version: 66.12
glider: 199
mission: 5
dive: 22
start: 7 29 114 4 50 45
data:
$ID,199
$MISSION,5
$DIVE,22
$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,-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,-21646.004
$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,16
$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
$GPS1,290714,044236,7055.085,-14427.942,3,0.8,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.1
$GPS2,290714,045028,7055.068,-14427.982,4,0.8,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.7,89696,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.87,-145.9,200,2202,576,517,0.0,0.0,0,84,0.00,0.00,-63.17,0.000,16386,0.000,0.000,199,2202,2188,2197,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.87,-145.9,199,2203,2198,2181,4.1,-4.8,6,136,10.98,2.55,-31.58,0.000,18948,0.477,0.138,2183,780,3947,4002,3893,0,0,0,0,0,0,14.07,14.25,14.47
$GC,145,-0.72,-145.9,2183,780,4001,3895,22.0,-26.1,15,156,0.28,2.53,0.00,0.000,3078,0.365,0.106,2229,2201,3948,4002,3894,0,0,0,0,0,0,14.12,14.26,28.83
$GC,450,-0.72,-145.9,2229,2201,4003,3897,83.6,-16.9,46,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2201,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,750,-0.72,-145.9,2229,2201,4003,3898,131.4,-15.5,76,758,0.00,2.55,0.00,0.000,260,0.000,0.136,2220,3616,3949,4002,3897,0,0,0,0,0,0,28.83,14.39,28.83
$GC,782,-0.72,-145.9,2219,3617,4003,3897,136.5,-15.8,82,790,0.00,2.47,0.00,0.000,1030,0.000,0.096,2220,2188,3949,4002,3897,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1093,-0.72,-145.9,2220,2188,4003,3898,182.0,-13.3,114,1102,0.00,2.58,0.00,0.000,260,0.000,0.135,2209,3612,3947,4002,3893,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1190,-0.72,-145.9,2210,3612,4001,3897,195.7,-13.6,133,1200,0.00,2.45,0.00,0.000,1030,0.000,0.096,2208,2196,3949,4002,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1496,-0.72,-145.9,2208,2196,4003,3898,233.5,-12.0,164,1504,0.00,2.55,0.00,0.000,260,0.000,0.135,2198,3612,3949,4002,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1558,-0.72,-145.9,2198,3613,4003,3898,241.8,-13.8,176,1566,0.15,2.42,0.00,0.000,3078,0.301,0.097,2229,2201,3947,4002,3893,0,0,0,0,0,0,14.38,14.47,28.83
$GC,1880,-0.76,-145.9,2228,2201,4003,3897,276.0,-10.5,193,1888,0.00,2.55,0.00,0.000,260,0.000,0.136,2220,3615,3948,4001,3896,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1963,-0.79,-145.9,2221,3615,4001,3897,285.4,-11.5,209,1971,0.00,2.45,0.00,0.000,1030,0.000,0.096,2220,2188,3948,4001,3896,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2275,-0.82,-145.9,2219,2188,4003,3896,318.8,-10.5,221,2284,0.00,2.55,0.00,0.000,260,0.000,0.135,2208,3612,3948,4001,3895,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2388,-0.84,-145.9,2209,3614,4003,3896,331.8,-11.7,243,2398,0.00,2.42,0.00,0.000,1030,0.000,0.096,2209,2198,3948,4002,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2702,-0.87,-145.9,2210,2199,4000,3896,366.3,-11.0,255,2712,0.00,2.55,0.00,0.000,260,0.000,0.134,2198,3619,3948,4001,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2775,-0.87,-145.9,2198,3620,4003,3896,375.2,-12.1,269,2784,0.00,2.47,0.00,0.000,1030,0.000,0.095,2198,2202,3948,4002,3895,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3098,-0.89,-145.9,2199,2203,4001,3901,412.9,-11.8,283,3107,0.00,2.53,0.00,0.000,260,0.000,0.135,2188,3617,3948,4001,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3156,-0.89,-145.9,2187,3617,4003,3895,420.4,-13.1,294,3166,0.00,2.42,0.00,0.000,1030,0.000,0.094,2188,2197,3948,4002,3895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3462,-0.89,-145.9,2189,2198,4001,3895,457.1,-11.8,305,3470,0.00,2.53,0.00,0.000,260,0.000,0.134,2177,3613,3948,4002,3895,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3528,-0.89,-145.9,2177,3614,4003,3895,465.7,-13.0,318,3536,0.00,2.42,0.00,0.000,1030,0.000,0.095,2179,2193,3948,4001,3895,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,3824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3825,begin apogee
$GC,3828,-0.16,0.0,2174,2803,4001,3895,502.1,-12.2,332,3971,0.95,0.00,132.93,2.100,10246,0.299,0.000,2410,2803,3349,3403,3296,0,0,0,0,1,0,14.45,28.83,12.85
$STATE,3973,end apogee,CONTROL_FINISHED_OK
$STATE,3973,begin climb
$GC,3974,0.87,145.9,2410,2803,3410,3300,506.2,0.0,336,4121,1.12,1.92,133.73,1.655,10500,0.151,0.135,2741,3771,2746,2794,2698,0,0,0,0,0,0,13.74,13.57,13.00
$GC,4180,0.76,145.9,2743,3772,2782,2687,490.8,17.2,370,4188,0.15,1.73,0.00,0.000,5126,0.329,0.092,2721,2802,2733,2782,2685,0,0,0,0,0,0,13.74,13.87,28.83
$GC,4493,0.69,145.9,2720,2803,2787,2685,445.6,14.3,382,4501,0.00,2.53,0.00,0.000,516,0.000,0.108,2730,1387,2732,2781,2684,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4535,0.64,145.9,2732,1387,2782,2684,439.7,13.7,390,4543,0.22,2.58,0.00,0.000,5126,0.308,0.113,2683,2805,2732,2782,2683,0,0,0,0,0,0,14.11,14.20,28.83
$GC,4858,0.61,145.9,2684,2806,2782,2684,399.9,12.3,404,4865,0.00,2.53,0.00,0.000,516,0.000,0.105,2692,1379,2732,2782,2683,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4939,0.61,146.0,2692,1380,2784,2684,390.2,11.9,420,4947,0.00,2.55,0.00,0.000,1030,0.000,0.114,2692,2802,2732,2782,2683,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5252,0.58,146.0,2692,2803,2785,2684,350.4,12.8,432,5260,0.12,2.50,0.00,0.000,4612,0.309,0.103,2673,1385,2732,2782,2683,0,0,0,0,0,0,14.33,14.40,28.83
$GC,5304,0.60,165.2,2675,1386,2782,2684,344.6,10.9,442,5326,0.00,2.53,16.50,1.447,9222,0.000,0.113,2673,2802,2673,2729,2617,0,0,0,0,0,0,28.83,14.42,13.72
$GC,5650,0.60,165.2,2675,2802,2716,2596,302.6,12.2,460,5659,0.00,2.50,0.00,0.000,516,0.000,0.104,2684,1377,2655,2715,2596,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5722,0.61,174.1,2685,1378,2716,2595,294.2,11.4,474,5731,0.00,2.55,2.28,0.464,9222,0.000,0.113,2684,2800,2635,2694,2577,0,0,0,0,0,0,28.83,14.40,13.72
$GC,6045,0.59,174.1,2684,2800,2715,2592,254.3,12.4,488,6055,0.00,2.55,1.90,0.228,8708,0.000,0.104,2694,1385,2638,2701,2576,0,0,0,0,0,0,28.83,14.47,14.43
$GC,6104,0.60,184.7,2695,1386,2713,2587,247.5,11.3,499,6128,0.00,2.53,16.00,1.341,9222,0.000,0.115,2694,2804,2590,2652,2528,0,0,0,0,0,0,28.83,14.47,13.79
$GC,6423,0.58,185.2,2695,2805,2643,2513,206.8,11.9,532,6431,0.15,2.50,0.00,0.000,4612,0.303,0.103,2668,1385,2577,2643,2512,0,0,0,0,0,0,14.29,14.42,28.83
$GC,6490,0.64,228.8,2669,1386,2645,2512,200.0,9.5,545,6540,0.00,2.53,39.88,1.337,9222,0.000,0.114,2669,2799,2403,2472,2334,0,0,0,0,0,0,28.83,14.42,13.64
$GC,6834,0.71,271.1,2669,2801,2464,2319,164.0,9.6,582,6883,0.00,2.62,38.12,1.307,8708,0.000,0.104,2679,1389,2226,2304,2148,0,0,0,0,0,0,28.83,14.09,13.60
$GC,6942,0.80,309.6,2679,1388,2299,2138,153.7,9.8,601,6986,0.15,2.58,34.72,1.293,11270,0.155,0.112,2727,2798,2083,2167,1999,0,0,0,0,0,0,14.20,14.17,13.52
$GC,7289,0.80,309.6,2729,2799,2148,1962,108.1,13.0,638,7298,0.00,2.53,0.00,0.000,516,0.000,0.106,2738,1385,2055,2149,1962,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7442,0.81,315.3,2738,1386,2150,1961,90.3,11.6,668,7451,0.00,2.55,0.00,0.000,1030,0.000,0.116,2737,2800,2054,2149,1959,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7755,0.84,344.6,2737,2801,2149,1960,53.8,10.3,700,7775,0.00,2.58,14.40,0.305,8708,0.000,0.107,2749,1387,1943,2036,1851,0,0,0,0,0,0,28.83,14.36,14.24
$GC,7864,0.95,409.0,2748,1388,2060,1872,44.1,8.4,721,7906,0.00,2.53,36.05,0.297,9222,0.000,0.114,2749,2802,1681,1778,1584,0,0,0,0,0,0,28.83,14.37,14.19
$GC,8211,1.17,546.3,2748,2802,1790,1606,13.3,4.4,758,8289,0.30,0.00,73.28,0.213,10758,0.126,0.000,2848,2802,1120,1213,1027,0,0,0,0,0,0,14.41,28.83,14.25
$GC,8583,1.49,744.2,2848,2803,1222,1037,4.2,1.1,799,8647,0.30,0.00,59.67,0.189,11010,0.127,0.000,2947,2802,660,739,582,0,0,0,0,0,0,14.38,28.83,28.83
$STATE,8648,end climb,SURFACE_DEPTH_REACHED
$STATE,8648,begin surface coast
$FINISH,0.6,1.001229
$STATE,8681,end surface coast,CONTROL_FINISHED_OK
$STATE,8681,begin surface
$SM_CCo,8702,16.75,0.194,0,0,538,689.05
$SM_GC,2.44,8.57,1.10,16.75,0.118,0.117,0.194,198,2200,538,-7.06,0.90,689.05,0,0,0,0,0,0,14.35,14.37,14.29
$RAFOS_CLK,368
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7019.90,-14420.10,290714,024033
$TT8_MAMPS,0.047187,0.047187
$HUMID,53.46
$INTERNAL_PRESSURE,8.50456
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,4014388
$TM_FREEKB,7725056
$24V_AH,12.85,51.476
$10V_AH,12.63,0.000
$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,23.450,96.600,599.450,16.750,0.000,0.000,0.000,281.400,0.000,0.000,27.082,0.000,6189.449,764.351,2174.503,73.627,0.000,1799.207,0.000,1202.621,0.000,0.538,0.000
$DEVICE_MAMPS,477.360,138.465,2099.925,194.310,0.000,0.000,0.000,192.015,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8702.000,8722.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.690,1000.000,0.000,0.000
$MEM,303332
$DATA_FILE_SIZE,26739,812
$CAP_FILE_SIZE,133043,0
$CFSIZE,2097872896,2088894464
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7470.18,0x2378b6,7,5
$INTR,1,2396.44,0x21368c,0,24
$SOUNDSPEED,1450.0
$EKF,8820,4256.119629,-8669.080078,0.596476,-0.106221,0.282301,-0.016019,0.000127,0.001194,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.063,159.49,1
$GPS,290714,071742,7055.829,-14428.689,35,0.8,55,22.3