version: 66.12
glider: 199
mission: 5
dive: 35
start: 7 30 114 14 3 47
data:
$ID,199
$MISSION,5
$DIVE,35
$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,-21665.154
$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,19
$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
$GPS1,300714,135438,7106.348,-14441.652,17,0.8,37,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-72.8
$GPS2,300714,140329,7106.371,-14441.627,4,0.9,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,299.9,67886,-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,-145.9,195,2205,580,509,0.0,0.0,0,84,0.00,0.00,-62.97,0.000,16386,0.000,0.000,194,2205,2141,2151,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.87,-145.9,196,2206,2151,2140,3.4,-3.2,6,141,11.15,2.55,-33.30,0.000,18692,0.483,0.143,2172,3613,3946,4001,3892,0,0,0,0,0,0,14.04,14.22,14.48
$GC,300,-0.76,-145.9,2173,3613,3999,3896,61.5,-24.5,46,310,0.22,2.45,0.00,0.000,3078,0.334,0.091,2219,2195,3948,4001,3896,0,0,0,0,0,0,14.17,14.31,28.83
$GC,614,-0.76,-145.9,2219,2195,4003,3898,117.5,-16.5,78,623,0.00,2.58,0.00,0.000,260,0.000,0.129,2210,3620,3949,4001,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,637,-0.74,-145.9,2210,3620,4002,3898,121.6,-17.1,82,646,0.00,2.45,0.00,0.000,1030,0.000,0.090,2210,2196,3949,4001,3898,0,0,0,0,0,0,28.83,14.41,28.83
$GC,950,-0.74,-145.9,2210,2193,4002,3898,169.6,-13.7,114,960,0.00,2.55,0.00,0.000,260,0.000,0.130,2199,3613,3949,4001,3898,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1004,-0.74,-145.9,2199,3614,4002,3898,177.6,-14.9,124,1012,0.12,2.42,0.00,0.000,3078,0.305,0.089,2223,2197,3949,4001,3898,0,0,0,0,0,0,14.35,14.45,28.83
$GC,1317,-0.77,-145.9,2224,2197,4001,3898,214.9,-11.3,156,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2197,3949,4001,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.80,-145.9,2225,2198,4000,3898,248.1,-10.5,186,1626,0.00,2.55,0.00,0.000,260,0.000,0.131,2214,3617,3948,4000,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1754,-0.80,-145.9,2215,3617,4000,3897,264.4,-12.0,213,1762,0.00,2.42,0.00,0.000,1030,0.000,0.090,2213,2197,3948,4001,3896,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2072,-0.83,-145.9,2213,2197,4002,3896,299.5,-10.9,226,2082,0.00,2.53,0.00,0.000,260,0.000,0.131,2202,3612,3948,4001,3895,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2141,-0.83,-145.9,2210,3613,4001,3901,307.9,-12.0,239,2149,0.00,2.40,0.00,0.000,1030,0.000,0.088,2203,2200,3948,4001,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2469,-0.85,-145.9,2203,2199,4002,3895,345.6,-11.3,254,2479,0.00,2.53,0.00,0.000,260,0.000,0.129,2192,3619,3947,4001,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2553,-0.85,-145.9,2192,3619,4002,3895,356.0,-12.6,270,2563,0.00,2.42,0.00,0.000,1030,0.000,0.089,2193,2193,3946,4001,3891,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2868,-0.85,-145.9,2193,2191,4007,3894,392.5,-11.4,282,2877,0.00,2.53,0.00,0.000,260,0.000,0.129,2182,3613,3947,4001,3893,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2972,-0.85,-145.9,2183,3614,3999,3894,405.7,-12.5,302,2982,0.00,2.40,0.00,0.000,1030,0.000,0.089,2182,2197,3946,4000,3893,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3297,-0.85,-145.9,2183,2197,4002,3894,444.6,-12.0,316,3304,0.00,2.53,0.00,0.000,260,0.000,0.128,2171,3619,3947,4001,3893,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3383,-0.85,-145.9,2173,3620,4001,3893,456.1,-13.3,333,3392,0.00,2.42,0.00,0.000,1030,0.000,0.089,2172,2190,3946,4000,3893,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3688,-0.85,-145.9,2169,2190,4000,3893,493.9,-12.2,344,3696,0.00,2.55,0.00,0.000,260,0.000,0.129,2161,3621,3947,4001,3893,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,3734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3734,begin apogee
$GC,3738,-0.16,0.0,2161,2800,4002,3894,500.2,-13.5,353,3924,1.00,0.00,181.02,1.424,10246,0.300,0.000,2410,2799,3346,3400,3293,0,0,0,0,0,0,14.44,28.83,13.24
$STATE,3926,end apogee,CONTROL_FINISHED_OK
$STATE,3926,begin climb
$GC,3927,0.87,145.9,2412,2800,3395,3287,505.8,0.0,359,4069,1.12,1.88,126.57,1.676,10500,0.158,0.129,2742,3766,2741,2789,2694,0,0,0,0,0,0,13.80,13.58,12.97
$GC,4233,0.76,145.9,2742,3768,2780,2682,467.5,18.0,413,4241,0.10,1.75,0.00,0.000,5126,0.308,0.087,2715,2791,2729,2778,2681,0,0,0,0,0,0,13.90,14.04,28.83
$GC,4565,0.70,145.9,2717,2791,2778,2680,418.4,14.5,429,4573,0.00,2.45,0.00,0.000,516,0.000,0.098,2725,1395,2728,2778,2679,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4622,0.66,145.9,2725,1395,2780,2680,410.4,13.7,440,4631,0.17,2.53,0.00,0.000,5126,0.304,0.107,2689,2802,2728,2778,2679,0,0,0,0,0,0,14.17,14.31,28.83
$GC,4928,0.63,145.9,2689,2802,2780,2679,370.2,13.1,451,4935,0.00,2.47,0.00,0.000,516,0.000,0.096,2698,1385,2728,2778,2678,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4999,0.61,145.9,2699,1385,2778,2680,361.3,12.5,465,5007,0.12,2.53,0.00,0.000,5126,0.304,0.109,2673,2804,2728,2778,2678,0,0,0,0,0,0,14.28,14.38,28.83
$GC,5322,0.61,146.5,2672,2804,2780,2679,322.3,11.9,479,5329,0.00,2.45,0.00,0.000,516,0.000,0.096,2682,1393,2728,2778,2678,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5429,0.62,152.1,2682,1394,2780,2679,310.1,11.6,500,5436,0.00,2.50,0.00,0.000,1030,0.000,0.108,2682,2805,2728,2778,2678,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5746,0.59,152.1,2682,2806,2780,2679,271.5,12.0,513,5753,0.00,2.42,0.00,0.000,516,0.000,0.096,2693,1393,2728,2778,2678,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5832,0.59,152.5,2691,1393,2778,2679,261.3,11.9,530,5845,0.12,2.50,0.00,0.000,5126,0.318,0.109,2668,2805,2728,2779,2678,0,0,0,0,0,0,14.39,14.49,28.83
$GC,6137,0.62,173.0,2668,2806,2778,2678,227.3,10.8,553,6167,0.00,2.55,22.23,1.386,8708,0.000,0.096,2677,1389,2631,2688,2575,0,0,0,0,0,0,28.83,14.34,13.79
$GC,6231,0.63,183.5,2678,1390,2681,2562,216.8,11.3,570,6243,0.00,2.53,2.78,0.705,9222,0.000,0.108,2677,2798,2598,2659,2538,0,0,0,0,0,0,28.83,14.35,13.64
$GC,6538,0.66,206.3,2682,2799,2675,2553,182.5,10.7,601,6573,0.00,2.50,27.23,1.332,8708,0.000,0.095,2687,1387,2497,2563,2432,0,0,0,0,0,0,28.83,14.23,13.71
$GC,6712,0.71,251.4,2687,1388,2554,2418,165.0,9.4,634,6762,0.00,2.53,39.90,1.311,9222,0.000,0.109,2687,2799,2310,2379,2242,0,0,1,0,0,0,28.83,14.31,13.57
$GC,7060,0.74,274.0,2688,2796,2370,2223,127.3,10.7,671,7088,0.00,2.50,18.52,1.242,8708,0.000,0.095,2697,1396,2217,2294,2141,0,0,0,0,0,0,28.83,14.14,13.65
$GC,7263,0.83,319.4,2698,1395,2290,2135,107.9,9.4,710,7313,0.12,2.55,41.22,1.243,11270,0.167,0.109,2739,2807,2037,2124,1951,0,0,0,0,0,0,14.23,14.21,13.52
$GC,7607,0.83,319.4,2738,2808,2110,1924,63.3,12.9,747,7615,0.00,2.53,0.00,0.000,516,0.000,0.098,2746,1385,2015,2109,1922,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7734,0.90,357.6,2749,1383,2108,1921,49.8,9.8,772,7758,0.00,2.55,16.00,0.302,9222,0.000,0.110,2749,2799,1891,1984,1798,0,0,0,0,0,0,28.83,14.22,14.12
$GC,8052,0.98,415.2,2750,2800,1996,1827,20.4,8.8,805,8095,0.12,2.50,31.38,0.233,10756,0.176,0.098,2798,1389,1652,1742,1562,0,0,0,0,0,0,14.30,14.21,14.19
$GC,8269,1.27,616.8,2800,1389,1757,1572,13.0,0.9,846,8385,0.25,2.53,104.75,0.210,11270,0.132,0.108,2881,2802,831,911,751,0,0,0,0,0,0,14.29,14.27,14.12
$MODEM_MSG,CACST,6,1,20140730160430.935779,3,299,06,0174,0150,100,00,00,03,06,-1,-01,-01,1,3,0,0,150,34.3,361.5,-100,296.9,-01,0.0,15,900,0025*28
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5a4dda6805;,*3E
$MODEM_MSG,CACST,6,0,20140730161546.649987,3,148,03,0106,0150,100,00,00,03,07,1,010,000,0,5,1,0,150,-8.3,1.9,-100,1.1,-01,-0.3,16,900,0025*33
$EKF,range, 2776.4
$EKF,8452,4267.316406,-8683.182617,4.727647,-0.132811,0.036770,-0.066961,0.000118,0.001124,0.000099,0.002025,0.002025,0.000050
$STATE,8498,end climb,SURFACE_DEPTH_REACHED
$STATE,8498,begin surface coast
$FINISH,0.8,1.010795
$STATE,8548,end surface coast,CONTROL_FINISHED_OK
$STATE,8548,begin surface
$SM_CCo,8570,38.38,0.194,0,0,537,689.05
$SM_GC,1.66,8.32,1.10,38.38,0.109,0.099,0.194,197,2194,537,-7.06,0.62,689.05,0,0,0,0,0,0,14.31,14.31,14.23
$RAFOS_CLK,73
$MODEM,10,1406736946,73.97700,-146.63480,225.650,327414.6
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7032.78,-14435.46,300714,112611
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.15
$INTERNAL_PRESSURE,8.50456
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4013080
$TM_FREEKB,7549376
$24V_AH,12.97,62.845
$10V_AH,12.73,0.000
$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,22.975,93.525,611.600,38.375,0.000,0.000,0.000,319.750,0.000,0.000,26.703,0.000,5901.454,815.525,2340.322,84.967,0.000,1919.942,0.000,1296.714,1498.000,0.537,0.000
$DEVICE_MAMPS,482.715,143.055,1676.115,193.545,0.000,0.000,0.000,195.075,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8573.000,8599.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.902,12.660,0.000,0.000
$MEM,297532
$DATA_FILE_SIZE,30004,880
$CAP_FILE_SIZE,135250,0
$CFSIZE,2097872896,2085486592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,9109.35,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,8681,4267.309570,-8683.188477,0.822008,-0.021653,-0.016306,0.020939,0.000118,0.001128,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.026,112.30,1
$GPS,300714,162825,7107.262,-14442.842,14,0.8,34,22.3