version: 66.12
glider: 199
mission: 5
dive: 17
start: 7 28 114 19 4 36
data:
$ID,199
$MISSION,5
$DIVE,17
$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,-21638.877
$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,21
$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
$GPS1,280714,185358,7055.097,-14427.391,2,0.9,23,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.0
$GPS2,280714,190419,7055.086,-14427.332,5,0.8,26,22.3
$SPEED_LIMITS,0.141,0.253
$TGT_NAME,3
$TGT_LATLONG,7052.000,-14428.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,161.4,5729,-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,-145.9,195,2505,568,518,0.0,0.0,0,94,0.00,0.00,-73.15,0.000,16386,0.000,0.000,193,2505,2422,2422,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.86,-145.9,193,2505,2423,2423,4.3,-5.9,7,141,11.05,2.62,-25.92,0.000,18948,0.479,0.139,2184,1086,3946,4000,3893,0,0,0,0,0,0,14.06,14.24,14.49
$GC,365,-0.81,-145.9,2185,1089,4000,3895,72.4,-18.9,58,375,0.15,2.55,0.00,0.000,3078,0.370,0.118,2201,2504,3946,3997,3895,0,0,0,0,0,0,14.20,14.33,28.83
$GC,671,-0.79,-145.9,2202,2505,4000,3893,128.9,-17.3,89,679,0.00,2.50,0.00,0.000,516,0.000,0.112,2201,1091,3948,4001,3895,0,0,0,0,0,0,28.83,14.35,28.83
$GC,903,-0.79,-145.9,2202,1092,4000,3896,167.2,-15.4,135,911,0.00,2.55,0.00,0.000,1030,0.000,0.119,2192,2508,3947,4000,3895,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1215,-0.79,-145.9,2194,2509,4000,3896,213.9,-13.8,167,1224,0.00,2.50,0.00,0.000,516,0.000,0.113,2192,1091,3947,4000,3895,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1448,-0.79,-145.9,2192,1092,4000,3896,244.6,-12.9,213,1456,0.15,2.53,0.00,0.000,3078,0.338,0.119,2211,2500,3947,4000,3895,0,0,0,0,0,0,14.33,14.44,28.83
$GC,1770,-0.81,-145.9,2209,2501,4002,3900,282.0,-11.4,228,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2501,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2070,-0.84,-145.9,2211,2501,4002,3894,315.1,-11.0,238,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2501,3947,4000,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2129,begin apogee
$GC,2132,-0.16,0.0,2210,2802,4001,3891,321.8,-11.1,240,2271,0.80,0.00,129.05,1.899,10246,0.284,0.000,2412,2801,3348,3401,3296,0,0,0,0,1,0,14.39,28.83,12.94
$STATE,2274,end apogee,CONTROL_FINISHED_OK
$STATE,2274,begin climb
$GC,2275,0.86,145.9,2412,2800,3411,3300,325.8,0.0,244,2421,1.12,1.92,132.12,1.392,10500,0.158,0.141,2741,3770,2741,2788,2694,0,0,0,0,0,0,13.75,13.64,13.14
$GC,2530,0.76,145.9,2740,3768,2784,2683,304.0,16.5,287,2539,0.10,1.77,0.00,0.000,5126,0.319,0.097,2726,2798,2732,2782,2682,0,0,0,0,0,0,13.87,14.00,28.83
$GC,2858,0.70,145.9,2725,2799,2784,2681,259.5,13.3,302,2866,0.00,2.50,0.00,0.000,516,0.000,0.109,2735,1391,2731,2782,2680,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2960,0.65,145.9,2735,1391,2784,2680,246.8,12.1,322,2968,0.22,2.55,0.00,0.000,5126,0.309,0.119,2687,2800,2731,2782,2680,0,0,0,0,0,0,14.18,14.28,28.83
$GC,3286,0.66,170.3,2688,2801,2782,2680,211.6,10.5,354,3316,0.00,2.53,20.45,1.269,8708,0.000,0.106,2697,1390,2641,2700,2583,0,0,0,0,0,0,28.83,14.18,13.70
$GC,3425,0.69,195.9,2696,1388,2696,2574,195.3,10.5,380,3456,0.00,2.58,22.15,1.266,9222,0.000,0.118,2697,2806,2542,2605,2480,0,0,0,0,0,0,28.83,14.23,13.59
$GC,3750,0.75,240.9,2697,2807,2595,2461,160.9,9.4,414,3802,0.00,2.60,39.78,1.261,8708,0.000,0.108,2706,1385,2350,2420,2280,0,0,0,0,0,0,28.83,13.97,13.54
$GC,3956,0.81,288.6,2704,1385,2410,2267,141.0,9.3,452,4008,0.00,2.60,42.78,1.245,9222,0.000,0.119,2706,2801,2163,2242,2085,0,0,0,0,0,0,28.83,14.15,13.47
$GC,4312,0.84,317.8,2707,2801,2225,2058,103.7,10.3,490,4343,0.12,2.65,25.17,1.189,10756,0.171,0.109,2755,1387,2045,2134,1956,0,0,0,0,0,0,14.21,14.04,13.60
$GC,4427,0.84,317.8,2757,1387,2120,1934,89.8,12.1,511,4437,0.00,2.60,0.00,0.000,1030,0.000,0.118,2755,2800,2028,2121,1935,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4732,0.85,324.4,2755,2800,2122,1931,50.1,11.5,542,4740,0.00,2.53,0.00,0.000,516,0.000,0.109,2765,1390,2026,2120,1932,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4964,0.95,408.9,2766,1390,2120,1932,32.0,7.3,588,5015,0.00,2.55,43.35,0.262,9222,0.000,0.119,2765,2801,1679,1774,1584,0,0,0,0,0,0,28.83,14.31,14.18
$GC,5319,1.28,613.6,2766,2801,1785,1602,11.5,0.8,626,5440,0.35,2.55,109.78,0.206,11012,0.123,0.111,2891,1387,845,930,760,0,0,0,0,0,0,14.38,14.23,14.19
$STATE,5518,end climb,SURFACE_DEPTH_REACHED
$STATE,5518,begin surface coast
$FINISH,0.6,1.019598
$STATE,5538,end surface coast,CONTROL_FINISHED_OK
$STATE,5538,begin surface
$SM_CCo,5561,41.90,0.187,0,0,538,689.05
$SM_GC,1.90,8.48,2.10,41.90,0.122,0.130,0.187,200,2498,538,-7.05,-0.65,689.05,0,0,0,0,0,0,14.30,14.28,14.23
$RAFOS_CLK,99
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,185642
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.04
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4014880
$TM_FREEKB,7781760
$24V_AH,12.94,40.207
$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,22.550,49.825,564.625,41.900,0.000,0.000,0.000,385.050,0.000,0.000,27.296,0.000,3548.865,694.805,1925.418,61.206,0.000,1665.654,0.000,981.267,1493.000,0.538,0.000
$DEVICE_MAMPS,478.890,146.880,1899.495,187.425,0.000,0.000,0.000,188.190,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5556.000,5570.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.807,1000.000,0.000,0.000
$MEM,306992
$DATA_FILE_SIZE,23387,663
$CAP_FILE_SIZE,112585,0
$CFSIZE,2097872896,2090172416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6268.32,0x2378b6,7,5
$SOUNDSPEED,1446.8
$EKF,5690,4254.636719,-8666.955078,0.595389,0.128620,-0.163294,-0.081530,0.000049,0.000462,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.088,181.28,1
$GPS,280714,203923,7054.375,-14427.016,28,0.8,48,22.3