version: 66.12
glider: 199
mission: 5
dive: 11
start: 7 28 114 9 52 4
data:
$ID,199
$MISSION,5
$DIVE,11
$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,-21631.336
$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,20
$R_STBD_OVSHOOT,16
$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
$GPS1,280714,094455,7054.037,-14428.844,17,0.7,37,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.9
$GPS2,280714,095147,7053.999,-14428.902,4,0.7,24,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,342.0,11133,-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,-145.9,195,2498,560,458,0.0,0.0,0,85,0.00,0.00,-63.60,0.000,16386,0.000,0.000,196,2497,2135,2141,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.79,-145.9,197,2498,2141,2130,3.7,-4.9,6,142,11.30,2.38,-34.70,0.000,18692,0.485,0.163,2197,3774,3943,3997,3889,0,0,0,0,0,0,14.09,14.24,14.50
$GC,365,-0.69,-145.9,2199,3773,3996,3892,75.9,-21.9,59,376,0.20,2.25,0.00,0.000,3078,0.328,0.101,2238,2489,3944,3996,3892,0,0,0,0,0,0,14.22,14.33,28.83
$GC,670,-0.69,-145.9,2240,2489,3996,3892,126.1,-15.2,90,681,0.00,2.33,0.00,0.000,260,0.000,0.147,2230,3762,3944,3996,3892,0,0,0,0,0,0,28.83,14.33,28.83
$GC,874,-0.67,-145.9,2230,3765,3998,3893,158.7,-15.5,130,885,0.00,2.20,0.00,0.000,1030,0.000,0.099,2230,2496,3944,3996,3892,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1188,-0.67,-145.9,2230,2496,3996,3891,199.3,-12.3,162,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2496,3944,3996,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1488,-0.67,-145.9,2230,2497,3998,3892,233.7,-11.5,192,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2496,3944,3996,3892,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1650,-0.16,0.0,2228,2804,3998,3892,250.8,-10.5,208,1844,0.73,0.00,189.00,1.218,10246,0.288,0.000,2410,2803,3348,3402,3295,0,0,0,0,0,0,14.35,28.83,13.36
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1847,0.79,145.9,2412,2803,3398,3291,256.9,0.0,214,1989,1.05,1.92,129.30,1.288,10500,0.182,0.146,2710,3766,2746,2796,2697,0,0,0,0,0,0,13.81,13.66,13.19
$GC,2173,0.69,145.9,2711,3766,2774,2671,227.4,13.8,271,2182,0.00,1.70,0.00,0.000,1030,0.000,0.100,2717,2802,2725,2774,2676,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2478,0.63,145.9,2717,2802,2776,2670,191.1,11.4,302,2488,0.17,2.53,0.00,0.000,4612,0.306,0.112,2686,1387,2721,2775,2668,0,0,0,0,0,0,14.16,14.23,28.83
$GC,2547,0.66,173.1,2691,1388,2776,2668,184.7,9.1,315,2584,0.00,2.60,26.70,1.221,9222,0.000,0.125,2686,2806,2635,2695,2575,0,0,0,0,0,0,28.83,14.26,13.61
$GC,2878,0.70,225.0,2686,2807,2687,2561,156.1,7.9,350,2949,0.00,2.62,61.35,1.206,8708,0.000,0.112,2696,1394,2419,2489,2350,0,0,0,0,0,0,28.83,13.95,13.50
$GC,3144,0.76,275.1,2697,1394,2479,2336,134.8,8.0,399,3214,0.00,2.60,59.85,1.183,9222,0.000,0.125,2696,2799,2218,2294,2142,0,0,0,0,0,0,28.83,14.13,13.43
$GC,3518,0.78,291.3,2695,2804,2286,2121,98.5,9.6,440,3533,0.00,2.55,5.55,0.256,8708,0.000,0.114,2706,1396,2168,2248,2089,0,0,0,0,0,0,28.83,14.16,14.02
$GC,3687,0.82,327.2,2707,1396,2273,2115,83.4,8.7,473,3718,0.00,2.58,23.33,0.399,9222,0.000,0.125,2703,2799,2014,2102,1926,0,0,0,0,0,0,28.83,14.26,14.06
$GC,4021,0.87,363.5,2706,2805,2126,1958,51.8,8.7,508,4052,0.12,2.60,22.38,0.315,10756,0.173,0.116,2755,1396,1866,1954,1779,0,0,0,0,0,0,14.35,14.25,14.17
$GC,4196,0.92,409.1,2757,1396,1976,1803,36.6,8.2,541,4234,0.00,2.58,26.42,0.278,9222,0.000,0.125,2755,2803,1680,1772,1589,0,0,0,0,0,0,28.83,14.31,14.19
$GC,4528,1.25,630.2,2756,2804,1786,1614,12.2,-0.1,576,4655,0.32,2.50,118.32,0.209,10756,0.127,0.113,2878,1391,776,858,695,0,0,0,0,0,0,14.39,14.20,14.19
$STATE,4743,end climb,SURFACE_DEPTH_REACHED
$STATE,4743,begin surface coast
$FINISH,0.4,1.019258
$STATE,4763,end surface coast,CONTROL_FINISHED_OK
$STATE,4763,begin surface
$SM_CCo,4786,32.75,0.189,0,0,538,689.05
$SM_GC,1.15,8.38,2.10,32.75,0.116,0.134,0.189,200,2501,538,-7.06,-0.62,689.05,0,0,0,0,0,0,14.30,14.30,14.24
$RAFOS_CLK,198
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14423.93,280714,081505
$TT8_MAMPS,0.047187,0.047187
$HUMID,53.03
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4015456
$TM_FREEKB,7831104
$24V_AH,13.19,30.171
$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,22.275,38.625,662.200,32.750,0.000,0.000,0.000,245.625,0.000,0.000,25.961,0.000,2781.464,756.371,1646.623,52.853,0.000,1550.156,0.000,913.372,0.000,0.537,0.000
$DEVICE_MAMPS,485.010,162.945,1288.260,188.955,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4778.000,4789.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.445,1000.000,0.000,0.000
$MEM,309704
$DATA_FILE_SIZE,20080,616
$CAP_FILE_SIZE,92410,0
$CFSIZE,2097872896,2091581440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5511.34,0x2378b6,7,5
$SOUNDSPEED,1445.7
$EKF,4881,4254.473145,-8668.251953,0.419426,0.120523,-0.091447,-0.058625,0.000023,0.000218,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.127,197.83,1
$GPS,280714,111321,7054.159,-14428.587,3,0.9,23,22.3