version: 66.12
glider: 199
mission: 5
dive: 31
start: 7 30 114 3 57 0
data:
$ID,199
$MISSION,5
$DIVE,31
$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,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,-21659.838
$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,28
$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
$GPS1,300714,034738,7102.410,-14435.878,14,0.8,34,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-69.0
$GPS2,300714,035635,7102.410,-14435.814,4,0.8,24,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,297.4,75833,-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,17,begin dive
$GC,18,-0.87,-145.9,194,2198,567,518,0.0,0.0,0,84,0.00,0.00,-63.08,0.000,16386,0.000,0.000,196,2198,2120,2130,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.87,-145.9,195,2198,2130,2110,3.1,-3.3,6,138,10.88,0.00,-35.90,0.000,19206,0.473,0.000,2181,2198,3945,4001,3890,0,0,0,0,0,0,14.08,28.83,14.45
$GC,432,-0.80,-145.9,2180,2199,4001,3898,84.8,-20.9,42,440,0.00,2.58,0.00,0.000,260,0.000,0.128,2171,3618,3952,4008,3896,0,0,0,0,0,0,28.83,14.31,28.83
$GC,574,-0.74,-145.9,2172,3619,4002,3897,115.9,-22.0,70,582,0.25,2.47,0.00,0.000,3078,0.319,0.091,2225,2197,3948,4001,3896,0,0,0,0,0,0,14.22,14.34,28.83
$GC,886,-0.74,-145.9,2226,2198,4001,3903,163.1,-13.5,102,894,0.00,2.55,0.00,0.000,260,0.000,0.129,2215,3612,3949,4001,3898,0,0,0,0,0,0,28.83,14.33,28.83
$GC,948,-0.74,-145.9,2217,3613,4000,3897,171.9,-14.0,114,955,0.00,2.45,0.00,0.000,1030,0.000,0.089,2215,2196,3948,4001,3896,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1259,-0.74,-145.9,2215,2196,4002,3897,211.5,-12.2,146,1267,0.00,2.58,0.00,0.000,260,0.000,0.129,2205,3618,3948,4000,3896,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1311,-0.74,-145.9,2208,3618,4002,3897,218.1,-12.6,156,1321,0.00,2.45,0.00,0.000,1030,0.000,0.089,2208,2199,3948,4000,3896,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1635,-0.74,-145.9,2206,2199,4000,3891,257.8,-11.9,185,1643,0.00,2.55,0.00,0.000,260,0.000,0.129,2194,3615,3947,4000,3895,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1722,-0.74,-145.9,2196,3616,4000,3895,269.0,-12.7,202,1732,0.15,2.45,0.00,0.000,3078,0.295,0.090,2225,2191,3947,4000,3895,0,0,0,0,0,0,14.31,14.42,28.83
$GC,2028,-0.78,-145.9,2227,2192,4000,3894,301.3,-10.4,213,2036,0.00,2.55,0.00,0.000,260,0.000,0.130,2216,3612,3946,4000,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2100,-0.80,-145.9,2217,3612,4000,3894,309.8,-12.0,227,2108,0.00,2.42,0.00,0.000,1030,0.000,0.090,2216,2197,3946,4000,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2423,-0.84,-145.9,2217,2197,3999,3894,345.1,-10.8,241,2431,0.00,2.53,0.00,0.000,260,0.000,0.129,2205,3612,3947,4000,3894,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2510,-0.84,-145.9,2206,3612,3999,3893,355.6,-12.2,258,2519,0.00,2.42,0.00,0.000,1030,0.000,0.090,2205,2191,3946,4001,3892,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2815,-0.86,-145.9,2211,2192,4002,3893,390.1,-11.2,269,2823,0.00,2.55,0.00,0.000,260,0.000,0.129,2195,3622,3946,4000,3892,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2887,-0.86,-145.9,2196,3622,4000,3892,399.0,-12.6,283,2895,0.00,2.45,0.00,0.000,1030,0.000,0.090,2195,2191,3946,4000,3892,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3210,-0.86,-145.9,2196,2189,4000,3892,436.4,-11.5,297,3218,0.00,2.55,0.00,0.000,260,0.000,0.129,2184,3621,3945,4000,3891,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3281,-0.86,-145.9,2184,3622,4000,3892,445.5,-12.7,311,3290,0.00,2.47,0.00,0.000,1030,0.000,0.090,2184,2177,3945,4000,3891,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3604,-0.86,-145.9,2184,2178,4002,3892,483.9,-11.8,325,3612,0.00,2.55,0.00,0.000,260,0.000,0.129,2174,3613,3945,4000,3891,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3696,-0.86,-145.9,2175,3614,4000,3891,496.0,-13.2,343,3705,0.00,2.40,0.00,0.000,1030,0.000,0.090,2174,2197,3945,4001,3890,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,3728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3728,begin apogee
$GC,3731,-0.16,0.0,2169,2804,4001,3891,500.2,-13.4,349,3918,0.98,0.00,181.93,1.385,10246,0.300,0.000,2409,2803,3348,3402,3294,0,0,0,0,0,0,14.39,28.83,13.26
$STATE,3920,end apogee,CONTROL_FINISHED_OK
$STATE,3920,begin climb
$GC,3921,0.87,145.9,2413,2804,3395,3287,506.6,0.0,355,4064,1.12,1.88,126.20,1.555,10500,0.159,0.132,2743,3766,2738,2786,2691,0,0,0,0,0,0,13.81,13.61,13.06
$GC,4223,0.76,145.9,2748,3766,2777,2680,470.7,17.7,408,4234,0.12,1.73,0.00,0.000,5126,0.305,0.088,2726,2806,2728,2778,2679,0,0,0,0,0,0,13.93,14.06,28.83
$GC,4529,0.70,145.9,2721,2807,2779,2679,426.9,14.2,419,4537,0.00,2.50,0.00,0.000,516,0.000,0.102,2731,1387,2730,2783,2678,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4601,0.65,145.9,2732,1388,2777,2678,417.1,12.7,433,4609,0.20,2.55,0.00,0.000,5126,0.304,0.110,2688,2806,2727,2777,2677,0,0,0,0,0,0,14.18,14.29,28.83
$GC,4924,0.62,145.9,2688,2811,2779,2678,376.7,12.6,447,4931,0.00,2.50,0.00,0.000,516,0.000,0.099,2697,1381,2727,2778,2677,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4995,0.61,149.6,2697,1382,2779,2678,367.9,11.7,461,5004,0.12,2.55,0.00,0.000,5126,0.307,0.111,2673,2805,2730,2784,2677,0,0,0,0,0,0,14.29,14.38,28.83
$GC,5318,0.59,149.6,2674,2805,2778,2677,329.2,12.0,475,5327,0.00,2.47,0.00,0.000,516,0.000,0.099,2683,1388,2727,2777,2677,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5395,0.61,164.7,2682,1388,2779,2677,320.3,11.1,490,5419,0.00,2.50,14.95,1.395,9222,0.000,0.110,2682,2799,2670,2725,2616,0,0,0,0,0,0,28.83,14.43,13.78
$GC,5711,0.61,164.7,2683,2799,2716,2597,281.1,12.4,503,5719,0.00,2.47,0.00,0.000,516,0.000,0.101,2691,1385,2656,2716,2597,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5783,0.62,173.6,2692,1386,2717,2597,272.5,11.4,517,5791,0.00,2.53,2.10,0.341,9222,0.000,0.111,2693,2802,2637,2697,2578,0,0,0,0,0,0,28.83,14.43,13.57
$GC,6095,0.59,173.6,2692,2802,2715,2594,232.5,12.5,538,6105,0.12,2.47,1.58,0.226,12804,0.312,0.098,2677,1385,2640,2701,2580,0,0,0,0,0,0,14.38,14.47,14.42
$GC,6199,0.62,200.2,2677,1385,2723,2590,221.0,10.5,558,6240,0.00,2.53,30.70,1.280,9222,0.000,0.112,2677,2802,2518,2582,2454,0,0,0,0,0,0,28.83,14.44,13.74
$GC,6534,0.64,210.9,2678,2802,2569,2437,181.6,11.3,594,6543,0.00,2.58,2.08,0.319,8708,0.000,0.100,2687,1381,2487,2556,2419,0,0,0,0,0,0,28.83,14.37,13.32
$GC,6618,0.67,236.0,2687,1382,2570,2430,172.6,10.5,610,6658,0.00,2.53,30.60,1.271,9222,0.000,0.111,2687,2801,2375,2441,2310,0,0,0,0,0,0,28.83,14.35,13.66
$GC,6952,0.70,258.0,2687,2800,2432,2289,136.3,10.7,646,6976,0.00,2.60,17.77,1.252,8708,0.000,0.101,2697,1385,2289,2361,2217,0,0,0,0,0,0,28.83,14.23,13.71
$GC,7115,0.78,304.7,2697,1385,2351,2200,120.5,9.4,677,7171,0.00,2.58,43.10,1.232,9222,0.000,0.111,2697,2809,2090,2174,2006,0,0,0,0,0,0,28.83,14.28,13.57
$GC,7475,0.86,336.6,2697,2810,2170,1987,82.0,10.2,716,7497,0.15,2.55,13.40,0.369,10756,0.159,0.102,2756,1386,1977,2069,1886,0,0,0,0,0,0,14.32,14.24,14.12
$GC,7646,0.86,336.6,2756,1385,2092,1909,60.7,13.0,749,7656,0.00,2.55,3.15,0.227,9222,0.000,0.113,2756,2801,1973,2065,1882,0,0,0,0,0,0,28.83,14.32,14.22
$GC,7952,0.93,400.5,2755,2802,2088,1911,29.5,8.4,780,7996,0.00,2.50,34.53,0.256,8708,0.000,0.100,2766,1387,1715,1808,1622,0,0,0,0,0,0,28.83,14.31,14.24
$GC,8220,1.27,615.6,2767,1387,1820,1636,14.9,0.2,831,8344,0.35,2.55,111.82,0.215,11270,0.119,0.112,2884,2809,837,917,757,0,0,0,0,0,0,14.40,14.38,14.21
$STATE,8457,end climb,SURFACE_DEPTH_REACHED
$STATE,8457,begin surface coast
$FINISH,0.8,1.019851
$STATE,8478,end surface coast,CONTROL_FINISHED_OK
$STATE,8478,begin surface
$SM_CCo,8499,39.30,0.189,0,0,538,689.05
$SM_GC,1.79,8.23,1.12,39.30,0.103,0.105,0.189,200,2192,538,-7.05,0.51,689.05,0,0,0,0,0,0,14.35,14.34,14.26
$RAFOS_CLK,355
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7026.32,-14432.35,300714,011811
$TT8_MAMPS,0.044191,0.044191
$HUMID,53.62
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4013476
$TM_FREEKB,7603296
$24V_AH,13.06,61.515
$10V_AH,12.72,0.000
$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,22.675,96.300,613.900,39.300,0.000,0.000,0.000,328.400,0.000,0.000,26.243,0.000,5877.631,798.765,2327.665,81.766,0.000,1916.919,0.000,1273.255,1495.000,0.538,0.000
$DEVICE_MAMPS,472.770,131.580,1555.245,188.955,0.000,0.000,0.000,193.545,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8502.000,8529.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.650,12.671,0.000,0.000
$MEM,299352
$DATA_FILE_SIZE,30039,863
$CAP_FILE_SIZE,134048,0
$CFSIZE,2097872896,2086535168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9130.41,0x2378b6,7,5
$SOUNDSPEED,1450.8
$EKF,8636,4263.335938,-8677.611328,0.777143,-0.147999,-0.040807,0.012764,0.000123,0.001164,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.032,45.76,1
$GPS,300714,062053,7103.428,-14437.289,38,0.8,58,22.3