version: 66.12
glider: 199
mission: 5
dive: 37
start: 7 30 114 19 13 48
data:
$ID,199
$MISSION,5
$DIVE,37
$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,-21667.67
$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,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
$GPS1,300714,190407,7108.141,-14444.110,28,0.7,48,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.3
$GPS2,300714,191335,7108.105,-14444.188,4,0.8,24,22.3
$SPEED_LIMITS,0.142,0.254
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,298.4,64412,-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,-145.9,205,2190,547,452,0.0,0.0,0,75,0.00,0.00,-53.62,0.000,16386,0.000,0.000,205,2190,1910,1917,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.87,-145.9,203,2190,1919,1905,3.8,-4.0,5,134,10.88,2.67,-39.03,0.000,18692,0.476,0.149,2171,3619,3945,4001,3890,0,0,0,0,0,0,14.07,14.26,14.50
$GC,358,-0.77,-145.9,2171,3620,4003,3895,76.9,-22.4,58,367,0.20,2.45,0.00,0.000,3078,0.335,0.091,2213,2203,3947,4001,3894,0,0,0,0,0,0,14.23,14.35,28.83
$GC,663,-0.77,-145.9,2214,2203,4001,3895,129.8,-16.4,89,672,0.00,2.55,0.00,0.000,260,0.000,0.128,2204,3614,3950,4002,3899,0,0,0,0,0,0,28.83,14.39,28.83
$GC,776,-0.75,-145.9,2204,3622,4003,3896,149.1,-17.2,111,784,0.00,2.45,0.00,0.000,1030,0.000,0.090,2204,2191,3948,4001,3895,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1088,-0.75,-145.9,2212,2192,4001,3895,193.2,-13.4,143,1096,0.00,2.55,0.00,0.000,260,0.000,0.129,2194,3615,3948,4001,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1165,-0.75,-145.9,2195,3616,4001,3896,203.9,-13.8,158,1174,0.12,2.42,0.00,0.000,3078,0.309,0.090,2221,2198,3948,4001,3895,0,0,0,0,0,0,14.35,14.46,28.83
$GC,1471,-0.77,-145.9,2222,2198,4001,3895,238.2,-10.9,189,1478,0.00,2.55,0.00,0.000,260,0.000,0.130,2211,3619,3948,4001,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1622,-0.77,-145.9,2213,3620,4002,3895,256.8,-11.8,219,1630,0.00,2.42,0.00,0.000,1030,0.000,0.089,2211,2199,3948,4001,3895,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1955,-0.80,-145.9,2211,2199,4003,3895,293.9,-11.1,235,1962,0.00,2.53,0.00,0.000,260,0.000,0.129,2201,3616,3947,4000,3894,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2081,-0.80,-145.9,2202,3616,4001,3895,309.2,-12.3,260,2091,0.00,2.42,0.00,0.000,1030,0.000,0.089,2201,2192,3947,4001,3894,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2410,-0.80,-145.9,2201,2193,4001,3894,346.6,-11.3,275,2418,0.00,2.53,0.00,0.000,260,0.000,0.129,2190,3612,3947,4001,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2527,-0.80,-145.9,2190,3613,4002,3894,361.1,-12.7,298,2536,0.00,2.40,0.00,0.000,1030,0.000,0.089,2190,2198,3947,4001,3893,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2832,-0.80,-145.9,2190,2199,4002,3894,396.6,-11.6,309,2840,0.00,2.53,0.00,0.000,260,0.000,0.128,2180,3612,3947,4001,3893,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2949,-0.80,-145.9,2181,3613,4001,3893,411.6,-13.1,332,2960,0.12,2.40,0.00,0.000,3078,0.316,0.089,2204,2201,3946,4001,3892,0,0,0,0,0,0,14.38,14.49,28.83
$GC,3254,-0.82,-145.9,2203,2202,4002,3894,444.2,-10.6,343,3262,0.00,2.53,0.00,0.000,260,0.000,0.128,2195,3615,3947,4001,3893,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3356,-0.82,-145.9,2196,3616,4000,3894,456.3,-11.2,363,3364,0.00,2.42,0.00,0.000,1030,0.000,0.089,2194,2198,3947,4001,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3679,-0.82,-145.9,2194,2198,4002,3894,492.0,-11.0,377,3686,0.00,2.53,0.00,0.000,260,0.000,0.128,2184,3612,3947,4001,3893,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,3744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3744,begin apogee
$GC,3748,-0.16,0.0,2185,2802,4001,3893,500.0,-12.0,390,3936,0.90,0.00,182.62,1.502,10246,0.286,0.000,2411,2802,3348,3402,3295,0,0,0,0,0,0,14.32,28.83,13.16
$STATE,3937,end apogee,CONTROL_FINISHED_OK
$STATE,3937,begin climb
$GC,3938,0.87,145.9,2412,2802,3396,3289,505.3,0.0,396,4081,1.12,1.95,127.00,1.660,10500,0.155,0.130,2741,3775,2741,2789,2694,0,0,0,0,0,0,13.74,13.50,12.93
$GC,4205,0.76,145.9,2741,3771,2778,2680,474.2,17.9,442,4213,0.10,1.75,0.00,0.000,5126,0.309,0.087,2725,2801,2729,2778,2680,0,0,0,0,0,0,13.74,13.89,28.83
$MODEM_MSG,CACST,6,1,20140730200421.876673,3,320,19,0106,0150,100,00,00,01,04,1,000,000,2,5,1,0,150,20.1,3.1,-100,-0.1,-01,0.2,14,900,0025*21
$GC,4517,0.70,145.9,2725,2802,2779,2679,427.2,14.9,454,4525,0.12,2.47,0.00,0.000,4612,0.331,0.097,2710,1396,2728,2778,2678,0,0,0,0,0,0,14.08,14.16,28.83
$GC,4579,0.67,145.9,2712,1396,2780,2678,418.9,13.3,466,4588,0.00,2.55,0.00,0.000,1030,0.000,0.109,2710,2803,2727,2778,2677,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4913,0.62,145.9,2710,2804,2779,2678,372.0,14.2,482,4921,0.15,2.47,0.00,0.000,4612,0.304,0.093,2685,1387,2728,2778,2678,0,0,0,0,0,0,14.22,14.33,28.83
$GC,4975,0.62,148.8,2687,1388,2785,2677,364.4,11.7,494,4983,0.00,2.53,0.00,0.000,1030,0.000,0.109,2685,2801,2727,2778,2677,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5307,0.59,148.8,2685,2802,2779,2679,322.5,12.6,510,5315,0.00,2.45,0.00,0.000,516,0.000,0.095,2695,1392,2727,2778,2677,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5379,0.59,148.8,2695,1394,2779,2678,313.8,12.0,524,5389,0.15,2.53,0.00,0.000,5126,0.309,0.108,2665,2801,2727,2778,2677,0,0,0,0,0,0,14.32,14.41,28.83
$GC,5703,0.60,158.5,2665,2800,2779,2677,276.5,11.4,538,5713,0.00,2.53,3.25,0.860,8708,0.000,0.094,2675,1386,2700,2755,2646,0,0,0,0,0,0,28.83,14.45,13.76
$GC,5797,0.64,187.3,2674,1386,2775,2660,266.3,10.3,556,5840,0.00,2.50,32.80,1.347,9222,0.000,0.109,2674,2802,2572,2632,2512,0,0,0,0,0,0,28.83,14.45,13.73
$GC,6127,0.64,187.3,2674,2802,2625,2495,225.3,12.2,584,6136,0.00,2.45,0.00,0.000,516,0.000,0.095,2684,1394,2559,2624,2494,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6225,0.65,196.1,2682,1395,2623,2495,213.9,11.4,603,6235,0.00,2.53,1.38,0.237,9222,0.000,0.108,2684,2805,2546,2611,2481,0,0,0,0,0,0,28.83,14.33,14.32
$GC,6531,0.67,210.4,2685,2806,2620,2493,177.2,11.1,634,6561,0.00,2.53,18.55,1.252,8708,0.000,0.096,2694,1400,2478,2545,2412,0,0,0,0,0,0,28.83,14.28,13.80
$GC,6600,0.68,218.8,2695,1400,2541,2404,169.4,11.4,646,6609,0.00,2.50,1.75,0.225,9222,0.000,0.108,2694,2801,2454,2523,2386,0,0,0,0,0,0,28.83,14.31,14.26
$GC,6913,0.71,246.8,2694,2802,2535,2402,136.7,10.4,678,6954,0.00,2.50,32.20,1.178,8708,0.000,0.093,2705,1390,2327,2396,2258,0,0,0,0,0,0,28.83,14.17,13.76
$GC,7053,0.78,286.9,2704,1390,2389,2245,122.7,9.7,704,7097,0.00,2.55,35.12,1.181,9222,0.000,0.109,2704,2810,2170,2247,2093,0,0,0,0,0,0,28.83,14.27,13.59
$GC,7391,0.83,303.8,2704,2808,2234,2068,85.4,11.0,740,7407,0.00,2.55,5.35,0.293,8708,0.000,0.096,2714,1396,2113,2199,2028,0,0,0,0,0,0,28.83,14.26,14.12
$GC,7537,0.91,343.3,2715,1396,2219,2051,70.8,9.7,768,7566,0.15,2.53,23.58,0.366,11270,0.155,0.109,2764,2801,1948,2036,1860,0,0,0,0,0,0,14.34,14.31,14.14
$GC,7860,0.98,399.0,2764,2801,2055,1886,34.2,8.9,802,7901,0.00,2.53,30.25,0.269,8708,0.000,0.098,2774,1394,1723,1813,1633,0,0,0,0,0,0,28.83,14.31,14.24
$GC,7981,1.06,443.5,2774,1393,1826,1645,22.7,9.5,824,8017,0.12,2.53,24.20,0.236,11270,0.171,0.109,2815,2806,1539,1634,1445,0,0,0,0,0,0,14.35,14.34,14.21
$GC,8321,1.37,663.4,2815,2807,1647,1457,9.3,-0.1,860,8445,0.30,2.50,113.22,0.200,10756,0.122,0.096,2924,1395,642,708,576,0,0,0,0,0,0,14.39,14.23,14.21
$STATE,8498,end climb,SURFACE_DEPTH_REACHED
$STATE,8498,begin surface coast
$FINISH,1.0,1.004647
$STATE,8528,end surface coast,CONTROL_FINISHED_OK
$STATE,8528,begin surface
$SM_CCo,8550,14.32,0.199,0,0,539,689.05
$SM_GC,3.94,8.48,1.48,14.32,0.114,0.105,0.199,202,2203,539,-7.05,-0.59,689.05,0,0,0,0,0,0,14.33,14.33,14.26
$RAFOS_CLK,247
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7039.27,-14446.30,300714,163148
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.11
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4012876
$TM_FREEKB,7522368
$24V_AH,12.93,63.497
$10V_AH,12.65,0.000
$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,22.925,96.650,631.275,14.325,0.000,0.000,0.000,357.425,0.000,0.000,25.775,0.000,5849.463,797.136,2394.072,88.546,0.000,1948.372,0.000,1318.966,1472.000,0.537,0.000
$DEVICE_MAMPS,475.830,149.175,1660.050,198.900,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8551.000,8579.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.872,12.681,0.000,0.000
$MEM,296680
$DATA_FILE_SIZE,30067,895
$CAP_FILE_SIZE,136102,0
$CFSIZE,2097872896,2084962304
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9338.24,0x2378b6,7,5
$INTR,1,5822.51,0x234484,1,24
$SOUNDSPEED,1449.6
$EKF,8644,4269.076660,-8685.691406,1.020557,-0.041205,0.097021,0.005753,0.000113,0.001079,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.018,85.77,1
$GPS,300714,213749,7109.081,-14445.405,20,0.8,40,22.3