version: 66.12
glider: 199
mission: 5
dive: 5
start: 7 28 114 1 3 0
data:
$ID,199
$MISSION,5
$DIVE,5
$N_DIVES,5
$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,-21588.225
$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,1600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,17
$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
$GPS1,280714,005531,7054.169,-14433.548,2,0.9,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.0
$GPS2,280714,010235,7054.200,-14433.719,4,0.9,25,22.3
$SPEED_LIMITS,0.144,0.255
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,59.8,2284,-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,17,-0.88,-145.9,203,1599,551,510,0.0,0.0,0,85,0.00,0.00,-64.18,0.000,16386,0.000,0.000,202,1595,2143,2150,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.88,-145.9,201,1602,2152,2137,3.8,-4.6,6,135,10.95,2.67,-32.10,0.000,18692,0.477,0.156,2169,3011,3945,4001,3890,0,0,0,0,0,0,14.06,14.21,14.50
$GC,359,-0.80,-145.9,2169,3011,4002,3896,75.7,-22.9,58,369,0.17,2.50,0.00,0.000,3078,0.337,0.107,2203,1605,3948,4001,3895,0,0,0,0,0,0,14.18,14.29,28.83
$GC,674,-0.80,-145.9,2202,1603,4002,3897,132.9,-17.1,90,683,0.00,2.53,0.00,0.000,260,0.000,0.140,2194,3010,3948,4001,3896,0,0,0,0,0,0,28.83,14.38,28.83
$GC,907,-0.80,-145.9,2194,3011,4002,3897,173.3,-16.1,136,916,0.00,2.50,0.00,0.000,1030,0.000,0.107,2194,1600,3948,4001,3896,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1093,-0.16,0.0,2188,2499,4000,3897,200.4,-13.6,155,1285,0.90,0.00,181.57,1.287,10246,0.299,0.000,2410,2501,3342,3397,3287,0,0,0,0,0,0,14.32,28.83,13.31
$STATE,1287,end apogee,CONTROL_FINISHED_OK
$STATE,1287,begin climb
$GC,1288,0.88,145.9,2409,2499,3397,3285,208.7,0.0,174,1481,1.17,2.78,178.05,1.217,10756,0.182,0.120,2755,1082,2747,2800,2695,0,0,0,0,0,0,13.83,13.66,13.21
$GC,1665,0.88,184.2,2757,1083,2792,2682,186.0,10.0,237,1716,0.00,2.65,34.42,1.392,9222,0.000,0.126,2755,2506,2606,2668,2544,0,0,0,0,1,0,28.83,14.03,13.14
$GC,2010,0.87,222.0,2756,2507,2682,2556,149.8,10.0,274,2068,0.00,2.72,44.97,1.572,8708,0.000,0.120,2765,1089,2449,2517,2381,0,0,0,0,1,0,28.83,13.87,13.19
$GC,2217,0.91,274.7,2766,1090,2531,2394,129.6,9.2,312,2302,0.00,2.62,76.22,1.185,9222,0.000,0.126,2765,2501,2224,2300,2148,0,0,0,0,0,0,28.83,14.12,13.34
$GC,2596,0.88,274.7,2764,2502,2294,2130,83.5,12.2,354,2606,0.00,2.38,0.00,0.000,260,0.000,0.151,2764,3770,2211,2293,2129,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2650,0.83,274.7,2765,3770,2292,2130,76.6,13.4,364,2658,0.17,2.28,0.00,0.000,5126,0.319,0.103,2739,2487,2214,2293,2136,0,0,0,0,0,0,14.11,14.22,28.83
$GC,2962,0.97,389.2,2741,2488,2292,2129,49.0,5.8,396,3026,0.12,0.00,57.42,0.321,10246,0.168,0.000,2777,2486,1761,1853,1669,0,0,0,0,0,0,14.32,28.83,14.12
$GC,3322,1.13,498.7,2779,2486,1856,1683,16.2,6.0,432,3392,0.17,2.45,58.97,0.224,10500,0.162,0.152,2833,3763,1314,1414,1214,0,0,0,0,0,0,14.33,14.23,14.20
$GC,3397,1.34,668.1,2833,3764,1415,1217,12.9,2.7,443,3503,0.20,2.22,94.22,0.213,11270,0.151,0.101,2903,2497,622,692,553,0,0,0,0,0,0,14.27,14.29,14.14
$STATE,3555,end climb,SURFACE_DEPTH_REACHED
$STATE,3555,begin surface coast
$FINISH,0.7,1.019075
$STATE,3566,end surface coast,CONTROL_FINISHED_OK
$STATE,3566,begin surface
$SM_CCo,3588,12.60,0.197,0,0,538,689.05
$SM_GC,3.26,8.45,1.65,12.60,0.116,0.122,0.197,204,1610,538,-7.05,0.74,689.05,0,0,0,0,0,0,14.26,14.23,14.21
$RAFOS_CLK,148
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,270714,234109
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.71
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4016028
$TM_FREEKB,7877408
$24V_AH,13.14,20.665
$10V_AH,12.75,0.000
$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,22.325,34.375,725.875,12.600,0.000,0.000,0.000,267.600,0.000,0.000,26.470,0.000,1867.982,769.209,1356.689,46.005,0.000,1498.565,0.000,690.120,0.000,0.537,0.000
$DEVICE_MAMPS,477.360,156.060,1572.075,196.605,0.000,0.000,0.000,171.360,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3579.000,3585.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.859,1000.000,0.000,0.000
$MEM,312784
$DATA_FILE_SIZE,16725,465
$CAP_FILE_SIZE,76841,0
$CFSIZE,2097872896,2092957696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1444.5
$EKF,3665,4254.015625,-8672.775391,0.685267,-0.169919,-0.194262,-0.103555,0.000015,0.000138,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.050,223.95,1
$GPS,280714,020402,7053.934,-14433.022,6,1.1,26,22.3