version: 66.12
glider: 199
mission: 5
dive: 12
start: 7 28 114 11 20 53
data:
$ID,199
$MISSION,5
$DIVE,12
$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,-21632.594
$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,24
$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
$GPS1,280714,111321,7054.159,-14428.587,3,0.9,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.7
$GPS2,280714,112036,7054.119,-14428.766,5,0.9,26,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,344.9,10918,-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,-145.9,195,2505,572,518,0.0,0.0,0,85,0.00,0.00,-63.65,0.000,16386,0.000,0.000,194,2505,2154,2158,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.79,-145.9,195,2506,2158,2151,3.5,-4.1,6,137,11.18,2.40,-33.35,0.000,18692,0.479,0.164,2197,3769,3947,4000,3894,0,0,0,0,0,0,14.05,14.20,14.47
$GC,361,-0.70,-145.9,2199,3769,3999,3897,75.6,-22.6,58,369,0.20,2.22,0.00,0.000,3078,0.324,0.100,2238,2501,3947,3999,3896,0,0,0,0,0,0,14.20,14.31,28.83
$GC,673,-0.70,-145.9,2239,2501,3999,3897,127.3,-15.6,90,682,0.00,2.33,0.00,0.000,260,0.000,0.145,2231,3769,3948,4000,3897,0,0,0,0,0,0,28.83,14.37,28.83
$GC,801,-0.68,-145.9,2231,3769,4001,3897,148.1,-15.8,115,812,0.00,2.20,0.00,0.000,1030,0.000,0.098,2231,2500,3949,4001,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1106,-0.68,-145.9,2230,2500,4002,3897,189.5,-12.5,146,1114,0.00,2.47,0.00,0.000,516,0.000,0.121,2231,1093,3948,4000,3897,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1153,-0.68,-145.9,2232,1094,4000,3897,195.2,-12.1,155,1165,0.10,2.55,0.00,0.000,3078,0.332,0.123,2238,2504,3948,4000,3897,0,0,0,0,0,0,14.32,14.45,28.83
$GC,1460,-0.68,-145.9,2243,2505,3999,3897,228.6,-10.4,186,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2504,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1667,begin apogee
$GC,1670,-0.16,0.0,2238,2800,3999,3896,250.5,-10.2,207,1804,0.70,0.00,124.32,1.804,10246,0.280,0.000,2415,2800,3349,3401,3297,0,0,0,0,1,0,14.35,28.83,12.98
$STATE,1806,end apogee,CONTROL_FINISHED_OK
$STATE,1806,begin climb
$GC,1807,0.79,145.9,2415,2801,3409,3301,254.8,0.0,211,1954,1.05,1.92,134.12,1.314,10500,0.168,0.145,2718,3766,2745,2795,2696,0,0,0,0,0,0,13.75,13.65,13.19
$GC,2103,0.68,145.9,2719,3766,2781,2681,232.4,13.5,262,2112,0.12,1.75,0.00,0.000,5126,0.301,0.099,2696,2802,2731,2783,2679,0,0,0,0,0,0,13.94,14.06,28.83
$GC,2413,0.64,151.0,2697,2803,2781,2679,199.2,10.2,293,2422,0.00,2.53,0.00,0.000,516,0.000,0.113,2705,1390,2730,2781,2679,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2511,0.63,174.3,2703,1391,2781,2680,189.9,9.3,312,2542,0.15,2.60,24.27,1.244,13318,0.294,0.125,2676,2804,2636,2695,2578,0,0,0,0,0,0,14.15,14.20,13.57
$GC,2847,0.68,231.3,2675,2804,2681,2552,161.2,7.7,347,2906,0.00,2.67,50.00,1.241,8708,0.000,0.111,2685,1394,2393,2462,2324,0,0,0,0,0,0,28.83,13.93,13.47
$GC,3110,0.73,279.5,2684,1394,2452,2310,139.2,8.1,396,3161,0.00,2.60,43.95,1.219,9222,0.000,0.123,2684,2804,2208,2285,2131,0,0,0,0,0,0,28.83,14.14,13.45
$GC,3456,0.76,299.0,2684,2804,2267,2099,105.7,9.5,433,3479,0.00,2.65,16.20,1.157,8708,0.000,0.112,2694,1394,2119,2205,2034,0,0,0,0,0,0,28.83,14.07,13.62
$GC,3594,0.80,316.8,2696,1395,2197,2018,92.7,9.6,459,3612,0.12,2.60,6.85,0.321,11270,0.170,0.125,2734,2801,2060,2148,1972,0,0,0,0,0,0,14.14,14.11,13.97
$GC,3906,0.80,316.8,2731,2801,2168,2002,56.6,10.6,491,3918,0.00,2.62,3.70,0.233,8708,0.000,0.113,2745,1384,2059,2147,1972,0,0,0,0,0,0,28.83,14.25,14.14
$GC,3996,0.88,379.7,2744,1385,2166,1991,48.9,7.4,508,4040,0.00,2.60,35.17,0.317,9222,0.000,0.124,2745,2807,1799,1890,1709,0,0,0,0,0,0,28.83,14.28,14.12
$GC,4344,0.94,426.6,2744,2814,1902,1736,19.5,8.2,545,4380,0.00,2.60,26.58,0.231,8708,0.000,0.114,2755,1390,1607,1703,1512,0,0,0,0,0,0,28.83,14.28,14.23
$GC,4429,1.11,519.6,2756,1390,1713,1521,14.1,6.0,560,4487,0.22,2.58,49.85,0.214,11270,0.136,0.123,2830,2799,1229,1327,1132,0,0,0,0,0,0,14.34,14.31,14.23
$GC,4791,1.32,652.1,2830,2800,1336,1149,4.6,4.1,599,4849,0.20,0.00,53.88,0.190,10754,0.145,0.000,2896,2799,823,914,732,0,0,0,0,0,0,14.37,28.83,28.83
$STATE,4850,end climb,SURFACE_DEPTH_REACHED
$STATE,4850,begin surface coast
$FINISH,0.3,1.004648
$STATE,4872,end surface coast,CONTROL_FINISHED_OK
$STATE,4872,begin surface
$SM_CCo,4894,38.62,0.187,0,0,539,689.05
$SM_GC,1.74,8.40,0.55,38.62,0.115,0.109,0.187,197,2498,539,-7.06,0.82,689.05,0,0,0,0,0,0,14.33,14.35,14.28
$RAFOS_CLK,113
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14423.93,280714,094734
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.79
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4015360
$TM_FREEKB,7823168
$24V_AH,12.98,31.795
$10V_AH,12.65,0.000
$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,22.450,45.000,568.900,38.625,0.000,0.000,0.000,267.775,0.000,0.000,27.226,0.000,2927.681,684.936,1702.972,57.279,0.000,1501.582,0.000,908.428,1491.000,0.537,0.000
$DEVICE_MAMPS,478.890,164.475,1803.870,187.425,0.000,0.000,0.000,176.715,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4888.000,4896.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.796,1000.000,0.000,0.000
$MEM,309244
$DATA_FILE_SIZE,20101,610
$CAP_FILE_SIZE,107370,0
$CFSIZE,2097872896,2091319296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5328.39,0x2378b6,7,5
$SOUNDSPEED,1446.1
$EKF,5014,4254.612793,-8668.083008,0.268672,0.033077,-0.005076,-0.001263,0.000025,0.000238,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.119,209.01,1
$GPS,280714,124424,7054.332,-14428.564,23,0.8,43,22.3