version: 66.12
glider: 199
mission: 5
dive: 14
start: 7 28 114 14 23 8
data:
$ID,199
$MISSION,5
$DIVE,14
$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,-21635.105
$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,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
$GPS1,280714,141541,7054.495,-14428.420,3,0.8,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.7
$GPS2,280714,142251,7054.509,-14428.572,5,0.8,25,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,343.6,10205,-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,-145.9,196,2493,585,516,0.0,0.0,0,85,0.00,0.00,-63.22,0.000,16386,0.000,0.000,195,2491,2134,2141,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.79,-145.9,196,2492,2141,2128,3.2,-3.6,6,137,11.23,2.45,-33.67,0.000,18692,0.480,0.164,2199,3775,3947,4001,3893,0,0,0,0,0,0,14.06,14.21,14.48
$GC,361,-0.69,-145.9,2198,3776,4002,3895,73.4,-21.6,58,370,0.20,2.22,0.00,0.000,3078,0.326,0.098,2239,2499,3947,4000,3894,0,0,0,0,0,0,14.21,14.31,28.83
$GC,674,-0.67,-145.9,2240,2500,4003,3895,124.6,-15.1,90,683,0.00,2.30,0.00,0.000,260,0.000,0.144,2232,3769,3946,4000,3893,0,0,0,0,0,0,28.83,14.36,28.83
$GC,901,-0.67,-145.9,2233,3769,4000,3895,160.7,-15.3,135,912,0.00,2.20,0.00,0.000,1030,0.000,0.097,2232,2499,3948,4002,3895,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1206,-0.67,-145.9,2232,2499,4001,3896,200.2,-11.5,166,1215,0.00,2.47,0.00,0.000,516,0.000,0.119,2232,1096,3947,4000,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1273,-0.67,-145.9,2233,1096,4000,3895,207.6,-11.0,179,1286,0.12,2.53,0.00,0.000,3078,0.327,0.120,2245,2503,3947,4000,3895,0,0,0,0,0,0,14.33,14.43,28.83
$GC,1581,-0.70,-145.9,2244,2503,4002,3891,238.3,-10.0,210,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2503,3947,4000,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1712,-0.16,0.0,2244,2802,4001,3896,250.8,-9.7,223,1848,0.65,0.00,125.15,1.808,10246,0.274,0.000,2410,2801,3349,3401,3298,0,0,0,0,1,0,14.35,28.83,12.97
$STATE,1850,end apogee,CONTROL_FINISHED_OK
$STATE,1850,begin climb
$GC,1851,0.79,145.9,2411,2802,3410,3302,255.0,0.0,227,2000,1.08,1.92,134.43,1.310,10500,0.174,0.143,2718,3769,2743,2793,2694,0,0,0,0,0,0,13.76,13.64,13.19
$GC,2224,0.68,145.9,2719,3769,2779,2680,219.8,14.7,293,2233,0.12,1.75,0.00,0.000,5126,0.296,0.099,2696,2801,2728,2779,2678,0,0,0,0,0,0,14.00,14.13,28.83
$GC,2537,0.66,165.3,2696,2801,2781,2678,186.1,9.5,325,2560,0.00,2.60,15.45,1.221,8708,0.000,0.113,2705,1393,2665,2722,2608,0,0,0,0,0,0,28.83,14.15,13.66
$GC,2759,0.70,223.9,2705,1393,2718,2595,166.5,7.6,368,2818,0.00,2.58,52.22,1.269,9222,0.000,0.122,2706,2801,2436,2503,2369,0,0,0,0,0,0,28.83,14.23,13.48
$GC,3122,0.69,242.4,2705,2802,2481,2337,131.2,9.5,407,3146,0.00,2.55,15.02,1.207,8708,0.000,0.110,2715,1394,2349,2420,2278,0,0,0,0,0,0,28.83,14.11,13.66
$GC,3285,0.73,272.6,2714,1395,2412,2266,116.0,9.0,438,3322,0.00,2.58,27.88,1.205,9222,0.000,0.122,2715,2799,2226,2302,2151,0,0,0,0,0,0,28.83,14.23,13.60
$GC,3616,0.73,272.6,2714,2800,2292,2129,80.7,10.5,473,3624,0.00,2.53,0.00,0.000,516,0.000,0.111,2725,1394,2209,2291,2128,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3728,0.77,305.8,2726,1395,2291,2128,70.3,8.8,495,3751,0.00,2.58,13.90,0.342,9222,0.000,0.122,2725,2807,2102,2185,2019,0,0,0,0,0,0,28.83,14.26,14.12
$GC,4055,0.89,405.9,2723,2808,2211,2046,41.9,5.6,529,4118,0.00,2.55,54.05,0.292,8708,0.000,0.110,2735,1396,1692,1784,1600,0,0,0,0,0,0,28.83,14.25,14.18
$GC,4202,0.98,446.9,2734,1401,1798,1614,30.7,8.5,554,4232,0.15,2.55,23.05,0.262,11270,0.158,0.121,2784,2799,1525,1620,1430,0,0,0,0,0,0,14.33,14.30,14.20
$GC,4526,1.26,656.2,2786,2800,1637,1445,12.7,0.4,588,4652,0.28,1.83,113.95,0.210,10500,0.134,0.148,2880,3791,672,750,594,0,0,0,0,0,0,14.38,14.22,14.17
$STATE,4700,end climb,SURFACE_DEPTH_REACHED
$STATE,4700,begin surface coast
$FINISH,0.4,1.019551
$STATE,4720,end surface coast,CONTROL_FINISHED_OK
$STATE,4720,begin surface
$SM_CCo,4742,19.30,0.197,0,0,538,689.05
$SM_GC,2.22,8.45,2.35,19.30,0.122,0.107,0.197,203,2502,538,-7.05,0.74,689.05,0,0,0,0,0,0,14.29,14.29,14.23
$RAFOS_CLK,195
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,124704
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.48
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4015168
$TM_FREEKB,7807456
$24V_AH,12.97,34.974
$10V_AH,12.64,0.000
$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,22.275,43.075,575.100,19.300,0.000,0.000,0.000,262.300,0.000,0.000,26.427,0.000,2789.480,668.555,1685.950,54.651,0.000,1483.045,0.000,922.932,0.000,0.537,0.000
$DEVICE_MAMPS,479.655,164.475,1807.695,196.605,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4739.000,4744.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.575,1000.000,0.000,0.000
$MEM,308392
$DATA_FILE_SIZE,20084,620
$CAP_FILE_SIZE,94165,0
$CFSIZE,2097872896,2090893312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5496.33,0x2378b6,7,5
$SOUNDSPEED,1445.8
$EKF,4824,4254.894043,-8667.967773,0.359420,-0.129664,-0.280077,-0.070551,0.000024,0.000229,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.100,201.79,1
$GPS,280714,154329,7054.641,-14428.317,3,0.8,23,22.3