version: 66.12
glider: 199
mission: 5
dive: 4
start: 7 27 114 23 46 14
data:
$ID,199
$MISSION,5
$DIVE,4
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,55
$T_MISSION,75
$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,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21586.969
$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,2500
$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,1994
$C_ROLL_CLIMB,1994
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,13
$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,4
$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
$GPS1,270714,233841,7054.512,-14432.602,18,1.0,38,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.3
$GPS2,270714,234600,7054.505,-14432.791,4,0.9,24,22.3
$SPEED_LIMITS,0.144,0.255
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,275.1,19305,-22.3,-12.121,-25.43,1854
$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,-0.88,-145.9,197,1999,563,507,0.0,0.0,0,85,0.00,0.00,-63.38,0.000,16386,0.000,0.000,197,1999,2084,2091,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.88,-145.9,199,1999,2091,2078,3.1,-3.3,6,143,11.15,2.60,-35.78,0.000,18948,0.476,0.148,2207,582,3944,4000,3889,0,0,0,0,0,0,14.05,14.24,14.50
$GC,367,-0.85,-145.9,2208,583,3999,3894,67.7,-18.8,59,377,0.00,2.53,0.00,0.000,1030,0.000,0.119,2199,1996,3947,4000,3894,0,0,0,0,0,0,28.83,14.33,28.83
$GC,672,-0.85,-145.9,2200,1996,3999,3895,125.1,-18.3,90,680,0.00,2.53,0.00,0.000,516,0.000,0.127,2198,586,3946,3998,3894,0,0,0,0,0,0,28.83,14.38,28.83
$GC,694,-0.85,-145.9,2200,586,3999,3895,129.1,-18.8,94,703,0.12,2.53,0.00,0.000,3078,0.339,0.119,2216,1997,3947,4000,3894,0,0,0,0,0,0,14.28,14.38,28.83
$GC,1020,-0.85,-145.9,2216,1996,4000,3895,178.4,-13.7,126,1028,0.00,2.58,0.00,0.000,260,0.000,0.146,2206,3406,3947,4000,3894,0,0,0,0,0,0,28.83,14.32,28.83
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1177,-0.16,0.0,2208,1986,4006,3895,200.1,-13.8,156,1407,0.93,0.00,182.30,1.880,10246,0.274,0.000,2440,1983,3353,3413,3294,0,0,0,0,7,0,14.26,28.83,12.93
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1410,0.88,145.9,2444,1984,3412,3296,211.4,0.0,179,1681,1.10,2.88,194.98,1.841,11012,0.137,0.142,2774,3400,2756,2809,2703,0,0,0,0,11,0,13.78,13.47,12.76
$GC,1905,0.77,145.9,2776,3400,2809,2705,179.9,12.2,261,1916,0.17,2.55,0.00,0.000,5126,0.332,0.100,2752,1989,2756,2809,2704,0,0,0,0,0,0,13.88,13.97,28.83
$GC,2210,0.86,260.1,2752,1990,2811,2704,157.9,5.8,292,2401,0.00,2.88,145.85,1.788,8452,0.000,0.144,2752,3403,2289,2361,2218,0,0,0,0,7,0,28.83,13.54,12.88
$GC,2626,0.81,260.1,2752,3404,2363,2218,111.7,12.5,364,2633,0.00,2.55,0.00,0.000,1030,0.000,0.104,2761,1991,2289,2360,2218,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2937,0.85,293.3,2762,1991,2362,2219,78.1,10.3,396,2961,0.00,2.72,17.62,0.421,8452,0.000,0.145,2762,3404,2153,2233,2074,0,0,0,0,0,0,28.83,14.15,14.02
$GC,3185,0.85,316.1,2763,3409,2232,2074,49.1,10.9,444,3208,0.00,2.53,12.48,0.335,9222,0.000,0.106,2773,1988,2057,2144,1971,0,0,0,0,0,0,28.83,14.28,14.09
$GC,3512,0.96,404.2,2773,1987,2144,1971,25.5,7.2,478,3569,0.12,2.65,45.45,0.256,10500,0.179,0.143,2809,3405,1698,1793,1604,0,0,0,0,0,0,14.36,14.23,14.20
$GC,3793,1.23,620.6,2810,3406,1789,1600,13.5,0.1,531,3920,0.22,2.50,115.65,0.220,11270,0.145,0.103,2890,1986,817,897,737,0,0,0,0,0,0,14.35,14.35,14.16
$STATE,4014,end climb,SURFACE_DEPTH_REACHED
$STATE,4014,begin surface coast
$FINISH,0.4,1.019181
$STATE,4034,end surface coast,CONTROL_FINISHED_OK
$STATE,4034,begin surface
$SM_CCo,4054,36.50,0.194,0,0,539,689.05
$SM_GC,1.13,8.43,0.00,36.50,0.120,0.000,0.194,202,1986,539,-7.14,-0.23,689.05,0,0,0,0,0,0,14.31,28.83,14.23
$RAFOS_CLK,137
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14430.80,270714,222655
$TT8_MAMPS,0.047936,0.047936
$HUMID,51.85
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4016112
$TM_FREEKB,7883296
$24V_AH,12.76,19.409
$10V_AH,12.48,0.000
$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,22.250,36.550,714.325,36.500,0.000,0.000,0.000,283.525,0.000,0.000,25.976,0.000,2038.877,880.100,1566.014,55.659,0.000,1704.904,0.000,828.800,1440.000,0.538,0.000
$DEVICE_MAMPS,475.830,148.410,1879.605,194.310,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4046.000,4052.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.128,1000.000,0.000,0.000
$MEM,313364
$DATA_FILE_SIZE,20123,561
$CAP_FILE_SIZE,94248,0
$CFSIZE,2097872896,2093187072
$ERRORS,0,2,1,0,0,4,0,0,0,0,0,0,0,25,0,0
$INTR,0,4556.27,0x2378b6,7,5
$INTR,1,4043.67,0x2378b6,7,5
$SOUNDSPEED,1444.7
$EKF,4160,4254.351562,-8673.378906,0.410866,-0.254862,-0.021784,-0.071828,0.000018,0.000166,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.076,198.06,1
$GPS,280714,005531,7054.169,-14433.548,2,0.9,23,22.3