version: 66.12
glider: 199
mission: 5
dive: 34
start: 7 30 114 11 31 57
data:
$ID,199
$MISSION,5
$DIVE,34
$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,-21663.803
$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,17
$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
$GPS1,300714,112248,7105.341,-14440.307,40,0.9,60,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-72.3
$GPS2,300714,113139,7105.375,-14440.422,4,0.8,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,300.3,69794,-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,-145.9,196,2197,573,519,0.0,0.0,0,85,0.00,0.00,-63.83,0.000,16386,0.000,0.000,195,2197,2173,2182,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.87,-145.9,196,2197,2183,2162,3.5,-3.5,6,142,11.00,2.58,-32.47,0.000,18692,0.477,0.145,2172,3611,3947,4002,3893,0,0,0,0,0,0,14.05,14.21,14.48
$GC,366,-0.77,-145.9,2172,3612,4003,3899,77.2,-24.3,59,376,0.20,2.47,0.00,0.000,3078,0.331,0.093,2213,2189,3950,4002,3898,0,0,0,0,0,0,14.23,14.33,28.83
$GC,672,-0.77,-145.9,2214,2189,4004,3900,131.0,-16.2,90,679,0.00,2.58,0.00,0.000,260,0.000,0.130,2204,3611,3950,4002,3899,0,0,0,0,0,0,28.83,14.38,28.83
$GC,828,-0.77,-145.9,2204,3611,4003,3900,157.6,-16.9,121,839,0.00,2.45,0.00,0.000,1030,0.000,0.093,2205,2192,3950,4002,3899,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1133,-0.77,-145.9,2206,2191,4001,3906,200.1,-13.1,152,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2190,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1434,-0.77,-145.9,2205,2192,4001,3899,236.8,-11.8,182,1441,0.00,2.55,0.00,0.000,260,0.000,0.132,2194,3611,3950,4002,3898,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1520,-0.77,-145.9,2195,3611,4001,3899,248.4,-13.7,199,1529,0.00,2.42,0.00,0.000,1030,0.000,0.091,2194,2194,3949,4001,3898,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1835,-0.77,-145.9,2194,2194,4002,3898,286.8,-12.1,211,1843,0.00,2.55,0.00,0.000,260,0.000,0.130,2182,3611,3949,4002,3897,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1897,-0.77,-145.9,2185,3611,4001,3897,294.7,-13.6,223,1905,0.15,2.42,0.00,0.000,3078,0.307,0.090,2214,2193,3948,4001,3896,0,0,0,0,0,0,14.35,14.45,28.83
$GC,2229,-0.80,-145.9,2214,2193,4003,3896,330.0,-10.5,239,2237,0.00,2.55,0.00,0.000,260,0.000,0.132,2205,3610,3948,4001,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2306,-0.80,-145.9,2204,3611,4003,3896,338.7,-11.4,254,2315,0.00,2.42,0.00,0.000,1030,0.000,0.090,2204,2201,3948,4001,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2624,-0.82,-145.9,2204,2196,4003,3896,373.8,-10.9,267,2632,0.00,2.55,0.00,0.000,260,0.000,0.129,2193,3617,3948,4002,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2670,-0.82,-145.9,2194,3617,4003,3895,379.5,-12.4,276,2679,0.00,2.45,0.00,0.000,1030,0.000,0.089,2194,2190,3948,4002,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2988,-0.82,-145.9,2194,2190,4003,3896,415.6,-11.4,289,2997,0.00,2.55,0.00,0.000,260,0.000,0.130,2184,3610,3947,4001,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3051,-0.82,-145.9,2183,3612,4003,3895,423.5,-12.6,301,3061,0.00,2.42,0.00,0.000,1030,0.000,0.089,2184,2198,3948,4002,3894,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3385,-0.82,-145.9,2183,2198,4003,3895,462.7,-11.7,317,3394,0.00,2.53,0.00,0.000,260,0.000,0.129,2174,3610,3947,4001,3894,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3438,-0.82,-145.9,2174,3612,4001,3894,469.5,-13.7,327,3446,0.12,2.42,0.00,0.000,3078,0.321,0.089,2196,2191,3948,4002,3894,0,0,0,0,0,0,14.37,14.47,28.83
$STATE,3720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3720,begin apogee
$GC,3723,-0.16,0.0,2195,2803,4001,3894,500.3,-10.8,338,3856,0.85,0.00,123.15,2.192,10246,0.285,0.000,2409,2803,3348,3400,3297,0,0,0,0,1,0,14.38,28.83,12.87
$STATE,3858,end apogee,CONTROL_FINISHED_OK
$STATE,3858,begin climb
$GC,3859,0.87,145.9,2411,2803,3407,3301,503.9,0.0,342,4005,1.12,1.85,130.55,1.675,10500,0.155,0.132,2740,3767,2746,2790,2702,0,0,0,0,0,0,13.73,13.54,12.97
$GC,4115,0.76,145.9,2741,3768,2785,2689,477.0,18.0,386,4123,0.15,1.70,0.00,0.000,5126,0.321,0.088,2717,2800,2736,2785,2688,0,0,0,0,0,0,13.81,13.95,28.83
$GC,4437,0.70,145.9,2721,2801,2784,2688,429.5,14.7,400,4445,0.00,2.47,0.00,0.000,516,0.000,0.099,2729,1394,2735,2785,2685,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4499,0.65,145.9,2734,1395,2787,2688,420.8,13.5,412,4508,0.20,2.53,0.00,0.000,5126,0.308,0.109,2688,2799,2736,2785,2687,0,0,0,0,0,0,14.12,14.21,28.83
$GC,4832,0.62,145.9,2687,2800,2787,2687,378.6,12.5,428,4839,0.00,2.47,0.00,0.000,516,0.000,0.098,2696,1385,2737,2792,2683,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4914,0.60,145.9,2696,1388,2787,2689,368.7,12.2,444,4922,0.15,2.53,0.00,0.000,5126,0.304,0.109,2666,2799,2736,2785,2687,0,0,0,0,0,0,14.26,14.35,28.83
$GC,5226,0.60,149.1,2668,2800,2785,2688,332.0,11.7,456,5234,0.00,2.45,0.00,0.000,516,0.000,0.097,2675,1389,2736,2785,2687,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5283,0.62,164.5,2676,1389,2785,2688,325.5,11.1,467,5306,0.00,2.50,16.08,1.434,9222,0.000,0.110,2675,2799,2673,2729,2617,0,0,0,0,0,0,28.83,14.42,13.76
$GC,5625,0.62,164.5,2677,2800,2718,2602,282.7,12.5,484,5633,0.00,2.45,0.00,0.000,516,0.000,0.098,2686,1396,2660,2719,2602,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5661,0.62,166.3,2685,1397,2720,2602,278.4,11.8,491,5670,0.00,2.50,0.00,0.000,1030,0.000,0.110,2686,2803,2659,2717,2601,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5969,0.60,166.3,2687,2803,2719,2602,239.6,12.5,510,5976,0.00,2.45,0.00,0.000,516,0.000,0.097,2696,1394,2660,2719,2602,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6035,0.60,166.3,2695,1395,2720,2602,231.4,12.1,523,6045,0.15,2.50,0.00,0.000,5126,0.311,0.109,2666,2807,2660,2719,2601,0,0,0,0,0,0,14.33,14.43,28.83
$GC,6341,0.62,182.8,2665,2808,2720,2600,197.4,11.0,554,6370,0.00,2.55,15.85,1.298,8708,0.000,0.098,2675,1387,2589,2651,2527,0,0,0,0,0,0,28.83,14.38,13.84
$GC,6433,0.65,210.4,2676,1387,2648,2522,187.7,10.4,571,6464,0.00,2.53,24.15,1.309,9222,0.000,0.110,2674,2796,2490,2555,2426,0,0,0,0,0,0,28.83,14.37,13.69
$GC,6768,0.70,250.6,2676,2800,2538,2403,152.2,9.7,606,6809,0.00,2.58,35.12,1.279,8708,0.000,0.098,2685,1394,2316,2387,2246,0,0,0,0,0,0,28.83,14.14,13.64
$GC,6859,0.80,300.5,2685,1395,2380,2234,143.9,9.2,622,6914,0.12,2.55,44.40,1.229,11270,0.171,0.109,2725,2802,2111,2191,2031,0,0,0,0,0,0,14.21,14.18,13.53
$GC,7208,0.80,300.5,2727,2804,2185,2010,99.6,12.8,660,7217,0.00,2.50,0.00,0.000,516,0.000,0.098,2736,1390,2097,2185,2009,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7321,0.80,305.1,2736,1393,2186,2015,86.5,11.7,682,7329,0.00,2.53,0.00,0.000,1030,0.000,0.110,2736,2802,2096,2185,2008,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7633,0.84,332.7,2736,2803,2186,2008,50.4,10.4,714,7654,0.00,2.47,13.68,0.304,8708,0.000,0.096,2746,1394,1992,2083,1901,0,0,0,0,0,0,28.83,14.35,14.23
$GC,7688,0.93,387.8,2745,1395,2095,1913,45.3,8.9,724,7731,0.00,2.53,29.50,0.302,9222,0.000,0.110,2745,2807,1769,1859,1679,0,0,0,0,0,0,28.83,14.36,14.20
$GC,8025,1.09,479.5,2745,2807,1865,1695,14.3,6.9,760,8081,0.25,2.55,48.12,0.215,10756,0.133,0.099,2838,1393,1392,1488,1296,0,0,0,0,0,0,14.41,14.33,14.28
$GC,8305,1.38,672.5,2838,1394,1494,1305,9.8,1.4,813,8414,0.22,2.53,99.65,0.202,11270,0.132,0.109,2913,2809,604,669,539,0,0,0,0,0,0,14.36,14.35,14.20
$STATE,8447,end climb,SURFACE_DEPTH_REACHED
$STATE,8447,begin surface coast
$FINISH,0.8,1.019270
$STATE,8458,end surface coast,CONTROL_FINISHED_OK
$STATE,8458,begin surface
$SM_CCo,8479,8.95,0.199,0,0,538,689.05
$SM_GC,2.76,8.38,1.10,8.95,0.106,0.102,0.199,197,2208,538,-7.06,0.85,689.05,0,0,0,0,0,0,14.31,14.32,14.26
$RAFOS_CLK,291
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7032.78,-14444.71,300714,085449
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.48
$INTERNAL_PRESSURE,8.50456
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4013188
$TM_FREEKB,7563072
$24V_AH,12.87,62.504
$10V_AH,12.68,0.000
$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,23.075,95.850,580.250,8.950,0.000,0.000,0.000,319.750,0.000,0.000,26.640,0.000,5935.116,750.879,2252.383,82.399,0.000,1829.478,0.000,1232.034,1499.000,0.537,0.000
$DEVICE_MAMPS,476.595,145.350,2191.725,198.900,0.000,0.000,0.000,194.310,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8481.000,8508.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.682,12.656,0.000,0.000
$MEM,297960
$DATA_FILE_SIZE,30050,834
$CAP_FILE_SIZE,131536,0
$CFSIZE,2097872896,2085748736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,9045.27,0x2378b6,7,5
$SOUNDSPEED,1451.0
$EKF,8564,4266.321289,-8681.759766,0.815971,0.116755,0.075049,0.033031,0.000126,0.001200,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.008,56.60,1
$GPS,300714,135438,7106.348,-14441.652,17,0.8,37,22.3