version: 66.12
glider: 199
mission: 5
dive: 69
start: 8 4 114 12 48 58
data:
$ID,199
$MISSION,5
$DIVE,69
$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,-21707.99
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,040814,123844,7136.004,-14550.132,31,0.8,51,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-75.1
$GPS2,040814,124840,7136.026,-14550.425,5,0.8,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,97.4,253,-37.8,-11.628,-40.00,661
$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,16,begin dive
$GC,18,-1.11,-49.9,197,2360,519,494,0.0,0.0,0,74,0.00,0.00,-52.88,0.000,16386,0.000,0.000,196,2359,1871,1884,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.17,-102.5,197,2360,1884,1862,3.5,-3.4,5,133,10.45,2.58,-37.40,0.000,19204,0.483,0.143,2038,3767,3648,3691,3605,0,0,0,0,0,0,14.03,14.23,14.45
$GC,162,-1.17,-102.5,2040,3768,3691,3609,23.4,-29.6,19,172,0.00,2.47,0.00,0.000,1030,0.000,0.084,2045,2349,3650,3692,3609,0,0,0,0,0,0,28.83,14.32,28.83
$GC,476,-1.17,-102.5,2046,2349,3692,3613,107.2,-23.6,51,485,0.00,2.40,0.00,0.000,516,0.000,0.093,2045,949,3652,3692,3612,0,0,0,0,0,0,28.83,14.38,28.83
$GC,710,-1.17,-102.5,2046,948,3692,3613,160.7,-21.6,97,717,0.00,2.47,0.00,0.000,1030,0.000,0.099,2036,2361,3652,3692,3612,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1021,-1.17,-102.5,2035,2361,3693,3613,221.5,-16.9,129,1030,0.00,2.42,0.00,0.000,516,0.000,0.090,2035,952,3652,3692,3612,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1254,-1.17,-102.5,2036,953,3692,3612,259.9,-17.3,175,1265,0.15,2.47,0.00,0.000,3078,0.373,0.100,2052,2364,3652,3692,3612,0,0,0,0,0,0,14.29,14.45,28.83
$GC,1569,-1.17,-102.5,2054,2365,3692,3612,309.6,-15.8,187,1579,0.00,2.42,0.00,0.000,516,0.000,0.091,2053,946,3651,3692,3611,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1803,-1.17,-102.5,2054,946,3691,3611,346.0,-15.6,233,1811,0.00,2.47,0.00,0.000,1030,0.000,0.102,2046,2362,3650,3691,3610,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2115,-1.17,-102.5,2046,2368,3693,3611,393.9,-15.2,245,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2362,3651,3692,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2415,-1.17,-102.5,2046,2363,3693,3610,439.0,-14.9,255,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2363,3651,3692,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-1.17,-102.5,2048,2363,3691,3610,482.9,-14.5,265,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2363,3650,3692,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,-1.17,-102.5,2048,2363,3691,3610,525.9,-14.4,275,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2363,3650,3692,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3315,-1.17,-102.5,2048,2363,3691,3611,569.0,-14.4,285,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2359,3650,3692,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-1.17,-102.5,2048,2363,3691,3616,611.3,-14.0,295,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2363,3650,3692,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3915,-1.17,-102.5,2048,2363,3691,3605,654.1,-14.3,305,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2363,3650,3692,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-1.17,-102.5,2046,2361,3693,3609,696.5,-14.1,315,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2362,3650,3692,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4515,-1.17,-102.5,2048,2361,3691,3609,738.6,-13.9,325,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2362,3650,3692,3609,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4608,-0.14,0.0,2044,2612,3693,3609,750.9,-13.7,328,4733,1.42,0.00,120.10,1.766,10246,0.348,0.000,2378,2611,3228,3277,3180,0,0,0,0,0,0,14.44,28.83,13.16
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4736,1.17,102.5,2378,2611,3275,3176,754.3,0.0,332,4837,1.48,0.00,90.70,2.079,10502,0.176,0.000,2797,2610,2811,2851,2772,0,0,0,0,0,0,13.83,28.83,12.92
$GC,5115,1.17,102.5,2800,2612,2841,2754,696.1,17.9,350,5123,0.00,2.10,0.00,0.000,260,0.000,0.123,2801,3770,2796,2839,2753,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5192,1.17,102.5,2802,3770,2839,2754,680.9,20.2,365,5200,0.00,2.05,0.00,0.000,1030,0.000,0.085,2808,2590,2796,2839,2753,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5509,1.17,102.5,2810,2590,2839,2752,622.6,18.3,378,5518,0.00,2.12,0.00,0.000,260,0.000,0.124,2809,3763,2795,2839,2752,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5612,1.17,102.5,2810,3765,2839,2752,601.5,20.7,398,5620,0.00,2.00,0.00,0.000,1030,0.000,0.085,2818,2599,2795,2839,2752,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5935,1.17,102.5,2818,2599,2836,2753,541.1,18.6,412,5943,0.00,2.10,0.00,0.000,260,0.000,0.125,2816,3765,2795,2839,2752,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6027,1.17,102.5,2816,3767,2841,2751,521.9,21.4,430,6036,0.00,1.98,0.00,0.000,1030,0.000,0.086,2833,2600,2795,2839,2752,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6360,1.17,102.5,2828,2600,2839,2751,459.3,18.6,446,6368,0.00,2.10,0.00,0.000,260,0.000,0.125,2827,3772,2795,2839,2751,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6447,1.17,102.5,2826,3772,2841,2752,441.4,21.1,463,6458,0.00,2.00,0.00,0.000,1030,0.000,0.086,2836,2592,2795,2839,2751,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6752,1.17,102.5,2836,2592,2841,2752,383.5,18.8,474,6760,0.00,2.10,0.00,0.000,260,0.000,0.123,2836,3767,2795,2839,2751,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6838,1.17,102.5,2836,3768,2841,2752,365.4,21.2,491,6849,0.15,2.03,0.00,0.000,5126,0.343,0.085,2817,2569,2795,2839,2751,0,0,0,0,0,0,14.38,14.53,28.83
$GC,7144,1.17,102.5,2817,2570,2840,2752,311.2,17.6,502,7152,0.00,2.12,0.00,0.000,260,0.000,0.124,2817,3766,2795,2839,2751,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7216,1.17,102.5,2816,3766,2840,2752,297.0,19.8,516,7223,0.00,1.98,0.00,0.000,1030,0.000,0.084,2824,2592,2795,2839,2751,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7528,1.17,102.5,2825,2593,2839,2751,242.8,16.7,531,7537,0.00,2.08,0.00,0.000,260,0.000,0.124,2824,3767,2795,2839,2751,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7762,1.17,102.5,2825,3768,2839,2752,200.6,15.6,577,7769,0.00,1.98,0.00,0.000,1030,0.000,0.086,2831,2596,2795,2839,2751,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8073,1.18,115.9,2833,2596,2840,2752,163.9,9.5,609,8095,0.00,2.15,10.95,1.299,8452,0.000,0.125,2833,3762,2749,2791,2707,0,0,0,0,0,0,28.83,14.40,13.86
$GC,8129,1.18,115.9,2833,3762,2787,2706,158.0,11.3,619,8139,0.00,1.98,0.00,0.000,1030,0.000,0.085,2841,2597,2746,2787,2705,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8443,1.20,137.3,2841,2598,2788,2704,129.2,8.3,651,8472,0.00,2.12,19.12,1.318,8452,0.000,0.126,2841,3769,2658,2703,2614,0,0,0,0,0,0,28.83,14.32,13.77
$GC,8697,1.26,137.3,2840,3769,2701,2609,102.6,10.1,700,8705,0.00,2.00,0.00,0.000,1030,0.000,0.086,2850,2596,2654,2700,2608,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9002,1.29,168.6,2850,2598,2701,2607,79.4,6.8,731,9023,0.00,2.10,13.25,0.392,8452,0.000,0.124,2850,3766,2546,2596,2497,0,0,0,0,0,0,28.83,14.38,14.21
$GC,9038,1.32,194.8,2849,3766,2600,2507,76.6,7.5,736,9058,0.00,2.00,14.88,0.392,9222,0.000,0.086,2859,2595,2434,2486,2382,0,0,0,0,0,0,28.83,14.41,14.18
$GC,9363,1.38,253.0,2859,2596,2503,2397,50.1,2.6,770,9405,0.00,2.17,30.05,0.320,8452,0.000,0.127,2859,3767,2199,2259,2139,0,0,0,0,0,0,28.83,14.31,14.24
$GC,9629,1.40,270.6,2860,3767,2268,2151,27.8,8.9,821,9644,0.00,2.00,9.98,0.257,9222,0.000,0.089,2868,2600,2124,2190,2058,0,0,0,0,0,0,28.83,14.43,14.30
$GC,9949,1.48,353.5,2869,2600,2203,2072,12.0,-1.3,854,9998,0.12,2.47,39.45,0.209,10756,0.166,0.092,2923,1196,1786,1862,1710,0,0,0,0,0,0,14.44,14.38,14.32
$GC,10023,1.52,394.5,2923,1197,1865,1711,9.4,5.2,866,10052,0.00,2.47,19.77,0.207,9222,0.000,0.102,2923,2599,1618,1701,1535,0,0,0,0,0,0,28.83,14.35,14.27
$GC,10347,1.59,464.2,2923,2600,1708,1536,8.1,0.8,900,10388,0.00,2.53,33.67,0.203,8708,0.000,0.090,2934,1190,1334,1423,1246,0,0,0,0,0,0,28.83,14.38,14.31
$GC,10528,1.67,540.4,2934,1191,1430,1249,5.0,-0.2,934,10576,0.12,2.50,38.05,0.196,11270,0.166,0.103,2977,2605,1023,1108,938,0,0,0,0,0,0,14.40,14.39,14.28
$STATE,10719,end climb,SURFACE_DEPTH_REACHED
$STATE,10719,begin surface coast
$FINISH,1.0,1.015626
$STATE,10770,end surface coast,CONTROL_FINISHED_OK
$STATE,10770,begin surface
$SM_CCo,10792,64.15,0.186,0,0,499,669.67
$SM_CCo,10857,-0.17,0.000,0,0,500,669.67
$SM_CCo,10860,-0.03,0.000,0,0,501,669.42
$SM_GC,1.98,8.65,0.45,-0.03,0.118,0.103,0.000,201,2351,501,-6.94,0.71,669.42,0,0,0,0,0,0,14.45,14.43,14.07
$RAFOS_CLK,463
$RAFOS_FIX,7132.126953,-14609.971680,040814,121207,3,255,1.23
$IRIDIUM_FIX,7058.96,-14548.41,040814,092331
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.55
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4009196
$TM_FREEKB,6914688
$24V_AH,12.92,75.190
$10V_AH,12.76,0.000
$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,22.550,75.850,439.975,64.150,0.000,0.000,0.000,350.725,0.000,0.000,26.701,0.000,8095.019,688.916,2557.512,115.893,0.000,1861.336,0.000,1420.505,0.000,0.537,0.000
$DEVICE_MAMPS,483.480,143.055,2079.270,185.895,0.000,0.000,0.000,196.605,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10797.000,10841.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.905,12.628,0.000,0.000
$MEM,280604
$DATA_FILE_SIZE,33357,961
$CAP_FILE_SIZE,145070,0
$CFSIZE,2097872896,2075918336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11899.43,0x2378b6,7,5
$SOUNDSPEED,1449.7
$EKF,10949,4295.858887,-8748.020508,1.015429,0.035140,-0.010280,-0.001140,0.000200,0.002010,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.076,314.56,1
$GPS,040814,155124,7136.178,-14549.039,29,0.8,49,22.0