version: 66.12
glider: 199
mission: 5
dive: 16
start: 7 28 114 17 20 7
data:
$ID,199
$MISSION,5
$DIVE,16
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,320
$D_ABORT,360
$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,90
$T_MISSION,115
$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,-21637.619
$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,19
$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
$GPS1,280714,171253,7054.793,-14427.929,24,0.9,44,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.9
$GPS2,280714,171950,7054.799,-14427.972,5,0.9,25,22.3
$SPEED_LIMITS,0.141,0.253
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,337.0,9710,-21.9,-11.852,-25.06,1896
$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,-0.86,-145.9,194,2498,573,521,0.0,0.0,0,85,0.00,0.00,-63.42,0.000,16386,0.000,0.000,194,2497,2114,2121,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.86,-145.9,194,2497,2121,2113,3.0,-3.7,6,143,11.18,2.40,-34.92,0.000,18692,0.484,0.167,2175,3764,3946,4000,3893,0,0,0,0,0,0,14.04,14.22,14.49
$GC,367,-0.78,-145.9,2176,3765,4000,3897,78.8,-23.2,59,377,0.17,2.22,0.00,0.000,3078,0.336,0.096,2209,2483,3948,4000,3897,0,0,0,0,0,0,14.22,14.34,28.83
$GC,672,-0.78,-145.9,2210,2483,3996,3898,134.4,-16.8,90,680,0.00,2.35,0.00,0.000,260,0.000,0.142,2201,3769,3948,4000,3897,0,0,0,0,0,0,28.83,14.36,28.83
$GC,849,-0.76,-145.9,2201,3769,3999,3898,165.7,-16.9,125,858,0.00,2.20,0.00,0.000,1030,0.000,0.098,2201,2497,3948,4000,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1154,-0.76,-145.9,2200,2498,4002,3898,209.5,-13.7,156,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2498,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1455,-0.76,-145.9,2200,2498,4002,3898,247.5,-12.4,186,1462,0.00,2.45,0.00,0.000,516,0.000,0.119,2201,1099,3952,4008,3897,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1511,-0.76,-145.9,2202,1099,4000,3898,254.6,-12.1,197,1521,0.15,2.53,0.00,0.000,3078,0.326,0.120,2220,2502,3948,4000,3897,0,0,0,0,0,0,14.33,14.43,28.83
$GC,1817,-0.79,-145.9,2220,2500,4001,3897,288.8,-11.2,208,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2502,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2116,begin apogee
$GC,2118,-0.16,0.0,2220,2800,4000,3897,321.8,-11.0,218,2309,0.75,0.00,186.23,1.314,10246,0.285,0.000,2409,2801,3351,3408,3295,0,0,0,0,0,0,14.41,28.83,13.28
$STATE,2311,end apogee,CONTROL_FINISHED_OK
$STATE,2311,begin climb
$GC,2312,0.86,145.9,2410,2802,3394,3287,328.3,0.0,224,2458,1.12,1.90,127.95,1.426,10500,0.169,0.142,2736,3764,2733,2782,2685,0,0,0,0,0,0,13.79,13.64,13.11
$GC,2552,0.76,145.9,2737,3764,2774,2675,307.3,15.9,264,2562,0.00,1.75,0.00,0.000,1030,0.000,0.096,2743,2805,2724,2775,2674,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2867,0.69,145.9,2742,2805,2775,2673,261.7,14.3,276,2879,0.17,2.47,0.00,0.000,4612,0.317,0.109,2712,1387,2723,2774,2672,0,0,0,0,0,0,14.13,14.21,28.83
$GC,2933,0.67,150.3,2712,1388,2776,2673,253.6,11.6,288,2943,0.00,2.58,0.00,0.000,1030,0.000,0.120,2712,2799,2723,2775,2672,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3247,0.62,150.3,2714,2803,2776,2672,215.6,12.1,322,3255,0.15,2.53,0.00,0.000,4612,0.305,0.106,2688,1381,2723,2775,2672,0,0,0,0,0,0,14.24,14.33,28.83
$GC,3354,0.66,180.9,2689,1382,2773,2672,204.9,10.2,343,3399,0.00,2.58,36.85,1.263,9222,0.000,0.121,2688,2805,2606,2666,2547,0,0,0,0,0,0,28.83,14.33,13.63
$GC,3703,0.70,214.7,2689,2806,2652,2526,167.4,10.0,380,3748,0.00,2.65,38.33,1.220,8708,0.000,0.107,2698,1386,2466,2533,2399,0,0,0,0,0,0,28.83,14.07,13.59
$GC,3818,0.76,259.8,2698,1386,2524,2384,156.6,9.4,400,3882,0.00,2.60,51.55,1.198,9222,0.000,0.119,2698,2804,2279,2351,2208,0,0,0,0,0,0,28.83,14.11,13.45
$GC,4186,0.81,303.0,2699,2804,2342,2191,118.2,9.5,440,4237,0.00,2.60,42.78,1.174,8708,0.000,0.107,2708,1385,2099,2183,2015,0,0,0,0,0,0,28.83,13.98,13.56
$GC,4461,0.90,339.9,2706,1386,2174,1992,91.5,9.8,492,4485,0.15,2.60,16.23,0.397,11270,0.155,0.121,2756,2804,1962,2053,1871,0,0,0,0,0,0,14.24,14.20,13.97
$GC,4789,0.90,339.9,2758,2805,2073,1903,49.9,12.1,526,4798,0.00,2.60,3.00,0.222,8708,0.000,0.109,2766,1391,1963,2052,1875,0,0,0,0,0,0,28.83,14.28,14.23
$GC,4967,0.99,418.2,2767,1392,2077,1899,35.4,7.6,561,5017,0.00,2.55,42.50,0.276,9222,0.000,0.120,2767,2801,1642,1736,1549,0,0,0,0,0,0,28.83,14.34,14.18
$GC,5311,1.31,623.9,2769,2801,1748,1566,11.9,0.7,598,5431,0.38,2.55,108.97,0.208,10756,0.120,0.112,2900,1389,804,883,725,0,0,0,0,0,0,14.35,14.24,14.16
$STATE,5495,end climb,SURFACE_DEPTH_REACHED
$STATE,5495,begin surface coast
$FINISH,0.5,1.019967
$STATE,5514,end surface coast,CONTROL_FINISHED_OK
$STATE,5514,begin surface
$SM_CCo,5537,35.85,0.189,0,0,538,689.05
$SM_GC,1.90,8.43,2.10,35.85,0.114,0.133,0.189,200,2499,538,-7.05,-0.65,689.05,0,0,0,0,0,0,14.32,14.29,14.23
$RAFOS_CLK,237
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,154607
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.24
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,4014976
$TM_FREEKB,7790720
$24V_AH,13.11,38.376
$10V_AH,12.70,0.000
$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,22.650,48.750,654.375,35.850,0.000,0.000,0.000,247.750,0.000,0.000,26.713,0.000,3472.061,770.112,1694.397,57.810,0.000,1590.642,0.000,938.042,0.000,0.537,0.000
$DEVICE_MAMPS,484.245,166.770,1425.960,188.955,0.000,0.000,0.000,183.600,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5530.000,5540.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.655,1000.000,0.000,0.000
$MEM,307536
$DATA_FILE_SIZE,20083,632
$CAP_FILE_SIZE,98477,0
$CFSIZE,2097872896,2090401792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5342.33,0x2378b6,7,5
$SOUNDSPEED,1446.6
$EKF,5634,4255.427734,-8667.343750,0.472343,0.091937,0.187815,-0.008924,0.000050,0.000469,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.110,184.74,1
$GPS,280714,185358,7055.097,-14427.391,2,0.9,23,22.3