version: 66.12
glider: 199
mission: 5
dive: 13
start: 7 28 114 12 51 31
data:
$ID,199
$MISSION,5
$DIVE,13
$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,-21633.852
$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
$GPS1,280714,124424,7054.332,-14428.564,23,0.8,43,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.4
$GPS2,280714,125114,7054.319,-14428.751,3,0.9,24,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,349.0,10548,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.79,-145.9,194,2497,570,519,0.0,0.0,0,96,0.00,0.00,-74.80,0.000,16386,0.000,0.000,192,2497,2481,2478,2484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.79,-145.9,193,2498,2478,2483,4.3,-5.5,7,141,11.18,2.42,-24.35,0.000,18692,0.478,0.165,2197,3769,3945,3999,3892,0,0,0,0,0,0,14.06,14.23,14.47
$GC,365,-0.70,-145.9,2196,3766,4000,3896,74.9,-21.7,58,376,0.20,2.20,0.00,0.000,3078,0.320,0.097,2238,2498,3947,4000,3895,0,0,0,0,0,0,14.22,14.35,28.83
$GC,670,-0.70,-145.9,2238,2498,4001,3896,124.6,-15.2,89,679,0.00,2.33,0.00,0.000,260,0.000,0.142,2228,3770,3947,4000,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,823,-0.68,-145.9,2231,3771,4000,3896,149.1,-14.9,119,833,0.00,2.20,0.00,0.000,1030,0.000,0.096,2230,2498,3948,4000,3896,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1137,-0.68,-145.9,2231,2498,3999,3896,191.4,-12.3,151,1147,0.00,2.47,0.00,0.000,516,0.000,0.116,2230,1092,3947,4000,3895,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1226,-0.68,-145.9,2230,1091,4001,3896,202.0,-11.0,168,1236,0.12,2.53,0.00,0.000,3078,0.327,0.121,2242,2501,3947,3999,3896,0,0,0,0,0,0,14.32,14.42,28.83
$GC,1531,-0.70,-145.9,2249,2501,3999,3896,233.8,-10.0,199,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2501,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1700,begin apogee
$GC,1703,-0.16,0.0,2244,2809,3999,3896,250.5,-9.9,216,1895,0.68,0.00,186.82,1.248,10246,0.275,0.000,2413,2808,3346,3399,3293,0,0,0,0,0,0,14.35,28.83,13.30
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1899,0.79,145.9,2415,2809,3393,3286,256.7,0.0,222,2042,1.05,1.88,127.65,1.348,10500,0.171,0.145,2716,3760,2739,2788,2690,0,0,0,0,0,0,13.81,13.64,13.16
$GC,2116,0.69,145.9,2718,3760,2775,2674,241.7,14.3,257,2126,0.15,1.73,0.00,0.000,5126,0.312,0.098,2696,2794,2723,2775,2672,0,0,0,0,0,0,13.82,13.94,28.83
$GC,2421,0.64,145.9,2697,2794,2775,2671,207.0,10.6,288,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2794,2722,2775,2670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,0.63,177.0,2696,2794,2777,2670,177.2,8.9,318,2765,0.00,2.58,31.75,1.226,8708,0.000,0.114,2704,1394,2615,2677,2554,0,0,0,0,0,0,28.83,14.09,13.64
$GC,2989,0.67,230.8,2704,1395,2671,2543,154.4,7.9,369,3059,0.00,2.58,63.22,1.180,9222,0.000,0.123,2704,2802,2406,2473,2339,0,0,0,0,0,0,28.83,14.24,13.50
$GC,3364,0.68,257.0,2704,2803,2457,2310,119.2,9.2,410,3400,0.00,2.58,27.67,1.150,8708,0.000,0.109,2714,1393,2293,2365,2221,0,0,0,0,0,0,28.83,14.08,13.64
$GC,3564,0.70,273.0,2714,1393,2356,2206,99.8,9.7,448,3580,0.00,2.58,5.47,0.258,9222,0.000,0.123,2717,2801,2241,2317,2166,0,0,0,0,0,0,28.83,14.21,14.00
$GC,3874,0.74,301.3,2714,2802,2351,2199,70.1,9.1,480,3904,0.00,2.53,19.42,0.359,8708,0.000,0.110,2724,1396,2122,2203,2041,0,0,0,0,0,0,28.83,14.27,14.13
$GC,4003,0.79,345.4,2726,1398,2228,2062,58.8,8.3,504,4039,0.00,2.58,25.65,0.337,9222,0.000,0.123,2724,2808,1942,2030,1854,0,0,0,0,0,0,28.83,14.31,14.14
$GC,4343,0.87,407.6,2724,2809,2054,1885,31.7,7.5,540,4386,0.00,2.62,34.90,0.264,8708,0.000,0.114,2734,1391,1686,1778,1594,0,0,0,0,0,0,28.83,14.29,14.19
$GC,4440,0.97,461.9,2734,1392,1794,1610,24.0,7.8,557,4478,0.15,2.58,29.98,0.244,11270,0.159,0.122,2783,2804,1465,1562,1369,0,0,0,0,0,0,14.33,14.30,14.20
$GC,4772,1.25,653.5,2783,2804,1578,1387,11.7,1.3,592,4885,0.25,1.85,103.03,0.206,10500,0.137,0.145,2869,3775,682,763,602,0,0,0,0,0,0,14.38,14.20,14.21
$STATE,4928,end climb,SURFACE_DEPTH_REACHED
$STATE,4928,begin surface coast
$FINISH,0.3,1.019400
$STATE,4948,end surface coast,CONTROL_FINISHED_OK
$STATE,4948,begin surface
$SM_CCo,4970,20.17,0.193,0,0,538,689.05
$SM_GC,2.00,8.27,2.30,20.17,0.110,0.097,0.193,200,2494,538,-7.05,0.62,689.05,0,0,0,0,0,0,14.31,14.31,14.25
$RAFOS_CLK,203
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14430.80,280714,111559
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.48
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4015264
$TM_FREEKB,7815136
$24V_AH,13.16,33.419
$10V_AH,12.72,0.000
$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,22.050,43.075,655.575,20.175,0.000,0.000,0.000,241.175,0.000,0.000,26.100,0.000,2935.835,748.353,1666.457,55.313,0.000,1549.770,0.000,922.512,0.000,0.538,0.000
$DEVICE_MAMPS,478.125,165.240,1347.930,192.780,0.000,0.000,0.000,185.895,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4966.000,4971.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.590,1000.000,0.000,0.000
$MEM,308848
$DATA_FILE_SIZE,20081,621
$CAP_FILE_SIZE,96603,0
$CFSIZE,2097872896,2091122688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5437.34,0x2378b6,7,5
$SOUNDSPEED,1445.7
$EKF,5053,4254.769043,-8668.063477,0.327248,0.029594,-0.240736,-0.070511,0.000023,0.000212,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.107,200.31,1
$GPS,280714,141541,7054.495,-14428.420,3,0.8,23,22.3