version: 66.12
glider: 199
mission: 5
dive: 40
start: 7 31 114 4 41 11
data:
$ID,199
$MISSION,5
$DIVE,40
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$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,215
$T_MISSION,250
$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,-21671.451
$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,2446
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,37
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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
$GPS1,310714,042948,7111.194,-14449.140,37,0.9,57,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-73.6
$GPS2,310714,044054,7111.139,-14449.146,5,0.8,26,22.3
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,296.5,58184,-21.5,-11.628,-24.76,1932
$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,19,-0.76,-145.9,199,2394,568,515,0.0,0.0,0,75,0.00,0.00,-53.17,0.000,16386,0.000,0.000,197,2394,1933,1938,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.76,-145.9,199,2395,1937,1930,3.6,-3.9,5,139,11.12,2.58,-40.05,0.000,18692,0.479,0.151,2182,3771,3947,4002,3892,0,0,0,0,0,0,14.04,14.23,14.46
$GC,348,-0.76,-145.9,2183,3767,4001,3897,69.8,-22.9,56,357,0.00,2.35,0.00,0.000,1030,0.000,0.088,2182,2398,3949,4002,3896,0,0,0,0,0,0,28.83,14.34,28.83
$GC,653,-0.76,-145.9,2182,2400,4003,3898,129.9,-18.2,87,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2399,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,953,-0.76,-145.9,2184,2399,4001,3898,179.7,-15.4,117,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2399,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-0.76,-145.9,2183,2398,4001,3897,222.6,-13.6,147,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2399,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1553,-0.76,-145.9,2183,2400,4001,3897,263.0,-13.1,171,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2398,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-0.76,-145.9,2183,2399,4001,3895,301.1,-12.5,181,1861,0.00,2.47,0.00,0.000,260,0.000,0.133,2173,3772,3948,4002,3894,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1900,-0.76,-145.9,2173,3772,4003,3895,307.5,-14.3,190,1908,0.00,2.35,0.00,0.000,1030,0.000,0.089,2173,2391,3947,4001,3894,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2217,-0.76,-145.9,2174,2392,4001,3894,349.2,-13.1,203,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2392,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.76,-145.9,2174,2392,4001,3893,388.2,-12.7,213,2524,0.00,2.45,0.00,0.000,260,0.000,0.132,2163,3766,3946,4001,3892,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2553,-0.76,-145.9,2162,3767,4003,3893,393.3,-14.7,220,2562,0.15,2.33,0.00,0.000,3078,0.316,0.086,2192,2393,3946,4001,3892,0,0,0,0,0,0,14.43,14.55,28.83
$GC,2880,-0.76,-145.9,2194,2393,4002,3893,431.2,-11.4,235,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2393,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3181,-0.76,-145.9,2194,2393,4002,3892,465.6,-11.4,245,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2392,3946,4001,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3481,-0.76,-145.9,2192,2393,4003,3892,499.6,-11.3,255,3490,0.00,2.45,0.00,0.000,260,0.000,0.132,2183,3766,3945,4001,3890,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3554,-0.76,-145.9,2183,3766,4003,3897,508.7,-13.1,269,3562,0.00,2.30,0.00,0.000,1030,0.000,0.086,2184,2400,3946,4002,3890,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3876,-0.76,-145.9,2185,2400,3999,3890,546.5,-11.5,283,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2399,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4176,-0.76,-145.9,2185,2400,4002,3890,581.7,-11.5,293,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2403,3945,4001,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4476,-0.76,-145.9,2183,2401,4003,3890,615.8,-11.3,303,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2400,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4776,-0.76,-145.9,2182,2400,4003,3889,649.7,-11.3,313,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2400,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5076,-0.76,-145.9,2183,2400,4003,3890,683.4,-11.3,323,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2400,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5376,-0.76,-145.9,2185,2400,4001,3890,717.0,-11.2,333,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2400,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5675,begin apogee
$GC,5678,-0.14,0.0,2182,2707,4001,3889,750.7,-11.4,343,5870,0.82,0.00,187.20,1.689,10246,0.286,0.000,2392,2706,3347,3401,3294,0,0,0,0,0,0,14.50,28.83,13.12
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5873,0.76,145.9,2393,2706,3395,3288,756.2,0.0,349,6016,1.00,2.10,129.62,1.974,10500,0.171,0.128,2680,3764,2746,2794,2698,0,0,0,0,0,0,13.74,13.46,12.81
$GC,6175,0.76,145.9,2680,3765,2784,2685,724.6,14.9,402,6185,0.00,1.92,0.00,0.000,1030,0.000,0.084,2688,2699,2732,2782,2683,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6480,0.76,145.9,2688,2699,2784,2683,683.2,13.7,413,6488,0.00,2.47,0.00,0.000,516,0.000,0.098,2699,1294,2732,2782,2682,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6532,0.76,145.9,2700,1294,2781,2688,676.4,12.7,423,6542,0.00,2.55,0.00,0.000,1030,0.000,0.107,2699,2703,2731,2782,2681,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6847,0.76,145.9,2697,2705,2781,2681,633.2,13.9,435,6857,0.00,2.47,0.00,0.000,516,0.000,0.097,2709,1295,2731,2782,2681,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6926,0.76,145.9,2710,1295,2781,2681,622.4,12.9,450,6934,0.00,2.53,0.00,0.000,1030,0.000,0.108,2709,2710,2731,2782,2680,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7243,0.76,145.9,2710,2710,2782,2681,576.9,14.3,463,7252,0.00,2.47,0.00,0.000,516,0.000,0.096,2719,1291,2731,2782,2680,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7281,0.76,145.9,2719,1292,2784,2681,571.6,14.0,470,7289,0.00,2.53,0.00,0.000,1030,0.000,0.107,2719,2708,2730,2782,2679,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7609,0.76,145.9,2720,2709,2782,2680,523.5,14.7,485,7616,0.00,2.45,0.00,0.000,516,0.000,0.096,2730,1295,2730,2782,2679,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7655,0.76,145.9,2729,1296,2784,2680,516.8,14.3,494,7664,0.15,2.47,0.00,0.000,5126,0.319,0.106,2699,2703,2734,2789,2679,0,0,0,0,0,0,14.38,14.47,28.83
$GC,7973,0.76,145.9,2701,2703,2782,2679,473.2,13.7,507,7982,0.00,2.42,0.00,0.000,516,0.000,0.096,2708,1296,2730,2782,2679,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8036,0.76,145.9,2709,1297,2782,2680,464.7,13.9,519,8046,0.00,2.47,0.00,0.000,1030,0.000,0.107,2708,2702,2730,2782,2679,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8370,0.76,145.9,2708,2703,2783,2680,417.5,14.1,535,8380,0.00,2.42,0.00,0.000,516,0.000,0.096,2718,1296,2730,2782,2679,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8409,0.76,145.9,2720,1296,2782,2684,412.0,13.8,542,8417,0.00,2.47,0.00,0.000,1030,0.000,0.106,2718,2704,2732,2785,2679,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8736,0.76,145.9,2719,2705,2791,2680,364.2,14.5,557,8744,0.00,2.42,0.00,0.000,516,0.000,0.096,2729,1297,2730,2782,2679,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8798,0.76,145.9,2729,1301,2782,2680,355.5,14.0,569,8806,0.15,2.45,0.00,0.000,5126,0.318,0.106,2698,2694,2730,2782,2679,0,0,0,0,0,0,14.44,14.53,28.83
$GC,9130,0.76,145.9,2696,2699,2783,2679,311.5,13.2,585,9138,0.00,2.42,0.00,0.000,516,0.000,0.096,2707,1288,2730,2781,2679,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9187,0.76,145.9,2708,1289,2785,2680,304.2,12.7,596,9196,0.00,2.50,0.00,0.000,1030,0.000,0.107,2707,2708,2730,2782,2679,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9492,0.76,145.9,2707,2709,2784,2680,263.6,13.2,607,9501,0.00,2.42,0.00,0.000,516,0.000,0.096,2717,1295,2730,2782,2679,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9540,0.76,145.9,2718,1296,2782,2680,257.4,13.1,616,9548,0.00,2.47,0.00,0.000,1030,0.000,0.106,2717,2703,2732,2782,2682,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9848,0.76,145.9,2718,2703,2782,2680,216.7,12.6,644,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2703,2730,2782,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10148,0.79,145.9,2718,2703,2782,2679,181.9,10.9,674,10156,0.00,2.45,0.00,0.000,516,0.000,0.096,2727,1294,2730,2782,2679,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10240,0.85,192.5,2727,1295,2784,2680,172.9,9.1,692,10287,0.00,2.47,39.58,1.355,9222,0.000,0.107,2727,2701,2559,2617,2502,0,0,0,0,0,0,28.83,14.49,13.70
$GC,10591,0.90,192.5,2727,2702,2604,2479,134.3,10.3,730,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2701,2540,2603,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10891,0.97,246.0,2728,2702,2603,2477,106.3,8.8,760,10947,0.00,2.58,46.85,1.284,8708,0.000,0.096,2737,1297,2331,2397,2266,0,0,0,0,0,0,28.83,14.13,13.65
$GC,11041,1.03,246.0,2737,1297,2389,2254,91.3,10.0,787,11052,0.12,2.53,0.00,0.000,3078,0.170,0.107,2777,2700,2320,2388,2253,0,0,0,0,0,0,14.23,14.21,28.83
$GC,11346,1.03,246.0,2777,2700,2389,2252,54.5,12.3,818,11354,0.00,1.90,0.00,0.000,260,0.000,0.133,2777,3767,2319,2388,2251,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11358,1.03,246.0,2778,3767,2384,2251,53.1,11.6,820,11366,0.00,1.88,0.00,0.000,1030,0.000,0.089,2785,2697,2319,2388,2251,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11670,1.21,388.5,2786,2698,2387,2250,35.7,4.0,852,11747,0.15,2.00,66.03,0.272,10500,0.161,0.135,2833,3767,1765,1850,1681,0,0,0,0,0,0,14.41,14.28,14.22
$GC,11821,1.21,388.5,2831,3767,1851,1694,18.6,15.5,877,11830,0.00,1.88,0.00,0.000,1030,0.000,0.090,2841,2699,1772,1852,1693,0,0,0,0,0,0,28.83,14.33,28.83
$FREEZE,10.25,3.631,-1.451,0,1,0
$STATE,12069,end climb,NO_VERTICAL_VELOCITY
$STATE,12069,begin surface
$SM_CCo,12072,159.73,0.203,0,0,497,698.86
$SM_GC,2.12,8.38,0.52,0.00,0.129,0.104,0.000,203,2397,502,-6.97,0.76,698.37,0,0,0,0,0,0,14.30,14.34,28.83
$RAFOS_CLK,28
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7032.78,-14451.75,310714,010706
$TT8_MAMPS,0.081641,0.081641
$HUMID,52.32
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,4012540
$TM_FREEKB,7466944
$24V_AH,12.81,64.589
$10V_AH,12.71,0.000
$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,22.050,86.525,469.275,159.725,0.000,0.000,0.000,422.875,0.000,0.000,27.462,0.000,9622.164,823.152,2556.880,104.249,0.000,2054.499,0.000,1337.934,1494.000,0.537,0.000
$DEVICE_MAMPS,478.890,151.470,1973.700,203.490,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12096.000,12137.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.048,12.692,0.000,0.000
$MEM,294968
$DATA_FILE_SIZE,30061,902
$CAP_FILE_SIZE,150433,0
$CFSIZE,2097872896,2084175872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12436.33,0x2378b6,7,5
$SOUNDSPEED,1452.1
$EKF,12526,4272.455566,-8692.074219,10.247349,0.025886,0.000003,-0.001303,0.000246,0.002367,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.034,129.44,1
$GPS,310714,080954,7112.315,-14451.521,25,0.9,45,22.3