version: 66.12
glider: 199
mission: 5
dive: 32
start: 7 30 114 6 30 26
data:
$ID,199
$MISSION,5
$DIVE,32
$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,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,-21661.193
$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,21
$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
$GPS1,300714,062053,7103.428,-14437.289,38,0.8,58,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-71.5
$GPS2,300714,063008,7103.391,-14437.277,15,0.7,35,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,295.3,73854,-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,-145.9,192,2191,569,517,0.0,0.0,0,94,0.00,0.00,-72.68,0.000,16386,0.000,0.000,192,2191,2403,2407,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.87,-145.9,192,2192,2410,2400,4.1,-4.9,7,146,10.90,2.65,-27.42,0.000,18692,0.473,0.150,2171,3612,3947,4002,3893,0,0,0,0,0,0,14.08,14.24,14.47
$GC,370,-0.78,-145.9,2171,3613,4004,3900,78.3,-23.7,59,380,0.17,2.45,0.00,0.000,3078,0.330,0.093,2210,2197,3950,4002,3899,0,0,0,0,0,0,14.20,14.33,28.83
$GC,675,-0.78,-145.9,2210,2199,4004,3900,132.4,-16.2,90,683,0.00,2.53,0.00,0.000,260,0.000,0.130,2201,3609,3950,4002,3899,0,0,0,0,0,0,28.83,14.38,28.83
$GC,782,-0.75,-145.9,2203,3610,4003,3900,151.0,-17.4,111,791,0.00,2.45,0.00,0.000,1030,0.000,0.091,2201,2188,3950,4002,3899,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1087,-0.75,-145.9,2201,2188,4003,3906,195.4,-13.6,142,1095,0.00,2.58,0.00,0.000,260,0.000,0.129,2190,3617,3950,4002,3899,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1144,-0.75,-145.9,2190,3617,4004,3900,203.5,-14.2,153,1155,0.15,2.45,0.00,0.000,3078,0.306,0.090,2221,2188,3950,4001,3899,0,0,0,0,0,0,14.35,14.46,28.83
$GC,1450,-0.78,-145.9,2222,2189,4002,3899,238.7,-11.0,184,1458,0.00,2.53,0.00,0.000,260,0.000,0.130,2211,3619,3950,4002,3899,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1502,-0.78,-145.9,2212,3620,4002,3899,245.1,-12.1,194,1510,0.00,2.45,0.00,0.000,1030,0.000,0.089,2211,2191,3950,4002,3899,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1815,-0.80,-145.9,2212,2191,4002,3898,280.9,-11.2,208,1823,0.00,2.55,0.00,0.000,260,0.000,0.130,2200,3617,3949,4002,3897,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1872,-0.80,-145.9,2199,3618,4004,3898,288.1,-12.8,219,1881,0.00,2.42,0.00,0.000,1030,0.000,0.089,2200,2197,3949,4002,3897,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2177,-0.80,-145.9,2200,2199,4003,3897,324.5,-11.8,230,2185,0.00,2.53,0.00,0.000,260,0.000,0.129,2189,3615,3948,4002,3895,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2239,-0.80,-145.9,2190,3615,4004,3896,332.5,-12.8,242,2247,0.00,2.40,0.00,0.000,1030,0.000,0.090,2189,2203,3948,4002,3895,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2572,-0.80,-145.9,2190,2202,4003,3896,371.7,-11.4,258,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2202,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2872,-0.80,-145.9,2189,2203,4004,3896,406.5,-11.6,268,2880,0.00,2.53,0.00,0.000,260,0.000,0.129,2180,3619,3948,4002,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2969,-0.80,-145.9,2181,3620,4002,3895,419.2,-12.9,287,2977,0.12,2.42,0.00,0.000,3078,0.316,0.090,2203,2200,3948,4003,3894,0,0,0,0,0,0,14.45,14.56,28.83
$GC,3296,-0.82,-145.9,2204,2200,4002,3895,455.3,-11.0,302,3304,0.00,2.53,0.00,0.000,260,0.000,0.129,2193,3616,3948,4002,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3363,-0.82,-145.9,2190,3617,4002,3894,463.3,-12.1,315,3371,0.00,2.40,0.00,0.000,1030,0.000,0.090,2194,2199,3948,4002,3894,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,3690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3690,begin apogee
$GC,3693,-0.16,0.0,2190,2804,4002,3894,500.7,-11.2,330,3836,0.88,0.00,132.50,2.103,10246,0.291,0.000,2410,2803,3349,3401,3297,0,0,0,0,1,0,14.45,28.83,12.86
$STATE,3837,end apogee,CONTROL_FINISHED_OK
$STATE,3837,begin climb
$GC,3838,0.87,145.9,2411,2803,3408,3301,504.5,0.0,334,3987,1.12,1.88,130.75,1.694,10500,0.155,0.130,2735,3761,2744,2789,2699,0,0,0,0,0,0,13.73,13.56,12.97
$GC,4092,0.76,145.9,2737,3761,2787,2689,478.7,17.7,377,4101,0.15,1.70,0.00,0.000,5126,0.320,0.088,2719,2795,2737,2786,2688,0,0,0,0,0,0,13.82,13.95,28.83
$GC,4420,0.70,145.9,2719,2795,2786,2688,430.7,14.3,392,4428,0.00,2.47,0.00,0.000,516,0.000,0.100,2728,1396,2736,2786,2687,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4457,0.66,145.9,2728,1396,2785,2688,425.6,13.8,399,4465,0.20,2.55,0.00,0.000,5126,0.304,0.109,2687,2806,2736,2785,2687,0,0,0,0,0,0,14.13,14.22,28.83
$GC,4784,0.63,145.9,2686,2807,2787,2688,383.7,12.8,414,4792,0.00,2.47,0.00,0.000,516,0.000,0.097,2695,1395,2736,2786,2687,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4861,0.63,145.9,2695,1396,2787,2688,374.3,12.2,429,4871,0.00,2.53,0.00,0.000,1030,0.000,0.110,2695,2801,2736,2786,2687,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5180,0.59,145.9,2695,2805,2787,2688,332.7,13.0,442,5189,0.12,2.45,0.00,0.000,4612,0.307,0.096,2676,1395,2736,2786,2687,0,0,0,0,0,0,14.33,14.42,28.83
$GC,5223,0.60,155.9,2678,1396,2785,2687,327.7,11.4,450,5232,0.00,2.50,2.95,0.798,9222,0.000,0.110,2676,2802,2712,2765,2659,0,0,0,0,0,0,28.83,14.42,13.71
$GC,5546,0.59,161.1,2677,2803,2783,2673,289.8,11.6,464,5562,0.00,2.55,10.40,1.345,8708,0.000,0.098,2686,1395,2689,2744,2634,0,0,0,0,0,0,28.83,14.33,13.79
$GC,5626,0.59,161.1,2688,1396,2740,2626,280.5,12.1,479,5634,0.00,2.53,0.00,0.000,1030,0.000,0.110,2686,2802,2683,2740,2626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5933,0.56,161.1,2684,2802,2742,2626,242.0,12.4,495,5941,0.15,2.47,0.00,0.000,4612,0.311,0.098,2666,1390,2682,2740,2625,0,0,0,0,0,0,14.28,14.38,28.83
$GC,6000,0.60,188.9,2662,1392,2742,2625,234.8,10.4,508,6036,0.00,2.53,25.88,1.345,9222,0.000,0.110,2666,2807,2568,2629,2507,0,0,0,0,0,0,28.83,14.37,13.67
$GC,6330,0.62,207.6,2667,2807,2624,2496,197.5,10.9,543,6353,0.00,2.60,15.98,1.270,8708,0.000,0.099,2676,1389,2492,2558,2426,0,0,0,0,0,0,28.83,14.17,13.71
$GC,6432,0.69,244.1,2676,1389,2554,2417,186.8,9.9,562,6473,0.00,2.55,32.35,1.219,9222,0.000,0.110,2676,2801,2344,2412,2276,0,0,0,0,0,0,28.83,14.22,13.61
$GC,6777,0.76,283.8,2675,2801,2406,2259,148.9,9.7,599,6820,0.12,2.60,33.92,1.174,10756,0.173,0.100,2725,1395,2182,2259,2106,0,0,0,0,0,0,14.27,14.06,13.63
$GC,6909,0.76,283.8,2726,1398,2251,2090,132.7,12.3,623,6917,0.00,2.55,0.00,0.000,1030,0.000,0.111,2725,2802,2170,2251,2089,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7221,0.77,295.6,2726,2802,2250,2088,95.4,11.3,655,7230,0.00,2.55,3.22,0.226,8708,0.000,0.099,2735,1395,2145,2226,2065,0,0,0,0,0,0,28.83,14.32,14.21
$GC,7285,0.82,334.7,2734,1396,2244,2081,88.8,9.8,667,7314,0.00,2.53,23.40,0.419,9222,0.000,0.110,2735,2802,1982,2071,1894,0,0,0,0,0,0,28.83,14.33,14.12
$GC,7608,0.83,343.2,2736,2803,2086,1917,50.7,11.4,701,7625,0.00,2.50,6.70,0.290,8708,0.000,0.101,2745,1395,1949,2039,1860,0,0,0,0,0,0,28.83,14.31,14.23
$GC,7774,0.92,391.6,2745,1396,2059,1879,35.3,9.3,733,7811,0.00,2.53,26.62,0.274,9222,0.000,0.112,2745,2806,1750,1840,1660,0,0,0,0,0,0,28.83,14.40,14.25
$GC,8115,1.28,621.6,2746,2807,1847,1675,15.4,-0.6,769,8245,0.40,2.53,119.45,0.214,10756,0.120,0.100,2895,1388,810,889,732,0,0,0,0,0,0,14.42,14.27,14.21
$STATE,8318,end climb,SURFACE_DEPTH_REACHED
$STATE,8318,begin surface coast
$FINISH,0.8,1.019724
$STATE,8328,end surface coast,CONTROL_FINISHED_OK
$STATE,8329,begin surface
$SM_CCo,8351,35.72,0.185,0,0,538,689.05
$SM_GC,2.09,8.25,1.50,35.72,0.099,0.116,0.185,202,2199,538,-7.06,-0.74,689.05,0,0,0,0,0,0,14.34,14.32,14.26
$RAFOS_CLK,130
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14432.35,300714,035056
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.95
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4013380
$TM_FREEKB,7589984
$24V_AH,12.86,61.851
$10V_AH,12.66,0.000
$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,22.750,94.000,564.125,35.725,0.000,0.000,0.000,332.750,0.000,0.000,36.830,0.000,5872.834,761.203,2228.517,81.240,0.000,1830.542,0.000,1188.817,1480.000,0.538,0.000
$DEVICE_MAMPS,472.770,149.940,2102.985,185.130,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8353.000,8379.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.572,12.645,0.000,0.000
$MEM,298920
$DATA_FILE_SIZE,26723,805
$CAP_FILE_SIZE,129867,0
$CFSIZE,2097872896,2086305792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,9205.31,0x2378b6,7,5
$SOUNDSPEED,1450.4
$EKF,8462,4264.315430,-8679.090820,0.839638,0.258346,-0.085747,-0.087023,0.000133,0.001264,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.011,102.49,1
$GPS,300714,085125,7104.323,-14438.954,16,0.8,36,22.3