version: 66.12
glider: 199
mission: 5
dive: 24
start: 7 29 114 9 59 25
data:
$ID,199
$MISSION,5
$DIVE,24
$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,-21649.189
$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
$GPS1,290714,094931,7056.542,-14429.157,13,0.8,33,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.5
$GPS2,290714,095900,7056.473,-14428.880,3,0.8,24,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,305.1,87222,-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,-145.9,186,2207,577,514,0.0,0.0,0,85,0.00,0.00,-63.17,0.000,16386,0.000,0.000,186,2207,2119,2133,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.87,-145.9,187,2207,2132,2108,3.0,-2.5,6,143,10.98,2.58,-35.60,0.000,18948,0.475,0.145,2182,780,3947,4002,3892,0,0,0,0,0,0,14.06,14.25,14.48
$GC,232,-0.78,-145.9,2182,780,4003,3895,38.2,-24.0,32,240,0.20,2.53,0.00,0.000,3078,0.362,0.105,2212,2201,3948,4002,3894,0,0,0,0,0,0,14.19,14.28,28.83
$GC,544,-0.75,-145.9,2212,2202,4004,3903,100.0,-18.0,64,552,0.00,2.53,0.00,0.000,260,0.000,0.132,2203,3612,3952,4009,3896,0,0,0,0,0,0,28.83,14.37,28.83
$GC,627,-0.71,-145.9,2203,3613,4002,3897,115.5,-19.3,80,635,0.15,2.45,0.00,0.000,3078,0.318,0.095,2232,2191,3949,4002,3896,0,0,0,0,0,0,14.29,14.40,28.83
$GC,939,-0.71,-145.9,2232,2190,4005,3897,162.3,-13.6,112,948,0.00,2.55,0.00,0.000,260,0.000,0.133,2228,3612,3949,4002,3896,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1071,-0.71,-145.9,2223,3613,4002,3897,181.8,-14.5,138,1079,0.00,2.45,0.00,0.000,1030,0.000,0.093,2222,2193,3949,4002,3896,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1384,-0.73,-145.9,2223,2193,4003,3896,220.7,-11.4,170,1391,0.00,2.55,0.00,0.000,260,0.000,0.132,2212,3612,3948,4002,3895,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1470,-0.73,-145.9,2211,3613,4004,3897,232.0,-12.8,187,1481,0.00,2.42,0.00,0.000,1030,0.000,0.093,2211,2200,3949,4002,3896,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1775,-0.73,-145.9,2211,2201,4003,3896,267.4,-11.3,208,1783,0.00,2.55,0.00,0.000,260,0.000,0.132,2201,3621,3948,4002,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1882,-0.73,-145.9,2202,3621,4002,3895,280.7,-13.1,229,1890,0.12,2.45,0.00,0.000,3078,0.301,0.093,2225,2194,3948,4002,3895,0,0,0,0,0,0,14.40,14.50,28.83
$GC,2200,-0.77,-145.9,2226,2195,4004,3895,313.9,-10.3,242,2207,0.00,2.55,0.00,0.000,260,0.000,0.134,2216,3619,3948,4002,3895,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2292,-0.80,-145.9,2217,3620,4009,3895,324.2,-11.7,260,2300,0.00,2.42,0.00,0.000,1030,0.000,0.093,2216,2199,3948,4002,3894,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2624,-0.83,-145.9,2217,2199,4002,3894,359.5,-10.5,276,2632,0.00,2.53,0.00,0.000,260,0.000,0.132,2205,3615,3948,4002,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2736,-0.83,-145.9,2205,3616,4003,3893,372.5,-11.6,298,2744,0.00,2.42,0.00,0.000,1030,0.000,0.093,2205,2195,3947,4002,3893,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3049,-0.85,-145.9,2205,2194,4003,3894,406.4,-10.7,310,3056,0.00,2.53,0.00,0.000,260,0.000,0.132,2195,3612,3947,4002,3893,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3125,-0.85,-145.9,2196,3612,4002,3893,415.6,-11.9,325,3133,0.00,2.42,0.00,0.000,1030,0.000,0.093,2201,2193,3947,4002,3893,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3442,-0.85,-145.9,2196,2193,4001,3893,452.2,-11.5,338,3450,0.00,2.53,0.00,0.000,260,0.000,0.133,2184,3612,3947,4002,3893,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3549,-0.85,-145.9,2185,3612,4001,3893,465.6,-12.5,359,3558,0.00,2.42,0.00,0.000,1030,0.000,0.093,2184,2192,3947,4002,3893,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,3867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3867,begin apogee
$GC,3871,-0.16,0.0,2181,2804,3999,3893,503.5,-11.8,372,4012,0.93,0.00,132.12,2.101,10246,0.295,0.000,2412,2803,3350,3403,3297,0,0,0,0,1,0,14.44,28.83,12.86
$STATE,4014,end apogee,CONTROL_FINISHED_OK
$STATE,4014,begin climb
$GC,4015,0.87,145.9,2411,2804,3411,3299,507.4,0.0,376,4162,1.10,0.00,133.30,1.667,10502,0.147,0.000,2739,2803,2745,2795,2695,0,0,0,0,0,0,13.74,28.83,13.00
$GC,4471,0.79,145.9,2738,2804,2789,2678,453.6,15.4,410,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2803,2734,2790,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4771,0.71,145.9,2739,2803,2789,2679,407.2,15.5,420,4779,0.17,2.53,0.00,0.000,4612,0.320,0.106,2713,1386,2732,2787,2678,0,0,0,0,0,0,14.20,14.26,28.83
$GC,4838,0.67,145.9,2714,1386,2787,2679,398.2,13.5,433,4846,0.00,2.55,0.00,0.000,1030,0.000,0.112,2714,2801,2733,2787,2679,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5166,0.62,145.9,2713,2802,2788,2679,352.4,14.0,448,5174,0.15,2.47,0.00,0.000,4612,0.302,0.101,2688,1394,2732,2787,2678,0,0,0,0,0,0,14.29,14.40,28.83
$GC,5228,0.62,148.0,2689,1395,2787,2679,344.8,11.8,460,5236,0.00,2.50,0.00,0.000,1030,0.000,0.112,2688,2802,2732,2787,2678,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5561,0.59,148.0,2688,2802,2788,2679,303.5,12.2,476,5569,0.00,2.47,0.00,0.000,516,0.000,0.103,2698,1387,2732,2787,2678,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5668,0.58,158.3,2699,1388,2788,2678,291.1,11.3,497,5681,0.17,2.50,3.90,1.025,13318,0.304,0.112,2662,2801,2699,2753,2646,0,0,0,0,0,0,14.37,14.46,13.76
$GC,5985,0.61,182.4,2662,2802,2778,2663,257.2,10.6,510,6026,0.00,2.50,29.20,1.389,8708,0.000,0.103,2671,1394,2589,2652,2527,0,0,0,0,0,0,28.83,14.27,13.76
$GC,6119,0.63,198.8,2670,1395,2650,2519,242.5,11.0,535,6143,0.00,2.53,13.73,1.330,9222,0.000,0.112,2670,2800,2527,2593,2462,0,0,0,0,0,0,28.83,14.33,13.69
$GC,6438,0.65,216.0,2670,2800,2591,2450,204.9,11.0,568,6458,0.00,2.58,14.77,1.291,8708,0.000,0.103,2681,1394,2460,2532,2389,0,0,0,0,0,0,28.83,14.24,13.76
$GC,6567,0.69,246.2,2680,1395,2524,2378,191.1,10.3,593,6604,0.00,2.53,27.58,1.284,9222,0.000,0.112,2681,2799,2334,2406,2263,0,0,0,0,0,0,28.83,14.31,13.66
$GC,6898,0.71,268.5,2681,2799,2397,2245,154.6,10.7,628,6926,0.00,2.50,18.83,1.251,8708,0.000,0.101,2691,1396,2239,2318,2161,0,0,0,0,0,0,28.83,14.19,13.71
$GC,7046,0.80,309.4,2692,1396,2312,2150,139.7,9.7,656,7093,0.12,2.53,36.88,1.270,11270,0.171,0.112,2732,2800,2076,2163,1990,0,0,0,0,0,0,14.29,14.28,13.60
$GC,7401,0.80,309.4,2731,2800,2153,1965,93.8,12.3,694,7409,0.00,2.50,0.00,0.000,516,0.000,0.105,2741,1396,2058,2152,1964,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7527,0.80,309.4,2737,1396,2153,1964,79.1,12.1,719,7538,0.00,2.55,0.00,0.000,1030,0.000,0.112,2741,2807,2057,2151,1963,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7833,0.88,374.3,2742,2808,2151,1963,45.9,8.4,750,7868,0.00,0.00,29.77,0.304,8710,0.000,0.000,2741,2807,1822,1916,1728,0,0,0,0,0,0,28.83,28.83,14.16
$GC,8163,1.02,455.3,2741,2808,1928,1752,16.7,7.5,785,8218,0.15,2.58,43.67,0.220,10756,0.163,0.107,2806,1400,1492,1590,1395,0,0,0,0,0,0,14.33,14.23,14.21
$FREEZE,12.78,4.359,-1.453,0,1,0
$STATE,8406,end climb,NO_VERTICAL_VELOCITY
$STATE,8406,begin surface
$SM_CCo,8409,131.68,0.207,0,0,498,698.86
$SM_GC,1.63,7.93,1.48,0.00,0.092,0.111,0.000,201,2198,503,-7.05,-0.57,698.12,0,0,0,0,0,0,14.33,14.30,28.83
$RAFOS_CLK,71
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14326.30,290714,072110
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.43
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,4014180
$TM_FREEKB,7698112
$24V_AH,12.86,56.816
$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,22.175,85.275,483.750,131.675,0.000,0.000,0.000,363.575,0.000,0.000,26.437,0.000,6181.961,784.756,2296.617,76.466,0.000,1881.130,0.000,1227.637,1490.000,0.537,0.000
$DEVICE_MAMPS,475.065,144.585,2100.690,207.315,0.000,0.000,0.000,182.835,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8430.000,8452.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.517,1000.000,0.000,0.000
$MEM,302484
$DATA_FILE_SIZE,26697,831
$CAP_FILE_SIZE,130017,0
$CFSIZE,2097872896,2088402944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9130.34,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,8852,4257.503906,-8670.014648,12.777651,-0.027769,0.064582,-0.000769,0.000131,0.001225,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.072,150.77,1
$GPS,290714,122654,7057.195,-14429.449,32,0.8,52,22.3