version: 66.12
glider: 199
mission: 5
dive: 9
start: 7 28 114 6 49 31
data:
$ID,199
$MISSION,5
$DIVE,9
$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,-21628.822
$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,23
$R_STBD_OVSHOOT,15
$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
$GPS1,280714,064232,7053.791,-14430.045,4,0.8,24,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.6
$GPS2,280714,064914,7053.801,-14430.013,5,0.8,25,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,341.6,11481,-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,-145.9,201,2498,584,511,0.0,0.0,0,85,0.00,0.00,-63.38,0.000,16386,0.000,0.000,200,2499,2195,2195,2195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.79,-145.9,198,2499,2197,2196,3.9,-5.4,6,137,11.07,2.38,-32.40,0.000,18692,0.477,0.166,2197,3768,3945,3998,3892,0,0,0,0,0,0,14.07,14.23,14.50
$GC,361,-0.70,-145.9,2197,3768,4000,3891,75.2,-21.3,58,369,0.20,2.22,0.00,0.000,3078,0.323,0.100,2237,2499,3946,3998,3894,0,0,0,0,0,0,14.21,14.31,28.83
$GC,673,-0.70,-145.9,2236,2500,3999,3896,126.2,-15.3,90,682,0.00,2.35,0.00,0.000,260,0.000,0.148,2230,3772,3945,3997,3894,0,0,0,0,0,0,28.83,14.38,28.83
$GC,906,-0.70,-145.9,2230,3773,3999,3895,162.6,-14.7,136,914,0.00,2.22,0.00,0.000,1030,0.000,0.099,2230,2489,3944,3995,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1218,-0.70,-145.9,2230,2490,3999,3895,201.5,-11.3,168,1226,0.00,2.35,0.00,0.000,260,0.000,0.148,2220,3769,3943,3992,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1270,-0.70,-145.9,2221,3769,3997,3895,208.2,-12.7,178,1278,0.00,2.20,0.00,0.000,1030,0.000,0.099,2220,2497,3946,3998,3894,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1582,-0.70,-145.9,2220,2498,3999,3895,244.9,-11.5,210,1590,0.00,2.47,0.00,0.000,516,0.000,0.119,2220,1096,3946,3998,3894,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,1628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1628,begin apogee
$GC,1633,-0.16,0.0,2207,2800,3999,3895,250.2,-11.2,219,1768,0.82,0.00,124.88,1.804,10246,0.291,0.000,2413,2800,3350,3402,3298,0,0,0,0,1,0,14.33,28.83,12.97
$STATE,1770,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1772,0.79,145.9,2414,2800,3409,3301,254.9,0.0,223,1919,1.05,1.92,134.73,1.330,10500,0.167,0.145,2717,3765,2745,2794,2696,0,0,0,0,0,0,13.76,13.66,13.16
$GC,2063,0.69,145.9,2718,3768,2779,2679,232.2,14.8,273,2071,0.15,1.73,0.00,0.000,5126,0.322,0.100,2696,2794,2728,2779,2678,0,0,0,0,0,0,13.95,14.07,28.83
$GC,2376,0.63,146.2,2698,2794,2779,2679,197.6,10.4,305,2383,0.00,2.50,0.00,0.000,516,0.000,0.113,2702,1389,2728,2779,2678,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2458,0.60,153.2,2708,1394,2779,2678,189.4,10.1,321,2466,0.17,2.58,0.00,0.000,5126,0.297,0.126,2670,2800,2728,2779,2678,0,0,0,0,0,0,14.14,14.22,28.83
$GC,2771,0.68,235.5,2670,2800,2779,2678,166.0,6.5,353,2861,0.00,2.65,79.32,1.275,8708,0.000,0.111,2678,1396,2373,2442,2304,0,0,0,0,0,0,28.83,13.90,13.44
$GC,3005,0.72,272.7,2678,1397,2434,2290,146.6,8.6,395,3050,0.00,2.60,34.12,1.200,9222,0.000,0.125,2678,2799,2222,2296,2149,0,0,0,0,0,0,28.83,14.14,13.50
$GC,3344,0.75,292.4,2678,2800,2293,2129,114.3,9.5,431,3367,0.00,2.58,16.40,1.146,8708,0.000,0.112,2688,1394,2146,2229,2064,0,0,0,0,0,0,28.83,14.13,13.69
$GC,3517,0.82,327.3,2690,1395,2220,2049,98.8,8.8,464,3540,0.15,2.60,15.93,0.420,11270,0.162,0.126,2737,2807,2013,2103,1924,0,0,0,0,0,0,14.26,14.23,14.02
$GC,3834,0.82,327.3,2737,2807,2124,1959,62.3,11.2,497,3843,0.00,2.62,3.12,0.221,8708,0.000,0.115,2747,1385,2015,2103,1928,0,0,0,0,0,0,28.83,14.31,14.24
$GC,3897,0.83,335.9,2747,1386,2122,1946,55.9,10.0,509,3913,0.00,2.60,7.07,0.308,9222,0.000,0.126,2744,2807,1977,2067,1888,0,0,0,0,0,0,28.83,14.32,14.19
$GC,4212,0.90,393.2,2747,2808,2087,1919,29.3,7.7,541,4255,0.00,2.60,31.80,0.261,8708,0.000,0.113,2758,1393,1746,1835,1657,0,0,0,0,0,0,28.83,14.28,14.22
$GC,4479,1.15,564.6,2759,1394,1847,1672,12.2,2.2,592,4580,0.25,2.58,91.32,0.210,11270,0.140,0.125,2839,2802,1045,1137,953,0,0,0,0,0,0,14.31,14.28,14.16
$STATE,4783,end climb,SURFACE_DEPTH_REACHED
$STATE,4783,begin surface coast
$FINISH,0.8,1.018832
$STATE,4823,end surface coast,CONTROL_FINISHED_OK
$STATE,4823,begin surface
$SM_CCo,4843,68.72,0.185,0,0,537,689.05
$SM_GC,1.36,8.35,0.57,68.72,0.126,0.113,0.185,201,2495,537,-7.05,0.57,689.05,0,0,0,0,0,0,14.31,14.32,14.20
$RAFOS_CLK,36
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,280714,052038
$TT8_MAMPS,0.083139,0.083139
$HUMID,51.14
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4015648
$TM_FREEKB,7846592
$24V_AH,12.97,27.019
$10V_AH,12.63,0.000
$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,22.225,49.475,538.700,68.725,0.000,0.000,0.000,239.150,0.000,0.000,27.029,0.000,2878.996,693.079,1692.440,55.877,0.000,1485.741,0.000,936.544,1493.000,0.538,0.000
$DEVICE_MAMPS,476.595,166.005,1803.870,185.130,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4838.000,4844.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.767,1000.000,0.000,0.000
$MEM,310576
$DATA_FILE_SIZE,20079,631
$CAP_FILE_SIZE,101448,0
$CFSIZE,2097872896,2092007424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5033.19,0x2378b6,7,5
$SOUNDSPEED,1445.2
$EKF,4983,4254.225098,-8669.171875,0.759268,0.106484,0.050535,-0.017964,0.000019,0.000180,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.125,191.63,1
$GPS,280714,081231,7053.904,-14429.366,13,0.8,33,22.3