version: 66.12
glider: 199
mission: 5
dive: 20
start: 7 29 114 0 37 37
data:
$ID,199
$MISSION,5
$DIVE,20
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,480
$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,115
$T_MISSION,145
$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,-21643.486
$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,26
$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
$GPS1,290714,002924,7054.041,-14427.156,36,0.9,56,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.1
$GPS2,290714,003720,7053.954,-14427.150,4,0.8,24,22.3
$SPEED_LIMITS,0.145,0.255
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,320.1,91703,-22.4,-12.174,-25.50,1846
$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,-0.88,-145.9,194,2211,574,516,0.0,0.0,0,94,0.00,0.00,-72.97,0.000,16386,0.000,0.000,194,2210,2397,2397,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.88,-145.9,195,2211,2398,2399,3.9,-4.3,7,144,11.02,2.55,-27.60,0.000,18948,0.479,0.142,2177,793,3947,4002,3893,0,0,0,0,0,0,14.05,14.23,14.46
$GC,148,-0.75,-145.9,2178,794,4002,3893,19.0,-19.8,15,157,0.25,2.53,0.00,0.000,3078,0.355,0.107,2219,2205,3947,4002,3893,0,0,0,0,0,0,14.12,14.26,28.83
$GC,462,-0.72,-145.9,2219,2206,4004,3896,84.0,-17.6,47,473,0.00,2.53,0.00,0.000,260,0.000,0.132,2209,3618,3950,4002,3899,0,0,0,0,0,0,28.83,14.33,28.83
$GC,627,-0.70,-145.9,2210,3618,4002,3896,115.2,-18.7,79,637,0.15,2.47,0.00,0.000,3078,0.317,0.096,2239,2194,3949,4002,3896,0,0,0,0,0,0,14.28,14.39,28.83
$GC,941,-0.72,-145.9,2241,2192,4002,3896,160.9,-13.3,111,950,0.00,2.58,0.00,0.000,260,0.000,0.137,2232,3616,3949,4002,3896,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1029,-0.72,-145.9,2238,3616,4004,3897,173.2,-13.6,128,1038,0.00,2.45,0.00,0.000,1030,0.000,0.096,2232,2194,3947,4002,3893,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1335,-0.75,-145.9,2232,2195,4004,3896,209.8,-11.2,159,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2194,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-0.79,-145.9,2233,2195,4002,3895,241.6,-10.3,189,1643,0.00,2.55,0.00,0.000,260,0.000,0.137,2221,3611,3947,4002,3893,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1787,-0.82,-145.9,2223,3611,4002,3895,259.1,-11.2,219,1797,0.00,2.45,0.00,0.000,1030,0.000,0.098,2221,2193,3948,4002,3894,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2121,-0.86,-145.9,2222,2193,4001,3894,295.9,-10.8,235,2131,0.00,2.55,0.00,0.000,260,0.000,0.137,2210,3610,3947,4002,3893,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2241,-0.88,-145.9,2211,3612,4002,3894,310.1,-12.2,258,2250,0.00,2.45,0.00,0.000,1030,0.000,0.099,2210,2190,3948,4002,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2546,-0.92,-145.9,2211,2191,4006,3894,344.7,-11.2,269,2554,0.12,2.55,0.00,0.000,4356,0.171,0.133,2153,3610,3947,4002,3892,0,0,0,0,0,0,14.54,14.50,28.83
$GC,2658,-0.89,-145.9,2152,3611,4003,3893,361.7,-15.4,291,2668,0.12,2.42,0.00,0.000,3078,0.324,0.097,2176,2198,3947,4002,3892,0,0,0,0,0,0,14.42,14.53,28.83
$GC,2972,-0.89,-145.9,2176,2199,4003,3893,402.0,-12.6,303,2982,0.00,2.53,0.00,0.000,260,0.000,0.135,2167,3611,3947,4002,3892,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3081,-0.89,-145.9,2167,3611,4003,3892,417.4,-14.1,324,3089,0.00,2.42,0.00,0.000,1030,0.000,0.096,2167,2197,3946,4002,3891,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,3127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3127,begin apogee
$GC,3131,-0.16,0.0,2163,2806,4001,3892,423.9,-13.8,328,3271,1.00,0.00,131.23,2.015,10246,0.310,0.000,2409,2805,3348,3401,3296,0,0,0,0,1,0,14.41,28.83,12.88
$STATE,3273,end apogee,CONTROL_FINISHED_OK
$STATE,3273,begin climb
$GC,3274,0.88,145.9,2411,2806,3409,3299,427.9,0.0,332,3421,1.15,1.90,132.60,1.551,10500,0.159,0.136,2745,3764,2745,2792,2698,0,0,0,0,0,0,13.74,13.60,13.05
$GC,3511,0.77,145.9,2745,3764,2783,2688,407.8,17.1,372,3518,0.00,1.70,0.00,0.000,1030,0.000,0.093,2753,2800,2734,2782,2687,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3823,0.69,145.9,2754,2801,2782,2687,358.7,15.6,384,3832,0.22,2.50,0.00,0.000,4612,0.317,0.107,2710,1395,2735,2782,2689,0,0,0,0,0,0,14.09,14.21,28.83
$GC,3871,0.67,145.9,2710,1396,2784,2686,352.4,12.2,393,3879,0.00,2.53,0.00,0.000,1030,0.000,0.116,2710,2798,2733,2782,2685,0,0,1,0,0,0,28.83,14.22,28.83
$GC,4188,0.62,145.9,2711,2799,2782,2686,310.3,13.3,406,4196,0.15,2.50,0.00,0.000,4612,0.308,0.105,2685,1388,2733,2782,2685,0,0,0,0,0,0,14.26,14.33,28.83
$GC,4286,0.65,169.4,2685,1388,2784,2686,299.4,10.9,425,4312,0.00,2.55,20.40,1.405,9222,0.000,0.116,2685,2805,2656,2712,2601,0,0,0,0,0,0,28.83,14.37,13.68
$GC,4616,0.65,169.4,2686,2806,2695,2578,256.9,12.8,440,4624,0.00,2.50,0.00,0.000,516,0.000,0.106,2696,1395,2637,2697,2577,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4714,0.65,174.6,2696,1396,2698,2578,245.4,11.9,459,4724,0.00,2.53,0.00,0.000,1030,0.000,0.115,2696,2805,2637,2697,2577,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5019,0.63,174.6,2697,2806,2696,2577,207.7,12.4,490,5027,0.00,2.50,0.00,0.000,516,0.000,0.106,2706,1387,2637,2697,2577,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5156,0.68,210.1,2707,1387,2696,2576,192.6,10.2,517,5198,0.00,2.53,35.38,1.308,9222,0.000,0.116,2706,2801,2489,2554,2425,0,0,0,0,0,0,28.83,14.40,13.66
$GC,5502,0.73,249.7,2706,2802,2540,2402,153.6,10.0,554,5546,0.00,2.62,35.17,1.262,8708,0.000,0.106,2716,1385,2316,2387,2245,0,0,0,0,0,0,28.83,14.12,13.66
$GC,5610,0.76,274.8,2717,1386,2377,2231,142.3,10.8,573,5639,0.00,2.60,21.42,1.219,9222,0.000,0.116,2715,2802,2221,2297,2145,0,0,0,0,0,0,28.83,14.19,13.60
$GC,5943,0.80,306.1,2715,2804,2282,2123,104.7,10.4,608,5979,0.00,2.62,28.23,1.198,8708,0.000,0.107,2726,1393,2090,2176,2004,0,0,0,0,0,0,28.83,14.11,13.69
$GC,6183,0.85,324.7,2725,1394,2165,1982,78.4,11.1,654,6200,0.00,2.55,6.40,0.288,9222,0.000,0.116,2726,2799,2028,2119,1937,0,0,0,0,0,0,28.83,14.26,14.11
$GC,6494,0.98,401.2,2725,2800,2143,1965,47.5,7.9,686,6549,0.15,2.60,42.97,0.305,10756,0.158,0.110,2789,1389,1714,1806,1623,0,0,0,0,0,0,14.35,14.28,14.18
$GC,6583,1.02,434.2,2791,1388,1813,1631,38.8,10.3,701,6613,0.00,2.58,19.12,0.285,9222,0.000,0.116,2790,2809,1578,1674,1482,0,0,0,0,0,0,28.83,14.31,14.16
$GC,6917,1.35,667.2,2789,2810,1691,1498,12.3,-0.8,736,7054,0.32,1.83,125.47,0.205,10500,0.127,0.141,2900,3772,625,693,557,0,0,0,0,0,0,14.38,14.23,14.19
$STATE,7082,end climb,SURFACE_DEPTH_REACHED
$STATE,7082,begin surface coast
$FINISH,0.7,1.019450
$STATE,7092,end surface coast,CONTROL_FINISHED_OK
$STATE,7092,begin surface
$SM_CCo,7115,12.48,0.197,0,0,538,689.05
$SM_GC,2.93,8.40,2.88,12.48,0.110,0.109,0.197,203,2198,538,-7.05,0.57,689.05,0,0,0,0,0,0,14.30,14.27,14.23
$RAFOS_CLK,297
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7019.90,-14420.10,280714,222238
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.12
$INTERNAL_PRESSURE,8.53386
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4014592
$TM_FREEKB,7750016
$24V_AH,12.88,46.538
$10V_AH,12.64,0.000
$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,23.075,80.150,598.400,12.475,0.000,0.000,0.000,283.275,0.000,0.000,25.687,0.000,4745.346,751.665,2046.076,70.589,0.000,1730.486,0.000,1128.660,0.000,0.538,0.000
$DEVICE_MAMPS,478.890,141.525,2015.010,196.605,0.000,0.000,0.000,195.075,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7114.000,7133.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.649,1000.000,0.000,0.000
$MEM,304124
$DATA_FILE_SIZE,26776,764
$CAP_FILE_SIZE,118347,0
$CFSIZE,2097872896,2089451520
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$INTR,0,7789.04,0x2378b6,7,5
$INTR,1,462.77,0x234482,0,24
$SOUNDSPEED,1449.2
$EKF,7197,4254.854492,-8667.400391,0.724266,-0.275851,-0.074101,-0.117989,0.000078,0.000730,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.073,180.84,1
$GPS,290714,023731,7054.554,-14427.427,2,0.8,23,22.3