version: 66.12
glider: 199
mission: 5
dive: 29
start: 7 29 114 22 49 4
data:
$ID,199
$MISSION,5
$DIVE,29
$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,-21656.576
$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,30
$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,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
$GPS1,290714,223608,7100.419,-14432.971,16,0.8,36,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.0
$GPS2,290714,224847,7100.446,-14433.039,5,0.8,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,296.1,79748,-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,-145.9,192,2198,542,463,0.0,0.0,0,85,0.00,0.00,-63.95,0.000,16386,0.000,0.000,190,2198,2118,2128,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.87,-145.9,189,2199,2129,2111,3.2,-3.6,6,144,10.98,2.62,-33.92,0.000,19204,0.477,0.150,2177,3610,3946,4002,3890,0,0,0,0,0,0,14.08,14.26,14.50
$GC,268,-0.75,-145.9,2171,3611,4004,3894,53.3,-25.4,39,278,0.22,2.45,0.00,0.000,3078,0.337,0.092,2219,2200,3947,4002,3893,0,0,0,0,0,0,14.21,14.34,28.83
$GC,573,-0.75,-145.9,2221,2200,4002,3895,109.3,-17.2,70,581,0.00,2.55,0.00,0.000,260,0.000,0.128,2210,3613,3948,4002,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,615,-0.73,-145.9,2210,3614,4004,3896,116.8,-17.7,78,623,0.00,2.45,0.00,0.000,1030,0.000,0.090,2210,2191,3948,4002,3894,0,0,0,0,0,0,28.83,14.40,28.83
$GC,927,-0.73,-145.9,2212,2190,4003,3895,166.3,-14.1,110,935,0.00,2.55,0.00,0.000,260,0.000,0.129,2200,3612,3949,4003,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1003,-0.73,-145.9,2201,3613,4002,3895,178.5,-16.3,125,1015,0.15,2.47,0.00,0.000,3078,0.301,0.091,2229,2181,3948,4002,3895,0,0,0,0,0,0,14.35,14.45,28.83
$GC,1310,-0.76,-145.9,2229,2178,4005,3895,214.3,-10.8,156,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2178,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.79,-145.9,2231,2177,4002,3894,247.0,-10.6,186,1617,0.00,2.58,0.00,0.000,260,0.000,0.131,2220,3611,3947,4002,3893,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1736,-0.81,-145.9,2221,3611,4002,3893,261.7,-11.6,211,1744,0.00,2.42,0.00,0.000,1030,0.000,0.092,2220,2194,3947,4002,3893,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2063,-0.85,-145.9,2219,2194,4004,3893,297.1,-10.6,226,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2194,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,-0.88,-145.9,2221,2194,4002,3892,328.3,-10.5,236,2371,0.00,2.55,0.00,0.000,260,0.000,0.132,2209,3612,3946,4002,3891,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2485,-0.90,-145.9,2210,3613,4003,3891,342.0,-11.1,260,2493,0.00,2.40,0.00,0.000,1030,0.000,0.091,2209,2199,3946,4002,3890,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2818,-0.93,-145.9,2214,2199,4004,3890,377.1,-10.6,276,2826,0.12,2.53,0.00,0.000,4356,0.166,0.128,2152,3612,3945,4001,3889,0,0,0,0,0,0,14.55,14.52,28.83
$GC,2875,-0.90,-145.9,2152,3613,4003,3890,385.0,-14.6,287,2884,0.00,2.40,0.00,0.000,1030,0.000,0.091,2152,2200,3946,4002,3890,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3180,-0.90,-145.9,2152,2200,4003,3890,426.5,-13.5,298,3188,0.00,2.53,0.00,0.000,260,0.000,0.130,2144,3616,3945,4002,3889,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3236,-0.86,-145.9,2145,3617,4002,3889,435.0,-15.3,309,3248,0.20,2.42,0.00,0.000,3078,0.318,0.091,2186,2191,3945,4002,3889,0,0,0,0,0,0,14.43,14.56,28.83
$GC,3542,-0.86,-145.9,2187,2192,4002,3890,470.5,-11.4,320,3549,0.00,2.53,0.00,0.000,260,0.000,0.130,2177,3612,3945,4001,3889,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3608,-0.86,-145.9,2178,3613,4002,3889,479.0,-13.1,333,3618,0.00,2.40,0.00,0.000,1030,0.000,0.090,2177,2198,3945,4002,3889,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,3786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3786,begin apogee
$GC,3789,-0.16,0.0,2173,2802,4002,3889,500.6,-12.1,343,3976,0.98,0.00,181.85,1.390,10246,0.302,0.000,2415,2801,3348,3402,3295,0,0,0,0,0,0,14.44,28.83,13.26
$STATE,3978,end apogee,CONTROL_FINISHED_OK
$STATE,3978,begin climb
$GC,3979,0.87,145.9,2416,2801,3396,3288,505.9,0.0,349,4123,1.10,1.83,127.18,1.578,10500,0.155,0.129,2740,3766,2737,2786,2688,0,0,0,0,0,0,13.81,13.62,13.05
$GC,4202,0.76,145.9,2739,3766,2776,2679,483.3,18.1,386,4210,0.08,1.75,0.00,0.000,5126,0.307,0.089,2720,2799,2726,2775,2677,0,0,0,0,0,0,13.81,13.94,28.83
$GC,4529,0.70,145.9,2719,2800,2776,2675,434.8,14.6,401,4538,0.00,2.50,0.00,0.000,516,0.000,0.103,2729,1389,2724,2773,2675,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4572,0.66,145.9,2729,1390,2776,2675,428.6,13.6,409,4582,0.20,2.58,0.00,0.000,5126,0.309,0.110,2688,2808,2724,2775,2674,0,0,0,0,0,0,14.09,14.19,28.83
$GC,4896,0.63,145.9,2689,2808,2775,2675,386.1,13.0,423,4905,0.00,2.50,0.00,0.000,516,0.000,0.099,2696,1394,2724,2775,2674,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4988,0.63,145.9,2695,1392,2777,2675,374.4,12.4,441,4998,0.00,2.53,0.00,0.000,1030,0.000,0.111,2696,2800,2724,2775,2674,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5323,0.59,145.9,2697,2800,2775,2674,330.2,13.2,457,5332,0.12,2.47,0.00,0.000,4612,0.308,0.097,2678,1394,2722,2775,2670,0,0,0,0,0,0,14.26,14.35,28.83
$GC,5401,0.59,150.4,2679,1395,2775,2675,320.8,11.7,472,5409,0.00,2.50,0.00,0.000,1030,0.000,0.112,2677,2803,2722,2775,2670,0,0,1,0,0,0,28.83,14.35,28.83
$GC,5718,0.57,150.4,2679,2803,2775,2674,282.2,12.2,485,5727,0.00,2.47,0.00,0.000,516,0.000,0.099,2688,1389,2724,2775,2673,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5812,0.60,169.4,2687,1390,2776,2677,271.6,10.9,503,5839,0.00,2.53,19.20,1.384,9222,0.000,0.111,2688,2808,2653,2709,2598,0,0,0,0,0,0,28.83,14.41,13.74
$GC,6138,0.58,169.4,2689,2808,2693,2573,229.3,12.9,528,6146,0.15,2.47,0.00,0.000,4612,0.309,0.097,2663,1394,2633,2694,2573,0,0,0,0,0,0,14.26,14.38,28.83
$GC,6240,0.63,193.5,2663,1395,2695,2573,218.4,10.6,548,6269,0.00,2.50,20.88,1.316,9222,0.000,0.112,2663,2801,2552,2615,2490,0,0,0,0,0,0,28.83,14.39,13.75
$GC,6564,0.67,226.0,2668,2801,2604,2469,183.4,10.1,582,6605,0.00,2.58,30.48,1.227,8708,0.000,0.100,2673,1391,2415,2485,2346,0,0,0,0,0,0,28.83,14.15,13.73
$GC,6694,0.76,274.8,2674,1392,2479,2336,170.8,9.2,606,6749,0.12,2.55,44.65,1.182,11270,0.169,0.112,2713,2804,2216,2292,2141,0,0,0,0,0,0,14.27,14.25,13.57
$GC,7043,0.76,274.8,2714,2804,2280,2116,127.1,12.0,644,7051,0.00,2.50,0.00,0.000,516,0.000,0.100,2723,1395,2200,2280,2120,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7136,0.77,284.7,2724,1396,2281,2120,116.7,11.4,662,7144,0.00,2.53,1.67,0.226,9222,0.000,0.112,2724,2800,2186,2266,2106,0,0,0,0,0,0,28.83,14.27,14.27
$GC,7449,0.80,305.2,2724,2801,2273,2120,82.0,10.8,694,7469,0.00,2.50,12.02,0.366,8708,0.000,0.099,2734,1386,2105,2187,2023,0,0,0,0,0,0,28.83,14.35,14.19
$GC,7664,0.85,331.9,2733,1387,2216,2046,59.4,10.4,736,7687,0.00,2.53,16.92,0.329,9222,0.000,0.112,2738,2799,1994,2083,1905,0,0,0,0,0,0,28.83,14.38,14.22
$GC,7991,0.97,413.5,2735,2800,2104,1932,29.4,7.5,770,8041,0.12,2.55,43.35,0.256,11012,0.174,0.103,2788,1395,1660,1753,1567,0,0,0,0,0,0,14.42,14.34,14.26
$GC,8111,1.04,444.1,2789,1396,1765,1579,17.3,10.2,790,8139,0.00,2.53,17.05,0.229,9222,0.000,0.115,2788,2802,1536,1633,1439,0,0,0,0,0,0,28.83,14.35,14.28
$GC,8443,1.34,632.5,2789,2803,1645,1449,12.8,1.6,825,8554,0.32,2.50,98.78,0.210,10756,0.120,0.103,2912,1395,769,856,682,0,0,0,0,0,0,14.42,14.28,14.23
$GC,8578,1.41,667.5,2911,1396,865,682,6.2,10.0,846,8606,0.00,2.53,19.00,0.201,9222,0.000,0.110,2912,2799,624,700,548,0,0,0,0,0,0,28.83,14.30,14.23
$STATE,8619,end climb,SURFACE_DEPTH_REACHED
$STATE,8619,begin surface coast
$FINISH,0.8,1.019891
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8661,12.02,0.196,0,0,539,689.78
$SM_GC,1.76,8.30,1.10,12.02,0.099,0.105,0.196,197,2201,539,-7.06,0.68,689.78,0,0,0,0,0,0,14.32,14.31,14.26
$RAFOS_CLK,186
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14426.97,290714,223926
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.36
$INTERNAL_PRESSURE,8.50456
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,4013680
$TM_FREEKB,7630368
$24V_AH,13.05,60.862
$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,23.175,95.950,633.025,12.025,0.000,0.000,0.000,490.875,0.000,0.000,26.387,0.000,6071.674,809.953,2470.913,81.667,0.000,2072.866,0.000,1261.289,1439.000,0.537,0.000
$DEVICE_MAMPS,476.595,149.940,1578.195,195.840,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8665.000,8689.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.892,12.673,0.000,0.000
$MEM,300292
$DATA_FILE_SIZE,30073,854
$CAP_FILE_SIZE,138307,0
$CFSIZE,2097872896,2087059456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,9239.38,0x2378b6,7,5
$SOUNDSPEED,1450.6
$EKF,8748,4261.367188,-8674.938477,0.795591,0.628945,-0.215870,0.028404,0.000116,0.001097,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.027,100.77,1
$GPS,300714,011449,7101.381,-14434.591,15,0.7,35,22.3