version: 66.12
glider: 199
mission: 5
dive: 6
start: 7 28 114 2 22 35
data:
$ID,199
$MISSION,5
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,250
$D_ABORT,300
$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,80
$T_MISSION,105
$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,-21625.059
$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,2500
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$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
$GPS1,280714,021933,7053.974,-14433.283,15,0.9,25,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.6
$GPS2,280714,022218,7053.985,-14433.332,5,1.0,25,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,58.5,2019,-19.5,-10.417,-23.09,2156
$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,-0.79,-145.9,198,2505,574,510,0.0,0.0,0,94,0.00,0.00,-73.35,0.000,16386,0.000,0.000,197,2508,2434,2433,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.79,-145.9,196,2509,2435,2433,4.4,-6.2,7,141,11.15,2.40,-26.05,0.000,18692,0.480,0.171,2197,3769,3945,4000,3891,0,0,0,0,0,0,14.11,14.28,14.53
$GC,365,-0.70,-145.9,2197,3771,4002,3896,74.2,-20.7,58,375,0.20,2.25,0.00,0.000,3078,0.323,0.099,2238,2482,3948,4001,3895,0,0,0,0,0,0,14.23,14.37,28.83
$GC,670,-0.70,-145.9,2239,2483,3996,3895,123.7,-15.4,89,678,0.00,2.38,0.00,0.000,260,0.000,0.150,2232,3768,3948,4002,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,817,-0.70,-145.9,2233,3769,4001,3896,147.6,-15.9,118,827,0.00,2.20,0.00,0.000,1030,0.000,0.099,2231,2499,3948,4001,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1122,-0.70,-145.9,2233,2498,3999,3895,189.6,-12.5,149,1131,0.00,2.47,0.00,0.000,516,0.000,0.119,2232,1097,3948,4001,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1210,-0.70,-145.9,2233,1098,4000,3895,200.3,-11.6,166,1220,0.00,2.55,0.00,0.000,1030,0.000,0.129,2221,2500,3947,4000,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1515,-0.70,-145.9,2223,2501,4000,3895,236.4,-11.0,197,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2500,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1634,begin apogee
$GC,1637,-0.16,0.0,2220,2805,4002,3896,250.2,-11.2,209,1828,0.77,0.00,185.93,1.272,10246,0.284,0.000,2416,2804,3348,3402,3294,0,0,0,0,0,0,14.36,28.83,13.33
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1831,0.79,145.9,2415,2805,3396,3286,257.3,0.0,215,2022,1.02,1.92,177.68,1.239,10500,0.172,0.149,2712,3766,2747,2796,2698,0,0,0,0,0,0,13.82,13.66,13.21
$GC,2056,0.69,145.9,2713,3766,2786,2686,248.1,12.9,250,2065,0.00,1.77,0.00,0.000,1030,0.000,0.101,2719,2811,2734,2786,2682,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2362,0.62,145.9,2719,2812,2788,2679,210.7,11.8,281,2370,0.17,2.55,0.00,0.000,4612,0.311,0.110,2688,1385,2732,2786,2678,0,0,0,0,0,0,14.09,14.16,28.83
$GC,2464,0.63,179.8,2688,1387,2783,2678,200.9,8.8,301,2506,0.00,2.62,25.45,1.199,9222,0.000,0.130,2688,2806,2619,2678,2560,0,0,0,0,1,0,28.83,14.22,13.51
$GC,2800,0.65,224.6,2684,2807,2707,2586,169.5,8.3,337,2864,0.00,2.70,51.88,1.575,8708,0.000,0.111,2698,1385,2436,2505,2367,0,0,0,0,1,0,28.83,13.86,13.21
$GC,3088,0.69,258.7,2699,1386,2526,2390,144.1,8.8,391,3138,0.00,2.62,39.22,1.457,9222,0.000,0.129,2698,2801,2294,2365,2223,0,0,0,0,1,0,28.83,14.14,13.25
$GC,3442,0.73,294.0,2699,2802,2386,2246,111.6,8.7,429,3490,0.00,2.65,33.50,1.348,8708,0.000,0.112,2708,1386,2152,2230,2074,0,0,0,0,1,0,28.83,14.01,13.38
$GC,3630,0.77,326.3,2709,1383,2246,2089,94.6,8.9,464,3659,0.00,2.62,20.25,0.435,9222,0.000,0.129,2711,2799,2015,2103,1928,0,0,0,0,0,0,28.83,14.17,13.97
$GC,3963,0.79,339.0,2709,2800,2116,1944,60.1,9.8,499,3980,0.00,2.60,8.57,0.327,8708,0.000,0.113,2718,1388,1968,2056,1880,0,0,0,0,0,0,28.83,14.27,14.15
$GC,4134,0.92,420.0,2719,1389,2069,1894,46.4,6.6,532,4188,0.15,2.60,44.10,0.304,11270,0.161,0.130,2766,2804,1636,1731,1541,0,0,0,0,0,0,14.35,14.31,14.15
$GC,4482,1.10,551.8,2766,2805,1736,1555,14.2,4.1,569,4560,0.15,1.85,71.07,0.213,10500,0.171,0.153,2819,3775,1097,1194,1000,0,0,0,0,0,0,14.35,14.26,14.21
$GC,4784,1.30,683.2,2820,3770,1195,1012,3.1,4.2,625,4822,0.20,1.70,30.60,0.190,11266,0.145,0.106,2890,2797,867,958,776,0,0,0,0,0,0,14.35,14.37,28.83
$STATE,4822,end climb,SURFACE_DEPTH_REACHED
$STATE,4822,begin surface coast
$FINISH,0.4,1.018866
$STATE,4870,end surface coast,CONTROL_FINISHED_OK
$STATE,4870,begin surface
$SM_CCo,4890,45.10,0.185,0,0,538,689.29
$SM_GC,2.13,8.48,0.52,45.10,0.125,0.126,0.185,196,2502,538,-7.06,0.82,689.29,0,0,0,0,0,0,14.34,14.35,14.26
$RAFOS_CLK,202
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14438.42,280714,021248
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.99
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4015932
$TM_FREEKB,7869472
$24V_AH,13.21,22.322
$10V_AH,12.73,0.000
$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,22.300,43.575,688.250,45.100,0.000,0.000,0.000,0.000,0.000,0.000,26.839,0.000,2797.925,804.619,1383.610,35.034,0.000,1378.317,0.000,945.285,0.000,0.537,0.000
$DEVICE_MAMPS,480.420,170.595,1575.135,185.130,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4851.000,4857.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.453,1000.000,0.000,0.000
$MEM,311928
$DATA_FILE_SIZE,20058,640
$CAP_FILE_SIZE,107974,0
$CFSIZE,2097872896,2092695552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$INTR,0,4774.78,0x2378b6,7,5
$SOUNDSPEED,1446.5
$EKF,4998,4253.922852,-8671.689453,0.376132,0.092745,-0.026391,-0.039155,0.000027,0.000252,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.073,211.26,1
$GPS,280714,034550,7053.760,-14432.010,3,1.1,23,22.3