version: 66.12
glider: 199
mission: 5
dive: 7
start: 7 28 114 3 53 16
data:
$ID,199
$MISSION,5
$DIVE,7
$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,-21626.314
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,280714,034550,7053.760,-14432.010,3,1.1,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.7
$GPS2,280714,035259,7053.806,-14432.045,5,0.8,25,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,39.9,1291,-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,-145.9,195,2501,557,524,0.0,0.0,0,85,0.00,0.00,-63.38,0.000,16386,0.000,0.000,193,2500,2176,2176,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.79,-145.9,194,2501,2178,2184,4.0,-5.6,6,143,11.15,2.40,-32.83,0.000,18692,0.477,0.169,2199,3763,3947,3999,3895,0,0,0,0,0,0,14.06,14.19,14.49
$GC,377,-0.70,-145.9,2198,3765,4000,3899,77.2,-21.4,59,387,0.20,2.22,0.00,0.000,3078,0.324,0.099,2239,2489,3948,3999,3898,0,0,0,0,0,0,14.20,14.33,28.83
$GC,682,-0.70,-145.9,2239,2489,4000,3900,126.5,-15.3,90,690,0.00,2.38,0.00,0.000,260,0.000,0.148,2232,3781,3949,3999,3899,0,0,0,0,0,0,28.83,14.29,28.83
$GC,839,-0.70,-145.9,2232,3781,3996,3899,151.6,-15.6,121,850,0.00,2.28,0.00,0.000,1030,0.000,0.099,2233,2475,3949,3999,3899,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1144,-0.70,-145.9,2233,2475,3999,3899,192.0,-12.1,152,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2475,3949,3999,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1444,-0.70,-145.9,2232,2475,4001,3900,227.0,-11.4,182,1453,0.00,2.47,0.00,0.000,516,0.000,0.121,2231,1088,3949,3999,3899,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1487,-0.70,-145.9,2233,1088,3999,3900,231.7,-11.3,190,1495,0.00,2.58,0.00,0.000,1030,0.000,0.126,2222,2500,3949,3999,3899,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1648,begin apogee
$GC,1651,-0.16,0.0,2222,2805,4003,3899,250.3,-11.6,207,1844,0.77,0.00,188.73,1.282,10246,0.284,0.000,2414,2804,3344,3396,3293,0,0,0,0,0,0,14.28,28.83,13.26
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1847,0.79,145.9,2414,2804,3395,3287,256.9,0.0,213,2040,1.05,1.95,177.68,1.234,10500,0.168,0.148,2715,3775,2748,2798,2698,0,0,0,0,0,0,13.77,13.64,13.19
$GC,2264,0.69,145.9,2715,3774,2787,2680,220.2,13.9,286,2274,0.15,1.73,0.00,0.000,5126,0.320,0.101,2695,2801,2730,2785,2676,0,0,0,0,0,0,13.96,14.12,28.83
$GC,2569,0.67,169.3,2696,2801,2784,2679,189.3,9.3,317,2606,0.00,2.58,20.02,1.111,8708,0.000,0.113,2703,1399,2658,2717,2599,0,0,0,0,1,0,28.83,14.07,13.59
$GC,2781,0.68,206.7,2704,1400,2730,2607,170.4,8.6,357,2832,0.00,2.58,37.45,1.400,9222,0.000,0.128,2703,2800,2508,2574,2442,0,0,0,0,1,0,28.83,14.23,13.28
$GC,3136,0.70,247.2,2703,2801,2604,2474,138.1,8.5,395,3193,0.00,2.60,43.38,1.476,8708,0.000,0.110,2714,1392,2347,2416,2279,0,0,0,0,1,0,28.83,13.91,13.28
$GC,3417,0.76,299.1,2713,1393,2437,2299,113.8,7.9,448,3474,0.00,2.62,43.58,1.428,9222,0.000,0.128,2713,2810,2130,2208,2053,0,0,0,0,1,0,28.83,14.19,13.28
$GC,3778,0.77,303.3,2715,2805,2224,2070,76.6,10.2,487,3793,0.00,2.60,4.57,0.317,8708,0.000,0.114,2723,1397,2116,2197,2035,0,0,0,0,0,0,28.83,14.22,14.07
$GC,3922,0.80,331.3,2724,1397,2212,2051,63.4,9.1,515,3946,0.00,2.58,17.05,0.350,9222,0.000,0.129,2724,2794,2002,2086,1918,0,0,0,0,0,0,28.83,14.26,14.11
$GC,4249,0.91,417.8,2725,2793,2097,1929,37.5,6.3,549,4307,0.12,2.55,46.45,0.282,10756,0.176,0.116,2772,1393,1645,1737,1553,0,0,0,0,0,0,14.36,14.26,14.15
$GC,4447,0.98,474.7,2772,1394,1745,1560,19.3,7.7,585,4485,0.00,2.58,30.98,0.231,9222,0.000,0.128,2772,2801,1410,1508,1313,0,0,0,0,0,0,28.83,14.31,14.21
$FREEZE,12.22,4.266,-1.432,0,1,0
$STATE,4718,end climb,NO_VERTICAL_VELOCITY
$STATE,4718,begin surface
$SM_CCo,4722,122.62,0.208,0,0,499,699.35
$SM_GC,1.79,8.07,0.57,0.00,0.122,0.115,0.000,200,2492,501,-7.06,0.48,697.88,0,0,0,0,0,0,14.32,14.38,28.83
$RAFOS_CLK,194
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14438.42,280714,022009
$TT8_MAMPS,0.047187,0.047187
$HUMID,51.69
$INTERNAL_PRESSURE,8.45573
$TCM_TEMP,11.50
$XPDR_PINGS,0
$SC_FREEKB,4015836
$TM_FREEKB,7861792
$24V_AH,13.19,23.930
$10V_AH,12.67,0.000
$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,21.525,39.825,609.875,122.625,0.000,0.000,0.000,262.900,0.000,0.000,26.799,0.000,2889.838,820.452,1681.797,55.492,0.000,1630.691,0.000,912.272,1498.000,0.537,0.000
$DEVICE_MAMPS,476.595,169.065,1475.685,208.080,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4735.000,4739.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.490,1000.000,0.000,0.000
$MEM,311468
$DATA_FILE_SIZE,20089,614
$CAP_FILE_SIZE,102022,0
$CFSIZE,2097872896,2092466176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$INTR,0,5440.40,0x2378b6,7,5
$SOUNDSPEED,1445.3
$EKF,5088,4253.921387,-8670.550781,12.219501,0.001276,0.000240,-0.000913,0.000021,0.000198,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.073,203.32,1
$GPS,280714,051801,7053.737,-14430.794,16,1.0,36,22.3