version: 66.12
glider: 199
mission: 5
dive: 10
start: 7 28 114 8 20 12
data:
$ID,199
$MISSION,5
$DIVE,10
$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,-21630.078
$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,18
$R_STBD_OVSHOOT,15
$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
$GPS1,280714,081231,7053.904,-14429.366,13,0.8,33,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.5
$GPS2,280714,081955,7053.888,-14429.368,20,1.0,40,22.3
$SPEED_LIMITS,0.124,0.244
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,342.6,11327,-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,-145.9,194,2492,565,521,0.0,0.0,0,85,0.00,0.00,-63.72,0.000,16386,0.000,0.000,195,2494,2179,2178,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.79,-145.9,195,2495,2177,2182,3.9,-5.2,6,144,11.25,2.42,-32.97,0.000,18692,0.477,0.168,2199,3763,3945,3998,3893,0,0,0,0,0,0,13.99,14.13,14.41
$GC,368,-0.70,-145.9,2198,3764,4000,3897,76.1,-22.3,59,378,0.17,2.22,0.00,0.000,3078,0.324,0.100,2233,2493,3947,3999,3896,0,0,0,0,0,0,14.19,14.31,28.83
$GC,674,-0.68,-145.9,2233,2494,4000,3897,127.5,-15.8,90,682,0.00,2.35,0.00,0.000,260,0.000,0.145,2226,3772,3948,3999,3897,0,0,0,0,0,0,28.83,14.35,28.83
$GC,891,-0.66,-145.9,2227,3772,3998,3897,162.3,-15.4,133,903,0.08,2.25,0.00,0.000,3078,0.275,0.099,2254,2505,3947,3998,3896,0,0,0,0,0,0,14.28,14.37,28.83
$GC,1197,-0.68,-145.9,2255,2505,3998,3897,197.6,-10.7,164,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2504,3947,3998,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1497,-0.71,-145.9,2252,2507,4000,3897,227.6,-9.9,194,1505,0.00,2.50,0.00,0.000,516,0.000,0.122,2254,1087,3947,3998,3896,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1559,-0.75,-145.9,2255,1087,3998,3896,233.6,-9.7,206,1568,0.00,2.55,0.00,0.000,1030,0.000,0.125,2251,2500,3947,3999,3896,0,0,0,0,0,0,28.83,14.39,28.83
$STATE,1741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1741,begin apogee
$GC,1744,-0.16,0.0,2250,2807,3998,3897,250.9,-9.6,225,1933,0.65,0.00,184.48,1.251,10246,0.270,0.000,2415,2807,3347,3399,3295,0,0,0,0,0,0,14.36,28.83,13.32
$STATE,1936,end apogee,CONTROL_FINISHED_OK
$STATE,1936,begin climb
$GC,1937,0.79,145.9,2416,2807,3392,3288,257.0,0.0,231,2082,1.02,1.90,129.18,1.318,10500,0.171,0.145,2712,3767,2736,2783,2690,0,0,0,0,0,0,13.81,13.65,13.19
$GC,2136,0.69,145.9,2712,3766,2775,2675,245.6,14.5,263,2144,0.00,1.77,0.00,0.000,1030,0.000,0.100,2719,2805,2723,2773,2673,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2449,0.62,145.9,2721,2804,2770,2670,206.3,11.7,295,2457,0.20,2.53,0.00,0.000,4612,0.304,0.110,2682,1388,2721,2774,2668,0,0,0,0,0,0,14.12,14.17,28.83
$GC,2546,0.62,164.2,2683,1389,2773,2669,197.1,9.5,314,2568,0.00,2.60,14.23,1.222,9222,0.000,0.125,2682,2804,2674,2731,2617,0,0,0,0,0,0,28.83,14.23,13.67
$GC,2862,0.64,209.7,2682,2805,2721,2598,167.4,8.2,347,2925,0.00,2.62,54.10,1.179,8708,0.000,0.112,2692,1386,2484,2551,2417,0,0,0,0,0,0,28.83,13.98,13.54
$GC,3000,0.70,253.7,2693,1386,2541,2403,156.0,8.3,371,3057,0.00,2.62,50.50,1.150,9222,0.000,0.125,2692,2802,2315,2384,2246,0,0,0,0,0,0,28.83,14.11,13.46
$GC,3351,0.72,269.6,2694,2803,2368,2218,121.7,9.7,409,3374,0.00,2.60,14.10,1.117,8708,0.000,0.113,2702,1387,2241,2318,2164,0,0,0,0,0,0,28.83,14.12,13.67
$GC,3468,0.76,301.4,2702,1388,2308,2152,110.8,8.9,431,3518,0.00,2.60,37.75,1.119,9222,0.000,0.125,2702,2800,2111,2195,2027,0,0,0,0,0,0,28.83,14.19,13.59
$GC,3822,0.76,303.1,2703,2800,2187,2009,74.1,10.3,469,3833,0.00,2.55,0.00,0.000,516,0.000,0.115,2712,1388,2097,2187,2008,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3966,0.79,327.7,2713,1391,2187,2008,60.5,9.2,497,3985,0.00,2.60,11.18,0.306,9222,0.000,0.126,2717,2801,2010,2101,1920,0,0,0,0,0,0,28.83,14.28,14.14
$GC,4279,0.91,421.7,2711,2802,2128,1951,37.2,5.9,529,4344,0.15,2.62,51.55,0.278,10756,0.158,0.116,2769,1387,1630,1723,1538,0,0,0,0,0,0,14.38,14.26,14.18
$GC,4509,0.98,458.0,2771,1387,1736,1552,16.1,8.7,571,4539,0.00,2.60,20.92,0.222,9222,0.000,0.127,2769,2812,1479,1574,1384,0,0,0,0,0,0,28.83,14.32,14.24
$FREEZE,10.83,3.964,-1.428,0,1,0
$STATE,4742,end climb,NO_VERTICAL_VELOCITY
$STATE,4742,begin surface
$SM_CCo,4745,130.25,0.203,0,0,497,698.86
$SM_GC,1.74,7.97,0.57,0.00,0.111,0.113,0.000,200,2500,503,-7.06,0.76,697.88,0,0,0,0,0,0,14.28,14.34,28.83
$RAFOS_CLK,208
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,280714,064505
$TT8_MAMPS,0.046438,0.046438
$HUMID,51.22
$INTERNAL_PRESSURE,8.50456
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,4015552
$TM_FREEKB,7838880
$24V_AH,13.19,28.594
$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,21.500,45.075,567.975,130.250,0.000,0.000,0.000,266.400,0.000,0.000,41.194,0.000,2946.575,792.777,1668.745,55.006,0.000,1595.779,0.000,886.341,0.000,0.537,0.000
$DEVICE_MAMPS,477.360,167.535,1318.095,203.490,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4758.000,4760.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.504,1000.000,0.000,0.000
$MEM,310120
$DATA_FILE_SIZE,20100,596
$CAP_FILE_SIZE,97869,0
$CFSIZE,2097872896,2091810816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5440.25,0x2378b6,7,5
$SOUNDSPEED,1445.1
$EKF,5086,4254.388672,-8668.626953,10.827080,0.013254,-0.004907,0.009243,0.000022,0.000203,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.131,191.16,1
$GPS,280714,094455,7054.037,-14428.844,17,0.7,37,22.3