version: 66.12
glider: 199
mission: 5
dive: 8
start: 7 28 114 5 25 37
data:
$ID,199
$MISSION,5
$DIVE,8
$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,-21627.566
$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,22
$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
$GPS1,280714,051801,7053.737,-14430.794,16,1.0,36,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.4
$GPS2,280714,052519,7053.766,-14430.771,4,1.0,25,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,16.5,638,-23.9,-10.417,-27.17,1473
$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,-0.87,-99.7,199,2490,556,459,0.0,0.0,0,85,0.00,0.00,-63.47,0.000,16386,0.000,0.000,199,2490,2112,2119,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.93,-145.9,199,2491,2120,2106,3.6,-4.3,6,143,10.88,2.42,-34.65,0.000,18692,0.479,0.168,2153,3766,3946,3999,3894,0,0,0,0,0,0,14.08,14.23,14.51
$GC,367,-0.84,-145.9,2152,3767,4001,3898,82.4,-25.1,59,377,0.17,2.22,0.00,0.000,3078,0.343,0.100,2188,2496,3947,3999,3895,0,0,0,0,0,0,14.21,14.35,28.83
$GC,672,-0.84,-145.9,2193,2497,4001,3898,142.2,-18.7,90,681,0.00,2.35,0.00,0.000,260,0.000,0.146,2180,3770,3948,3999,3898,0,0,0,0,0,0,28.83,14.36,28.83
$GC,889,-0.84,-145.9,2181,3771,3999,3898,181.9,-16.9,133,899,0.00,2.25,0.00,0.000,1030,0.000,0.100,2180,2502,3948,3999,3898,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1195,-0.84,-145.9,2180,2503,4000,3898,227.3,-14.3,164,1204,0.00,2.50,0.00,0.000,516,0.000,0.122,2180,1097,3948,3999,3898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1258,-0.87,-145.9,2182,1098,3998,3898,236.1,-13.4,176,1268,0.00,2.55,0.00,0.000,1030,0.000,0.126,2170,2504,3948,3999,3898,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,1361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1361,begin apogee
$GC,1364,-0.16,0.0,2168,2803,4000,3897,250.9,-14.4,187,1556,1.00,0.00,187.65,1.258,10246,0.308,0.000,2411,2803,3346,3397,3295,0,0,0,0,0,0,14.33,28.83,13.31
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1560,0.93,145.9,2413,2803,3394,3287,258.2,0.0,193,1706,1.23,1.90,129.93,1.298,10500,0.177,0.148,2760,3760,2737,2785,2689,0,0,0,0,0,0,13.80,13.64,13.19
$GC,1930,0.83,145.9,2762,3766,2773,2671,215.9,16.3,259,1938,0.00,1.70,0.00,0.000,1030,0.000,0.101,2768,2794,2724,2773,2676,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2243,0.77,145.9,2768,2792,2773,2669,174.2,11.6,291,2251,0.17,1.80,0.00,0.000,4356,0.318,0.145,2726,3764,2720,2773,2668,0,0,0,0,0,0,14.15,14.26,28.83
$GC,2400,0.75,176.0,2725,3765,2775,2669,158.5,8.3,322,2437,0.00,1.73,30.25,1.193,9222,0.000,0.103,2732,2802,2626,2685,2568,0,0,0,0,0,0,28.83,14.33,13.66
$GC,2731,0.79,204.6,2733,2802,2673,2546,129.6,8.4,357,2773,0.00,2.60,31.50,1.177,8708,0.000,0.115,2742,1388,2503,2570,2437,0,0,0,0,0,0,28.83,14.09,13.66
$GC,2852,0.81,220.6,2742,1389,2564,2425,119.2,9.3,379,2875,0.00,2.58,14.90,1.141,9222,0.000,0.127,2743,2795,2444,2512,2376,0,0,1,0,0,0,28.83,14.18,13.64
$GC,3179,0.83,237.3,2742,2795,2504,2360,88.6,9.2,413,3194,0.00,2.53,6.47,0.294,8708,0.000,0.110,2752,1386,2386,2454,2318,0,0,0,0,0,0,28.83,14.28,14.10
$GC,3303,0.87,269.1,2752,1387,2481,2346,78.0,8.2,437,3333,0.00,2.60,20.73,0.383,9222,0.000,0.127,2753,2808,2251,2322,2180,0,0,0,0,0,0,28.83,14.31,14.12
$GC,3627,0.94,327.0,2755,2808,2353,2211,48.7,6.4,471,3672,0.00,2.55,33.10,0.313,8708,0.000,0.110,2763,1386,2018,2103,1933,0,0,0,0,0,0,28.83,14.28,14.22
$GC,3711,1.03,378.5,2763,1386,2120,1945,43.5,6.8,485,3747,0.12,2.60,29.00,0.298,11270,0.183,0.127,2801,2804,1803,1890,1716,0,0,0,0,0,0,14.31,14.30,14.16
$GC,4051,1.20,492.3,2800,2805,1907,1746,13.6,2.5,521,4122,0.17,1.83,60.95,0.213,10500,0.161,0.151,2855,3768,1341,1438,1244,0,0,0,0,0,0,14.38,14.26,14.24
$GC,4346,1.37,618.6,2858,3768,1445,1263,9.7,1.6,573,4423,0.15,1.67,69.10,0.203,11270,0.172,0.104,2908,2797,824,914,734,0,0,0,0,0,0,14.32,14.35,14.21
$STATE,4476,end climb,SURFACE_DEPTH_REACHED
$STATE,4476,begin surface coast
$FINISH,0.3,1.018787
$STATE,4496,end surface coast,CONTROL_FINISHED_OK
$STATE,4496,begin surface
$SM_CCo,4517,39.12,0.188,0,0,538,689.05
$SM_GC,1.77,8.35,0.52,39.12,0.107,0.116,0.188,203,2501,538,-7.05,0.82,689.05,0,0,0,0,0,0,14.32,14.36,14.26
$RAFOS_CLK,188
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14438.42,280714,034827
$TT8_MAMPS,0.047187,0.047187
$HUMID,53.07
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4015744
$TM_FREEKB,7854432
$24V_AH,13.19,25.411
$10V_AH,12.71,0.000
$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,22.250,41.450,613.575,39.125,0.000,0.000,0.000,272.350,0.000,0.000,26.336,0.000,2578.813,738.083,1630.722,52.023,0.000,1539.270,0.000,880.002,0.000,0.537,0.000
$DEVICE_MAMPS,478.890,168.300,1298.205,188.190,0.000,0.000,0.000,174.420,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4511.000,4519.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.564,1000.000,0.000,0.000
$MEM,311040
$DATA_FILE_SIZE,20114,592
$CAP_FILE_SIZE,91992,0
$CFSIZE,2097872896,2092269568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,5540.50,0x2378b6,7,5
$SOUNDSPEED,1446.4
$EKF,4618,4253.958496,-8669.944336,0.285068,0.185284,0.122396,-0.045269,0.000027,0.000253,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.073,192.86,1
$GPS,280714,064232,7053.791,-14430.045,4,0.8,24,22.3