2183,3618,3947,4002,3893,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2807,-0.81,-145.9,2182,3618,4003,3891,401.4,-13.0,302,2817,0.00,2.42,0.00,0.000,1030,0.000,0.093,2183,2197,3947,4002,3893,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3141,-0.81,-145.9,2182,2198,4003,3894,442.1,-12.3,318,3150,0.00,2.53,0.00,0.000,260,0.000,0.131,2172,3616,3947,4002,3893,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3254,-0.81,-145.9,2172,3617,4003,3892,457.2,-13.5,340,3263,0.15,2.40,0.00,0.000,3078,0.318,0.090,2202,2201,3947,4002,3892,0,0,0,0,0,0,14.44,14.55,28.83
$GC,3567,-0.84,-145.9,2202,2202,4003,3893,491.8,-11.0,352,3575,0.00,2.50,0.00,0.000,260,0.000,0.129,2193,3611,3947,4002,3892,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,3638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3638,begin apogee
$GC,3642,-0.16,0.0,2194,2794,4002,3892,500.6,-12.5,366,3784,0.85,0.00,132.23,2.097,10246,0.283,0.000,2410,2793,3349,3402,3296,0,0,0,0,1,0,14.44,28.83,12.86
$STATE,3786,end apogee,CONTROL_FINISHED_OK
$STATE,3786,begin climb
$GC,3787,0.87,145.9,2410,2794,3410,3301,504.7,0.0,370,3936,1.12,1.92,132.52,1.695,10500,0.158,0.132,2739,3763,2741,2788,2694,0,0,0,0,0,0,13.73,13.55,12.96
$GC,4130,0.76,145.9,2738,3764,2787,2687,463.8,17.6,431,4139,0.10,1.73,0.00,0.000,5126,0.319,0.090,2712,2803,2735,2785,2686,0,0,0,0,0,0,13.93,14.06,28.83
$GC,4458,0.71,145.9,2712,2806,2786,2686,416.2,14.3,446,4468,0.00,2.50,0.00,0.000,516,0.000,0.103,2722,1387,2735,2785,2685,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4542,0.67,145.9,2723,1388,2784,2685,405.1,13.0,462,4552,0.15,2.55,0.00,0.000,5126,0.311,0.111,2693,2807,2734,2785,2684,0,0,0,0,0,0,14.18,14.27,28.83
$GC,4856,0.63,145.9,2692,2807,2786,2685,363.7,13.1,474,4866,0.00,2.47,0.00,0.000,516,0.000,0.099,2701,1394,2734,2785,2684,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4960,0.61,145.9,2701,1395,2786,2684,350.7,12.1,494,4970,0.15,2.50,0.00,0.000,5126,0.304,0.111,2671,2799,2734,2785,2684,0,0,0,0,0,0,14.29,14.38,28.83
$GC,5284,0.62,152.2,2671,2800,2786,2685,312.3,11.6,508,5292,0.00,2.45,0.00,0.000,516,0.000,0.100,2680,1387,2734,2785,2684,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5371,0.64,167.6,2681,1390,2785,2684,302.8,11.1,525,5399,0.00,2.50,18.70,1.437,9222,0.000,0.112,2681,2799,2654,2711,2598,0,0,0,0,0,0,28.83,14.45,13.75
$GC,5713,0.64,167.6,2682,2800,2706,2587,260.3,12.4,542,5722,0.00,2.45,0.00,0.000,516,0.000,0.100,2691,1394,2646,2706,2586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5851,0.65,175.3,2692,1395,2706,2586,244.1,11.5,569,5861,0.00,2.53,1.62,0.232,9222,0.000,0.112,2690,2807,2633,2694,2572,0,0,0,0,0,0,28.83,14.44,14.39
$GC,6157,0.63,181.9,2690,2808,2706,2584,206.5,11.5,600,6178,0.00,2.50,11.38,1.276,8708,0.000,0.102,2700,1389,2598,2660,2536,0,0,0,0,0,0,28.83,14.36,13.84
$GC,6293,0.65,200.6,2702,1389,2657,2530,191.5,10.9,626,6315,0.00,2.53,16.95,1.297,9222,0.000,0.112,2700,2802,2530,2594,2466,0,0,0,0,0,0,28.83,14.42,13.76
$GC,6620,0.69,228.8,2700,2803,2583,2446,154.8,10.4,660,6655,0.00,2.55,25.05,1.291,8708,0.000,0.101,2710,1403,2402,2471,2333,0,0,0,0,0,0,28.83,14.21,13.71
$GC,6714,0.75,278.9,2711,1403,2465,2323,145.7,9.2,677,6770,0.00,2.53,45.00,1.286,9222,0.000,0.112,2710,2797,2197,2273,2121,0,0,0,0,0,0,28.83,14.24,13.54
$GC,7074,0.77,298.1,2710,2801,2267,2104,105.4,10.9,716,7097,0.00,2.60,15.38,1.210,8708,0.000,0.103,2720,1386,2122,2207,2038,0,0,0,0,0,0,28.83,14.19,13.71
$GC,7321,0.85,334.9,2721,1388,2199,2024,80.0,9.9,764,7344,0.00,2.55,16.92,0.379,9222,0.000,0.112,2720,2804,1983,2074,1892,0,0,0,0,0,0,28.83,14.29,14.12
$GC,7648,0.93,380.7,2720,2804,2092,1918,45.4,9.4,798,7685,0.12,2.50,25.67,0.298,10756,0.170,0.103,2774,1396,1799,1887,1712,0,0,0,0,0,0,14.38,14.31,14.21
$GC,7774,0.97,408.8,2776,1396,1901,1721,31.7,10.4,821,7798,0.00,2.53,16.67,0.263,9222,0.000,0.113,2775,2799,1680,1773,1587,0,0,0,0,0,0,28.83,14.28,14.23
$GC,8092,1.27,617.3,2774,2800,1787,1605,14.7,0.5,854,8215,0.30,2.55,110.18,0.216,10756,0.129,0.103,2889,1399,830,914,746,0,0,0,0,0,0,14.38,14.26,14.21
$GC,8224,1.43,723.9,2889,1399,918,747,9.5,6.1,874,8280,0.12,2.53,43.72,0.202,11270,0.173,0.110,2930,2801,496,542,451,0,0,0,0,0,0,14.26,14.25,14.19
$STATE,8303,end climb,SURFACE_DEPTH_REACHED
$STATE,8303,begin surface coast
$FINISH,0.9,1.019732
$STATE,8313,end surface coast,CONTROL_FINISHED_OK
$STATE,8313,begin surface
$SM_CCo,8395,0.00,0.000,0,0,500,698.86
$SM_GC,1.78,8.43,1.08,0.00,0.105,0.093,0.000,200,2197,500,-7.05,0.88,698.86,0,0,0,0,0,0,14.30,14.31,28.83
$RAFOS_CLK,350
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14436.17,290714,173657
$TT8_MAMPS,0.046438,0.046438
$HUMID,51.81
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4013788
$TM_FREEKB,7644192
$24V_AH,12.86,60.530
$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,23.100,93.775,612.000,0.000,0.000,0.000,0.000,355.250,0.000,0.000,26.953,0.000,5742.402,774.434,2369.415,79.492,0.000,1918.393,0.000,1304.418,0.000,0.537,0.000
$DEVICE_MAMPS,478.890,148.410,2096.865,0.000,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8338.000,8364.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.799,12.672,0.000,0.000
$MEM,300712
$DATA_FILE_SIZE,30006,886
$CAP_FILE_SIZE,131574,0
$CFSIZE,2097872896,2087321600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9112.38,0x2378b6,7,5
$SOUNDSPEED,1450.6
$EKF,8467,4260.437988,-8673.549805,0.860410,0.039910,-0.058108,-0.099020,0.000102,0.000963,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.042,96.50,1
$GPS,290714,223608,7100.419,-14432.971,16,0.8,36,22.3