version: 66.12
glider: 199
mission: 5
dive: 33
start: 7 30 114 9 1 11
data:
$ID,199
$MISSION,5
$DIVE,33
$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,-21662.449
$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,27
$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
$GPS1,300714,085125,7104.323,-14438.954,16,0.8,36,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-73.0
$GPS2,300714,090054,7104.315,-14439.111,4,0.9,25,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,300.7,71837,-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,-145.9,192,2202,561,522,0.0,0.0,0,95,0.00,0.00,-73.35,0.000,16386,0.000,0.000,192,2202,2446,2446,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.87,-145.9,194,2202,2446,2441,4.6,-5.4,7,139,11.10,2.62,-25.12,0.000,18692,0.481,0.148,2171,3612,3946,4000,3892,0,0,0,0,0,0,14.06,14.24,14.47
$GC,363,-0.77,-145.9,2171,3612,4001,3898,77.3,-22.7,58,375,0.20,2.45,0.00,0.000,3078,0.338,0.090,2211,2191,3948,4000,3897,0,0,0,0,0,0,14.22,14.35,28.83
$GC,669,-0.77,-145.9,2213,2194,3999,3899,131.3,-15.6,89,677,0.00,2.53,0.00,0.000,260,0.000,0.129,2202,3608,3949,4000,3898,0,0,0,0,0,0,28.83,14.38,28.83
$GC,825,-0.75,-145.9,2202,3609,3999,3898,157.6,-17.1,120,835,0.00,2.42,0.00,0.000,1030,0.000,0.090,2202,2200,3949,4001,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1131,-0.75,-145.9,2202,2201,4002,3899,200.6,-13.2,151,1139,0.00,2.53,0.00,0.000,260,0.000,0.129,2192,3611,3949,4000,3898,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1253,-0.75,-145.9,2189,3612,4000,3898,218.3,-14.5,175,1261,0.15,2.42,0.00,0.000,3078,0.298,0.090,2222,2195,3948,4000,3897,0,0,0,0,0,0,14.36,14.47,28.83
$GC,1566,-0.78,-145.9,2222,2195,4001,3898,253.7,-10.8,205,1573,0.00,2.55,0.00,0.000,260,0.000,0.131,2213,3618,3948,4000,3897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1652,-0.78,-145.9,2212,3619,4002,3898,263.9,-12.1,222,1664,0.00,2.42,0.00,0.000,1030,0.000,0.090,2213,2200,3948,4000,3896,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1958,-0.81,-145.9,2213,2200,3999,3895,297.7,-11.1,233,1967,0.00,2.53,0.00,0.000,260,0.000,0.130,2202,3614,3947,4000,3895,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2045,-0.81,-145.9,2202,3611,4000,3896,308.2,-12.3,250,2056,0.00,2.42,0.00,0.000,1030,0.000,0.090,2202,2191,3947,4000,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2351,-0.83,-145.9,2202,2189,4002,3895,342.6,-10.9,261,2359,0.00,2.53,0.00,0.000,260,0.000,0.130,2192,3610,3947,4000,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2443,-0.83,-145.9,2193,3611,3999,3895,354.1,-12.7,279,2452,0.00,2.42,0.00,0.000,1030,0.000,0.090,2191,2193,3947,4000,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2777,-0.83,-145.9,2192,2194,4001,3894,392.8,-11.6,295,2785,0.00,2.53,0.00,0.000,260,0.000,0.130,2181,3613,3946,4000,3892,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2879,-0.83,-145.9,2183,3617,3999,3894,406.3,-13.2,315,2887,0.00,2.40,0.00,0.000,1030,0.000,0.090,2181,2199,3946,4000,3893,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3202,-0.83,-145.9,2181,2199,4001,3894,445.7,-12.2,329,3209,0.00,2.50,0.00,0.000,260,0.000,0.129,2171,3611,3946,3999,3894,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3293,-0.83,-145.9,2171,3611,4001,3893,458.2,-13.5,347,3301,0.12,2.40,0.00,0.000,3078,0.325,0.090,2195,2198,3944,4000,3889,0,0,0,0,0,0,14.44,14.56,28.83
$GC,3626,-0.85,-145.9,2196,2199,3998,3894,495.3,-11.0,363,3633,0.00,2.50,0.00,0.000,260,0.000,0.129,2186,3611,3945,4000,3891,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,3666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3666,begin apogee
$GC,3670,-0.16,0.0,2186,2794,4002,3894,500.2,-12.1,371,3856,0.90,0.00,180.55,1.430,10246,0.287,0.000,2413,2794,3347,3401,3294,0,0,0,0,0,0,14.44,28.83,13.25
$STATE,3858,end apogee,CONTROL_FINISHED_OK
$STATE,3858,begin climb
$GC,3859,0.87,145.9,2420,2794,3397,3289,505.5,0.0,377,4002,1.10,1.92,125.93,1.562,10500,0.152,0.132,2741,3762,2739,2787,2692,0,0,0,0,0,0,13.80,13.60,13.06
$GC,4056,0.76,145.9,2740,3763,2780,2684,487.0,18.0,409,4064,0.10,1.75,0.00,0.000,5126,0.307,0.087,2724,2801,2731,2779,2683,0,0,0,0,0,0,13.75,13.88,28.83
$GC,4378,0.70,145.9,2725,2802,2780,2680,438.3,15.0,423,4386,0.12,2.50,0.00,0.000,4612,0.330,0.101,2710,1385,2729,2779,2679,0,0,0,0,0,0,14.09,14.20,28.83
$GC,4440,0.66,145.9,2710,1385,2780,2680,429.7,13.4,435,4448,0.00,2.55,0.00,0.000,1030,0.000,0.110,2710,2798,2729,2779,2679,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4773,0.61,145.9,2710,2799,2780,2680,381.5,14.6,451,4781,0.15,2.47,0.00,0.000,4612,0.302,0.096,2685,1391,2729,2779,2679,0,0,0,0,0,0,14.26,14.35,28.83
$GC,4870,0.61,147.0,2687,1389,2785,2679,369.4,11.8,470,4879,0.00,2.50,0.00,0.000,1030,0.000,0.111,2685,2801,2726,2775,2678,0,0,1,0,0,0,28.83,14.36,28.83
$GC,5199,0.58,147.0,2685,2802,2780,2679,326.9,12.8,485,5207,0.00,2.45,0.00,0.000,516,0.000,0.099,2695,1393,2732,2779,2685,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5271,0.58,147.4,2697,1393,2778,2679,318.1,11.9,499,5279,0.15,2.53,0.00,0.000,5126,0.313,0.110,2665,2810,2729,2779,2679,0,0,0,0,0,0,14.34,14.44,28.83
$GC,5594,0.59,155.9,2665,2811,2780,2679,281.0,11.4,513,5603,0.00,2.55,2.33,0.485,8708,0.000,0.098,2675,1381,2712,2765,2659,0,0,0,0,0,0,28.83,14.47,13.78
$GC,5707,0.62,175.3,2674,1386,2781,2667,268.7,10.8,535,5740,0.00,2.53,23.77,1.378,9222,0.000,0.111,2674,2809,2622,2680,2565,0,0,0,0,0,0,28.83,14.47,13.76
$GC,6044,0.62,175.3,2674,2810,2674,2550,227.8,12.0,564,6052,0.00,2.47,0.00,0.000,516,0.000,0.098,2685,1393,2611,2673,2549,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6146,0.63,183.7,2684,1393,2674,2550,216.1,11.4,584,6155,0.00,2.53,1.50,0.230,9222,0.000,0.110,2684,2808,2598,2661,2536,0,0,0,0,0,0,28.83,14.38,14.37
$GC,6459,0.65,205.7,2686,2808,2669,2547,180.1,10.7,616,6494,0.00,2.50,25.95,1.295,8708,0.000,0.099,2695,1394,2496,2561,2431,0,0,0,0,0,0,28.83,14.24,13.76
$GC,6588,0.69,237.8,2695,1394,2555,2418,166.7,10.2,640,6623,0.00,2.53,27.48,1.258,9222,0.000,0.109,2695,2802,2377,2448,2307,0,0,0,0,0,0,28.83,14.31,13.65
$GC,6927,0.74,278.9,2696,2799,2432,2282,129.8,9.7,676,6969,0.00,2.60,35.92,1.180,8708,0.000,0.100,2705,1387,2201,2277,2126,0,0,0,0,0,0,28.83,14.12,13.69
$GC,7073,0.82,314.9,2704,1388,2265,2101,114.6,9.9,703,7115,0.00,2.55,31.40,1.161,9222,0.000,0.111,2704,2793,2054,2141,1967,0,0,0,0,0,0,28.83,14.21,13.60
$GC,7420,0.89,352.4,2706,2797,2131,1945,76.4,9.9,740,7443,0.15,2.58,16.35,0.365,10756,0.158,0.101,2765,1389,1911,2002,1821,0,0,0,0,0,0,14.31,14.25,14.12
$GC,7587,0.89,352.4,2766,1390,2033,1844,54.2,13.0,772,7596,0.00,2.55,2.90,0.225,9222,0.000,0.112,2766,2805,1910,2001,1820,0,0,0,0,0,0,28.83,14.31,14.23
$GC,7901,0.96,408.6,2766,2806,2022,1849,20.6,8.8,804,7939,0.00,2.58,30.35,0.234,8708,0.000,0.101,2777,1386,1680,1773,1588,0,0,0,0,0,0,28.83,14.34,14.28
$GC,8163,1.33,655.6,2779,1387,1786,1600,14.3,-1.6,853,8299,0.38,2.53,127.57,0.212,11270,0.116,0.110,2902,2802,674,741,608,0,0,0,0,0,0,14.40,14.38,14.20
$STATE,8352,end climb,SURFACE_DEPTH_REACHED
$STATE,8352,begin surface coast
$FINISH,0.8,1.010751
$STATE,8362,end surface coast,CONTROL_FINISHED_OK
$STATE,8362,begin surface
$SM_CCo,8383,18.12,0.196,0,0,539,689.05
$SM_GC,2.03,8.38,1.12,18.12,0.109,0.118,0.196,198,2198,539,-7.06,0.57,689.05,0,0,0,0,0,0,14.31,14.31,14.24
$RAFOS_CLK,352
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7032.78,-14433.90,300714,062418
$TT8_MAMPS,0.045689,0.045689
$HUMID,52.52
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4013284
$TM_FREEKB,7576608
$24V_AH,13.06,62.164
$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,23.000,93.875,632.000,18.125,0.000,0.000,0.000,359.700,0.000,0.000,26.617,0.000,5738.817,789.070,2361.045,82.758,0.000,1934.857,0.000,1297.766,0.000,0.537,0.000
$DEVICE_MAMPS,481.185,148.410,1562.130,195.840,0.000,0.000,0.000,182.070,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8385.000,8412.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.756,12.665,0.000,0.000
$MEM,298468
$DATA_FILE_SIZE,30039,880
$CAP_FILE_SIZE,131734,0
$CFSIZE,2097872896,2086010880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,9044.36,0x2378b6,7,5
$SOUNDSPEED,1450.9
$EKF,8500,4265.279785,-8680.353516,0.760550,0.236530,0.064394,-0.038891,0.000112,0.001063,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.010,13.51,1
$GPS,300714,112248,7105.341,-14440.307,40,0.9,60,22.3