version: 66.12
glider: 199
mission: 5
dive: 63
start: 8 3 114 17 10 20
data:
$ID,199
$MISSION,5
$DIVE,63
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,360
$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,180
$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,-21700.432
$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,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$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,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$GPS1,030814,165654,7134.913,-14545.422,40,1.0,60,22.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.6
$GPS2,030814,170954,7134.899,-14545.482,5,0.8,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,290.6,3336,-26.2,-11.628,-29.10,1329
$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,-0.84,-100.3,192,2361,520,486,0.0,0.0,0,94,0.00,0.00,-72.50,0.000,16386,0.000,0.000,192,2361,2289,2295,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.91,-175.1,193,2362,2295,2285,3.9,-3.8,7,146,11.02,2.53,-31.25,0.000,18948,0.487,0.114,2135,953,3947,4002,3893,0,0,0,0,0,0,14.04,14.26,14.47
$GC,300,-0.91,-175.1,2135,954,4004,3898,60.6,-23.8,45,309,0.00,2.50,0.00,0.000,1030,0.000,0.102,2127,2360,3949,4002,3897,0,0,0,0,0,0,28.83,14.31,28.83
$GC,613,-0.91,-175.1,2133,2361,4002,3898,135.5,-23.2,77,622,0.00,2.42,0.00,0.000,516,0.000,0.092,2126,955,3950,4002,3898,0,0,0,0,0,0,28.83,14.39,28.83
$GC,661,-0.91,-175.1,2127,956,4004,3899,146.4,-21.8,86,671,0.00,2.50,0.00,0.000,1030,0.000,0.103,2117,2364,3949,4003,3896,0,0,0,0,0,0,28.83,14.36,28.83
$GC,967,-0.91,-175.1,2118,2365,4002,3898,209.3,-19.3,117,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2364,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1287,-0.91,-175.1,2117,2365,4004,3899,266.9,-17.1,143,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2364,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1587,-0.91,-175.1,2118,2365,4002,3898,317.1,-16.6,153,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2364,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1886,-0.91,-175.1,2118,2365,4002,3898,366.4,-16.3,163,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2364,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2187,-0.91,-175.1,2114,2365,4004,3898,415.4,-16.3,173,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2364,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2486,-0.91,-175.1,2118,2364,4002,3898,462.8,-15.5,183,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2364,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,-0.91,-175.1,2117,2365,4004,3898,509.2,-15.5,193,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2364,3950,4003,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3087,-0.91,-175.1,2118,2365,4002,3898,555.2,-15.4,203,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2364,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-0.91,-175.1,2118,2365,4002,3898,600.9,-15.1,213,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2364,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-0.91,-175.1,2117,2365,4004,3898,646.1,-15.0,223,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2364,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-0.91,-175.1,2117,2365,4002,3898,690.5,-14.7,233,3996,0.00,2.42,0.00,0.000,516,0.000,0.093,2117,949,3950,4002,3898,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4040,-0.91,-175.1,2117,950,4004,3898,698.4,-14.6,243,4048,0.15,2.47,0.00,0.000,3078,0.332,0.104,2134,2362,3950,4002,3898,0,0,0,0,0,0,14.45,14.57,28.83
$GC,4353,-0.91,-175.1,2136,2363,4001,3898,741.5,-13.8,255,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2363,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4441,begin apogee
$GC,4444,-0.14,0.0,2134,2610,4004,3898,753.9,-13.8,258,4673,1.00,0.00,223.82,1.701,10246,0.308,0.000,2382,2609,3231,3286,3176,0,0,0,0,0,0,14.46,28.83,13.03
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4677,0.91,175.1,2382,2610,3282,3173,760.6,0.0,265,4851,1.20,2.33,156.02,2.000,10500,0.174,0.125,2721,3760,2503,2566,2441,0,0,0,0,0,0,13.66,13.11,12.40
$GC,4940,0.91,175.1,2720,3761,2563,2432,725.5,19.9,309,4950,0.00,2.12,0.00,0.000,1030,0.000,0.081,2729,2590,2496,2561,2432,0,0,0,0,0,0,28.83,13.57,28.83
$GC,5264,0.91,175.1,2731,2590,2560,2431,668.3,17.5,323,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2590,2495,2561,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5564,0.91,175.1,2731,2590,2561,2431,616.0,17.4,333,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2589,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5864,0.91,175.1,2728,2587,2563,2431,563.4,17.5,343,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2590,2495,2561,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6164,0.91,175.1,2727,2590,2563,2431,512.0,17.1,353,6174,0.00,2.12,0.00,0.000,260,0.000,0.130,2730,3766,2495,2561,2430,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6198,0.91,175.1,2729,3766,2562,2431,505.6,18.3,359,6205,0.00,2.00,0.00,0.000,1030,0.000,0.086,2739,2596,2498,2562,2434,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6530,0.91,175.1,2740,2595,2561,2430,447.6,17.3,375,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2596,2495,2561,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6830,0.91,175.1,2744,2596,2561,2430,395.0,17.6,385,6839,0.00,2.10,0.00,0.000,260,0.000,0.130,2738,3767,2494,2558,2430,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6853,0.91,175.1,2739,3766,2561,2430,390.5,18.8,389,6862,0.00,2.00,0.00,0.000,1030,0.000,0.087,2747,2590,2495,2561,2430,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7167,0.91,175.1,2746,2591,2563,2436,334.6,17.7,401,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2590,2495,2561,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7466,0.91,175.1,2747,2591,2564,2430,281.0,17.9,411,7474,0.00,2.12,0.00,0.000,260,0.000,0.130,2747,3775,2496,2562,2430,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7523,0.91,175.1,2747,3775,2563,2430,269.8,20.4,422,7532,0.00,2.00,0.00,0.000,1030,0.000,0.087,2756,2592,2495,2562,2429,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7828,0.91,175.1,2758,2593,2561,2430,217.0,15.6,445,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2593,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8128,0.91,175.1,2757,2593,2561,2430,173.8,13.1,475,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2592,2495,2561,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8428,0.94,175.1,2756,2593,2563,2431,137.9,10.9,505,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2598,2495,2561,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8728,1.02,175.1,2758,2593,2561,2430,106.8,9.8,535,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2593,2495,2561,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9028,1.05,210.0,2755,2593,2563,2430,79.4,8.9,565,9052,0.00,0.00,14.98,0.386,8198,0.000,0.000,2756,2592,2377,2446,2309,0,0,0,0,0,0,28.83,28.83,14.28
$GC,9348,1.10,258.4,2758,2593,2461,2324,49.7,7.9,597,9385,0.00,2.42,25.80,0.314,8708,0.000,0.093,2766,1195,2178,2254,2102,0,0,0,0,0,0,28.83,14.40,14.30
$GC,9504,1.17,324.7,2766,1196,2273,2111,39.0,6.5,626,9546,0.15,2.50,33.80,0.282,11270,0.155,0.106,2817,2600,1904,1989,1820,0,0,0,0,0,0,14.42,14.40,14.27
$GC,9850,1.31,470.6,2817,2601,2004,1830,14.2,0.3,663,9932,0.12,2.53,70.72,0.213,10756,0.165,0.093,2871,1191,1312,1408,1216,0,0,0,0,0,0,14.44,14.33,14.28
$GC,9986,1.41,571.3,2872,1193,1410,1217,9.9,3.8,686,10049,0.00,2.50,50.50,0.201,9222,0.000,0.103,2871,2600,896,978,814,0,0,0,0,0,0,28.83,14.35,14.23
$STATE,10112,end climb,SURFACE_DEPTH_REACHED
$STATE,10112,begin surface coast
$FINISH,1.1,1.018148
$STATE,10137,end surface coast,CONTROL_FINISHED_OK
$STATE,10137,begin surface
$SM_CCo,10159,49.25,0.186,0,0,497,669.67
$SM_CCo,10210,-0.20,0.000,0,0,501,669.67
$SM_CCo,10212,0.03,2.784,0,0,498,669.67
$SM_GC,2.13,8.23,0.43,0.03,0.103,0.107,2.784,196,2370,498,-6.95,1.05,669.67,0,0,0,0,0,0,14.33,14.35,13.90
$RAFOS_CLK,9
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7058.96,-14548.41,030814,131958
$TT8_MAMPS,0.08239,0.08239
$HUMID,51.41
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4009876
$TM_FREEKB,7020544
$24V_AH,12.40,73.280
$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,21.875,42.475,575.650,49.275,0.000,0.000,0.000,462.450,0.000,0.000,27.100,0.000,7947.075,747.538,2188.403,111.993,0.000,1861.681,0.000,1050.870,1498.000,0.537,0.000
$DEVICE_MAMPS,487.305,132.345,1999.710,2783.835,0.000,0.000,0.000,192.780,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10165.000,10215.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.861,12.661,0.000,0.000
$MEM,284028
$DATA_FILE_SIZE,23411,704
$CAP_FILE_SIZE,123948,0
$CFSIZE,2097872896,2077556736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13407.36,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,10288,4295.820801,-8749.061523,1.074841,-0.237335,0.108755,0.017113,0.000230,0.002308,0.000100,0.002425,0.002425,0.000066
$CURRENT,0.062,307.17,1
$GPS,030814,200145,7136.010,-14549.905,19,0.9,39,22.0