version: 66.12
glider: 199
mission: 5
dive: 15
start: 7 28 114 15 51 4
data:
$ID,199
$MISSION,5
$DIVE,15
$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,-21636.361
$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
$GPS1,280714,154329,7054.641,-14428.317,3,0.8,23,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.6
$GPS2,280714,155047,7054.650,-14428.441,5,0.9,25,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,343.1,9952,-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,-145.9,199,2498,584,513,0.0,0.0,0,85,0.00,0.00,-63.28,0.000,16386,0.000,0.000,197,2498,2138,2151,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.79,-145.9,199,2498,2150,2127,3.3,-3.9,6,142,11.18,2.40,-33.58,0.000,18692,0.479,0.166,2197,3766,3947,4001,3893,0,0,0,0,0,0,14.05,14.20,14.48
$GC,365,-0.69,-145.9,2197,3767,4002,3897,76.6,-22.5,59,377,0.20,2.22,0.00,0.000,3078,0.322,0.097,2238,2487,3948,4001,3896,0,0,0,0,0,0,14.21,14.33,28.83
$GC,675,-0.67,-145.9,2240,2492,4001,3898,126.7,-15.5,90,683,0.00,2.35,0.00,0.000,260,0.000,0.143,2231,3770,3949,4001,3897,0,0,0,0,0,0,28.83,14.30,28.83
$GC,818,-0.65,-145.9,2232,3771,4000,3898,149.9,-15.6,118,826,0.12,2.22,0.00,0.000,3078,0.321,0.098,2250,2496,3949,4001,3897,0,0,0,0,0,0,14.26,14.35,28.83
$GC,1130,-0.65,-145.9,2254,2497,4001,3898,187.8,-11.0,150,1139,0.00,2.47,0.00,0.000,516,0.000,0.116,2254,1097,3949,4001,3897,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1174,-0.67,-145.9,2255,1097,4001,3897,192.6,-11.0,158,1181,0.00,2.55,0.00,0.000,1030,0.000,0.123,2251,2502,3949,4001,3897,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1486,-0.70,-145.9,2251,2503,4002,3898,225.1,-10.0,190,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2503,3946,3997,3896,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1745,begin apogee
$GC,1747,-0.16,0.0,2251,2801,3997,3897,250.5,-9.8,216,1940,0.65,0.00,187.35,1.286,10246,0.272,0.000,2416,2801,3348,3402,3295,0,0,0,0,0,0,14.26,28.83,13.23
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1944,0.79,145.9,2415,2802,3392,3285,257.2,0.0,222,2089,1.05,1.90,128.88,1.368,10500,0.170,0.142,2721,3764,2737,2786,2689,0,0,0,0,0,0,13.76,13.61,13.11
$GC,2104,0.70,145.9,2716,3765,2780,2683,250.8,12.2,245,2113,0.00,1.80,0.00,0.000,1030,0.000,0.096,2723,2798,2728,2778,2679,0,0,0,0,0,0,28.83,13.77,28.83
$GC,2409,0.62,145.9,2723,2799,2780,2669,211.2,12.3,274,2417,0.22,2.53,0.00,0.000,4612,0.300,0.111,2682,1392,2723,2778,2668,0,0,0,0,0,0,14.05,14.14,28.83
$GC,2482,0.63,170.4,2684,1392,2779,2668,204.1,9.2,288,2512,0.00,2.60,23.60,1.274,9222,0.000,0.122,2684,2805,2652,2711,2593,0,0,0,0,0,0,28.83,14.15,13.54
$GC,2806,0.62,188.2,2685,2806,2696,2569,170.2,9.6,322,2830,0.00,2.62,17.00,1.235,8708,0.000,0.109,2694,1394,2574,2638,2510,0,0,0,0,0,0,28.83,14.12,13.63
$GC,2984,0.70,253.6,2694,1395,2630,2496,156.0,7.3,356,3069,0.00,2.55,77.38,1.219,9222,0.000,0.121,2692,2802,2312,2382,2242,0,0,1,0,0,0,28.83,14.21,13.39
$GC,3363,0.72,270.6,2695,2803,2368,2217,119.1,9.6,398,3387,0.00,2.58,15.85,1.164,8708,0.000,0.109,2704,1391,2238,2316,2161,0,0,0,0,0,0,28.83,14.10,13.64
$GC,3610,0.77,311.1,2703,1391,2310,2147,96.5,8.5,446,3640,0.00,2.60,19.35,0.418,9222,0.000,0.122,2704,2812,2081,2164,1998,0,0,0,0,0,0,28.83,14.20,14.02
$GC,3934,0.79,324.6,2705,2812,2191,2028,64.8,9.8,480,3955,0.00,2.60,10.73,0.324,8708,0.000,0.112,2714,1394,2029,2117,1942,0,0,0,0,0,0,28.83,14.27,14.14
$GC,4094,0.91,400.4,2715,1395,2141,1965,51.0,6.8,511,4148,0.15,2.58,42.60,0.317,11270,0.156,0.122,2762,2803,1714,1806,1623,0,0,0,0,0,0,14.35,14.31,14.14
$GC,4442,0.96,442.1,2764,2804,1819,1649,16.6,8.4,548,4473,0.00,2.60,23.65,0.225,8708,0.000,0.112,2772,1392,1544,1638,1450,0,0,0,0,0,0,28.83,14.31,14.26
$GC,4552,1.23,618.1,2772,1393,1656,1465,12.2,2.0,568,4656,0.28,2.58,94.50,0.210,11270,0.126,0.121,2865,2808,826,909,743,0,0,0,0,0,0,14.35,14.31,14.19
$STATE,4749,end climb,SURFACE_DEPTH_REACHED
$STATE,4749,begin surface coast
$FINISH,0.4,1.019769
$STATE,4770,end surface coast,CONTROL_FINISHED_OK
$STATE,4770,begin surface
$SM_CCo,4790,39.17,0.190,0,0,539,689.05
$SM_GC,1.68,8.23,0.57,39.17,0.107,0.112,0.190,200,2500,539,-7.05,0.65,689.05,0,0,0,0,0,0,14.31,14.35,14.24
$RAFOS_CLK,185
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,280714,141820
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.12
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4015072
$TM_FREEKB,7799680
$24V_AH,13.11,36.574
$10V_AH,12.67,0.000
$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,22.075,44.875,640.875,39.175,0.000,0.000,0.000,272.325,0.000,0.000,26.657,0.000,2799.936,747.128,1668.496,58.325,0.000,1562.411,0.000,888.160,1497.000,0.537,0.000
$DEVICE_MAMPS,478.890,166.005,1367.820,189.720,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4785.000,4791.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.277,1000.000,0.000,0.000
$MEM,307940
$DATA_FILE_SIZE,20115,595
$CAP_FILE_SIZE,103462,0
$CFSIZE,2097872896,2090631168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,5275.32,0x2378b6,7,5
$SOUNDSPEED,1445.2
$EKF,4912,4255.151855,-8667.825195,0.399546,0.120908,-0.048921,-0.092362,0.000025,0.000236,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.139,184.67,1
$GPS,280714,171253,7054.793,-14427.929,24,0.9,44,22.3