version: 66.12
glider: 199
mission: 5
dive: 53
start: 8 2 114 4 57 35
data:
$ID,199
$MISSION,5
$DIVE,53
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$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,215
$T_MISSION,250
$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,180
$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,-21687.836
$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,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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
$GPS1,020814,044254,7121.908,-14512.026,27,0.9,47,22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-74.1
$GPS2,020814,045718,7121.854,-14511.846,5,0.9,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,313.6,34407,-19.5,-11.628,-22.92,2318
$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,19,-0.72,-175.1,190,2360,543,459,0.0,0.0,0,86,0.00,0.00,-63.65,0.000,16386,0.000,0.000,191,2360,2161,2164,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.72,-175.1,193,2360,2163,2159,4.3,-5.0,6,143,11.05,2.50,-33.65,0.000,18948,0.474,0.117,2193,957,3946,4002,3891,0,0,0,0,0,0,14.04,14.26,14.48
$GC,357,-0.72,-175.1,2193,958,4004,3892,64.1,-19.2,57,366,0.00,2.47,0.00,0.000,1030,0.000,0.099,2185,2360,3948,4001,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,663,-0.72,-175.1,2186,2361,4000,3896,125.5,-19.2,88,670,0.00,2.53,0.00,0.000,260,0.000,0.126,2173,3774,3948,4002,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,724,-0.72,-175.1,2175,3775,4002,3896,138.0,-20.3,100,732,0.00,2.42,0.00,0.000,1030,0.000,0.083,2170,2354,3947,4000,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1036,-0.72,-175.1,2173,2352,4004,3896,192.8,-15.9,132,1044,0.00,2.53,0.00,0.000,260,0.000,0.125,2163,3766,3948,4002,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1093,-0.72,-175.1,2164,3766,4002,3896,202.7,-17.7,143,1104,0.15,2.40,0.00,0.000,3078,0.322,0.082,2193,2357,3948,4002,3895,0,0,0,0,0,0,14.33,14.47,28.83
$GC,1398,-0.72,-175.1,2192,2358,4004,3895,243.6,-12.3,174,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2357,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1699,-0.72,-175.1,2194,2357,4002,3897,280.6,-12.2,188,1706,0.00,2.53,0.00,0.000,260,0.000,0.128,2183,3769,3947,4002,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1755,-0.72,-175.1,2183,3770,4004,3893,288.3,-13.3,199,1767,0.00,2.38,0.00,0.000,1030,0.000,0.083,2183,2360,3947,4002,3893,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2060,-0.72,-175.1,2185,2360,4002,3892,326.7,-12.5,210,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2360,3946,4002,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2360,-0.72,-175.1,2184,2361,4003,3891,363.5,-12.2,220,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2360,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-0.72,-175.1,2185,2360,4002,3890,399.8,-12.0,230,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2360,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-0.72,-175.1,2185,2360,4002,3890,435.1,-11.7,240,2968,0.00,2.50,0.00,0.000,260,0.000,0.128,2173,3767,3945,4002,3889,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3002,-0.72,-175.1,2175,3768,4002,3889,440.6,-13.3,248,3010,0.00,2.38,0.00,0.000,1030,0.000,0.082,2173,2358,3945,4002,3889,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3325,-0.72,-175.1,2173,2359,4002,3888,480.4,-12.3,262,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2358,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3624,-0.72,-175.1,2174,2359,4001,3889,517.6,-12.4,272,3633,0.00,2.50,0.00,0.000,260,0.000,0.127,2162,3767,3945,4001,3889,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3672,-0.72,-175.1,2164,3768,4002,3889,524.1,-14.7,281,3680,0.15,2.38,0.00,0.000,3078,0.315,0.081,2193,2353,3945,4002,3888,0,0,0,0,0,0,14.45,14.59,28.83
$GC,3989,-0.72,-175.1,2194,2353,4002,3885,560.3,-11.3,294,3997,0.00,2.53,0.00,0.000,260,0.000,0.128,2184,3773,3943,3999,3887,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4026,-0.72,-175.1,2184,3774,4004,3887,564.8,-12.8,301,4034,0.00,2.38,0.00,0.000,1030,0.000,0.082,2184,2368,3947,4002,3893,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4353,-0.72,-175.1,2185,2363,4001,3888,603.1,-11.6,316,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2363,3942,3998,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-0.72,-175.1,2184,2364,4003,3886,637.8,-11.5,326,4660,0.00,2.50,0.00,0.000,260,0.000,0.127,2174,3770,3944,4002,3887,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4699,-0.72,-175.1,2173,3771,4004,3888,643.5,-12.4,335,4709,0.00,2.40,0.00,0.000,1030,0.000,0.082,2173,2343,3944,4002,3887,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5019,-0.72,-175.1,2174,2346,4003,3888,682.0,-11.9,348,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2346,3944,4002,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-0.72,-175.1,2172,2346,4004,3887,717.4,-11.8,358,5326,0.00,2.53,0.00,0.000,260,0.000,0.127,2163,3766,3944,4002,3886,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5360,-0.72,-175.1,2163,3766,4003,3887,722.9,-13.3,366,5368,0.15,2.35,0.00,0.000,3078,0.311,0.082,2192,2363,3944,4003,3886,0,0,0,0,0,0,14.47,14.60,28.83
$STATE,5621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5621,begin apogee
$GC,5625,-0.14,0.0,2192,2603,4003,3886,751.4,-10.7,378,5848,0.75,0.00,219.32,1.655,10246,0.281,0.000,2384,2602,3228,3280,3177,0,0,0,0,0,0,14.48,28.83,13.08
$STATE,5850,end apogee,CONTROL_FINISHED_OK
$STATE,5850,begin climb
$GC,5852,0.72,175.1,2384,2603,3277,3172,757.4,0.0,385,6024,0.95,2.35,155.57,2.022,10500,0.175,0.126,2654,3764,2503,2566,2440,0,0,0,0,0,0,13.69,13.23,12.54
$GC,6068,0.72,175.1,2652,3765,2563,2434,736.8,14.7,420,6078,0.00,2.12,0.00,0.000,1030,0.000,0.080,2663,2598,2499,2561,2437,0,0,0,0,0,0,28.83,13.52,28.83
$GC,6374,0.72,175.1,2663,2598,2561,2428,695.2,13.6,431,6383,0.00,2.50,0.00,0.000,516,0.000,0.092,2673,1196,2494,2561,2428,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6397,0.72,175.1,2675,1192,2561,2428,692.1,13.0,435,6407,0.00,2.58,0.00,0.000,1030,0.000,0.101,2673,2599,2494,2562,2427,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6711,0.72,175.1,2673,2600,2563,2427,647.5,14.2,447,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2599,2493,2560,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7011,0.72,175.1,2673,2600,2558,2427,605.6,13.9,457,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2599,2493,2561,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7311,0.72,175.1,2674,2600,2561,2426,563.7,14.0,467,7320,0.00,2.45,0.00,0.000,516,0.000,0.091,2684,1188,2493,2561,2426,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7324,0.72,175.1,2685,1188,2561,2426,561.8,14.2,469,7332,0.00,2.50,0.00,0.000,1030,0.000,0.101,2684,2602,2493,2561,2425,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7647,0.72,175.1,2685,2603,2561,2426,514.8,14.6,483,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2602,2493,2561,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7946,0.72,175.1,2685,2603,2561,2425,471.7,14.2,493,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2602,2493,2561,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8246,0.72,175.1,2685,2606,2561,2428,429.0,14.3,503,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2603,2493,2562,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8546,0.72,175.1,2683,2603,2563,2424,386.8,14.0,513,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2602,2490,2556,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,0.72,175.1,2684,2603,2563,2425,344.8,14.0,523,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2602,2492,2561,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9146,0.72,175.1,2685,2603,2561,2425,303.4,13.7,533,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2602,2492,2561,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9446,0.72,175.1,2685,2602,2561,2425,263.1,13.3,543,9455,0.00,2.42,0.00,0.000,516,0.000,0.092,2694,1193,2492,2561,2424,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9484,0.72,175.1,2694,1193,2563,2425,258.1,12.6,550,9492,0.00,2.47,0.00,0.000,1030,0.000,0.103,2694,2609,2492,2561,2424,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9792,0.72,175.1,2695,2609,2561,2425,216.3,13.1,579,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2609,2492,2561,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10091,0.72,175.1,2695,2610,2561,2425,178.8,11.9,609,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2609,2492,2561,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10391,0.80,175.1,2694,2610,2563,2425,148.8,9.8,639,10401,0.00,2.45,0.00,0.000,516,0.000,0.092,2703,1192,2492,2560,2424,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10440,0.85,223.7,2704,1192,2563,2425,144.2,9.5,648,10488,0.00,2.47,41.55,1.356,9222,0.000,0.103,2704,2602,2313,2381,2246,0,0,0,0,0,0,28.83,14.52,13.69
$GC,10782,0.89,223.7,2704,2601,2370,2222,108.7,10.6,685,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2602,2294,2368,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11088,0.96,296.7,2705,2602,2367,2221,80.1,8.4,715,11126,0.12,0.00,34.20,0.396,10758,0.164,0.000,2749,2602,2023,2110,1936,0,0,0,0,0,0,14.40,28.83,14.14
$GC,11420,1.05,386.7,2748,2603,2125,1952,44.0,7.6,750,11475,0.00,2.17,47.38,0.295,8452,0.000,0.131,2750,3765,1652,1744,1560,0,0,0,0,0,0,28.83,14.25,14.16
$GC,11564,1.05,386.7,2751,3766,1751,1575,29.3,11.6,776,11572,0.00,2.03,1.35,0.244,9222,0.000,0.088,2759,2593,1651,1741,1562,0,0,0,0,0,0,28.83,14.29,14.22
$GC,11877,1.32,652.5,2760,2594,1753,1568,10.9,-0.2,808,12024,0.28,2.53,133.43,0.202,10756,0.122,0.094,2869,1191,567,605,529,0,0,0,0,0,0,14.34,14.18,14.13
$STATE,12117,end climb,SURFACE_DEPTH_REACHED
$STATE,12117,begin surface coast
$FINISH,1.1,1.019000
$STATE,12147,end surface coast,CONTROL_FINISHED_OK
$STATE,12147,begin surface
$SM_CCo,12169,9.55,0.200,0,0,498,669.67
$SM_CCo,12180,-0.17,0.000,0,0,501,669.67
$SM_CCo,12183,0.08,1.228,0,0,500,669.91
$SM_GC,3.48,8.27,2.20,0.08,0.105,0.120,1.228,197,2368,500,-6.95,-0.37,669.91,0,0,0,0,0,0,14.26,14.25,14.16
$RAFOS_CLK,59
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7052.36,-14405.79,020814,044701
$TT8_MAMPS,0.079394,0.079394
$HUMID,48.30
$INTERNAL_PRESSURE,8.50456
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4011020
$TM_FREEKB,7211232
$24V_AH,12.54,69.378
$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,21.875,77.875,632.800,9.625,0.000,0.000,0.000,545.250,0.000,0.000,27.545,0.000,9542.188,791.491,2593.084,117.000,0.000,2128.531,0.000,1268.878,1494.000,0.537,0.000
$DEVICE_MAMPS,474.300,131.580,2021.895,1227.825,0.000,0.000,0.000,192.780,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12178.000,12224.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.189,12.672,0.000,0.000
$MEM,289040
$DATA_FILE_SIZE,30034,855
$CAP_FILE_SIZE,149013,0
$CFSIZE,2097872896,2080407552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13692.83,0x2378b6,7,5
$SOUNDSPEED,1450.7
$EKF,12280,4283.462891,-8713.797852,1.107665,-0.000190,0.002310,0.031475,0.000272,0.002666,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.081,204.40,1
$GPS,020814,082212,7122.975,-14514.491,38,0.8,58,22.2