version: 66.12
glider: 199
mission: 5
dive: 18
start: 7 28 114 20 47 47
data:
$ID,199
$MISSION,5
$DIVE,18
$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,-21640.541
$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,23
$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
$GPS1,280714,203923,7054.375,-14427.016,28,0.8,48,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.8
$GPS2,280714,204729,7054.339,-14426.918,3,0.8,24,22.3
$SPEED_LIMITS,0.141,0.253
$TGT_NAME,3
$TGT_LATLONG,7052.000,-14428.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,168.8,4382,-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,-145.9,196,2504,563,522,0.0,0.0,0,84,0.00,0.00,-63.00,0.000,16386,0.000,0.000,194,2504,2139,2144,2134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.86,-145.9,193,2505,2146,2134,3.6,-4.9,6,141,11.10,2.60,-33.33,0.000,18948,0.480,0.141,2186,1098,3945,3999,3892,0,0,0,0,0,0,14.04,14.19,14.48
$GC,365,-0.81,-145.9,2185,1099,4001,3897,71.3,-20.0,59,376,0.15,2.53,0.00,0.000,3078,0.363,0.116,2203,2502,3947,3999,3895,0,0,0,0,0,0,14.20,14.32,28.83
$GC,671,-0.79,-145.9,2201,2503,3998,3897,128.8,-17.5,90,679,0.00,2.45,0.00,0.000,516,0.000,0.112,2203,1091,3947,3999,3896,0,0,0,0,0,0,28.83,14.35,28.83
$GC,903,-0.79,-145.9,2204,1091,3999,3897,166.1,-14.9,136,911,0.00,2.53,0.00,0.000,1030,0.000,0.118,2194,2501,3947,3999,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1215,-0.79,-145.9,2194,2502,4001,3897,211.6,-14.1,168,1223,0.00,2.47,0.00,0.000,516,0.000,0.113,2195,1096,3947,3999,3896,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1397,-0.79,-145.9,2196,1096,3998,3896,236.0,-13.1,204,1405,0.12,2.53,0.00,0.000,3078,0.340,0.118,2206,2506,3947,3999,3895,0,0,0,0,0,0,14.33,14.44,28.83
$GC,1719,-0.79,-145.9,2206,2507,3998,3896,275.2,-11.7,223,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2507,3947,3999,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.81,-145.9,2206,2512,3998,3894,309.5,-11.5,233,2027,0.00,2.47,0.00,0.000,516,0.000,0.113,2207,1095,3947,3999,3895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2052,-0.84,-145.9,2208,1095,3998,3895,313.2,-11.5,239,2062,0.00,2.50,0.00,0.000,1030,0.000,0.117,2197,2499,3944,3999,3890,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,2115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2115,begin apogee
$GC,2118,-0.16,0.0,2195,2807,4000,3895,320.8,-12.0,246,2308,0.85,0.00,184.32,1.258,10246,0.292,0.000,2415,2802,3346,3400,3292,0,0,0,0,0,0,14.39,28.83,13.32
$STATE,2310,end apogee,CONTROL_FINISHED_OK
$STATE,2310,begin climb
$GC,2311,0.86,145.9,2411,2803,3394,3285,327.1,0.0,252,2453,1.12,1.90,128.20,1.394,10500,0.168,0.139,2737,3761,2743,2792,2694,0,0,0,0,0,0,13.82,13.65,13.13
$GC,2568,0.76,145.9,2738,3762,2775,2673,302.5,17.0,296,2575,0.00,1.70,0.00,0.000,1030,0.000,0.095,2744,2798,2725,2776,2675,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2890,0.69,145.9,2744,2796,2776,2671,253.8,15.1,310,2898,0.20,2.50,0.00,0.000,4612,0.314,0.106,2708,1387,2723,2776,2670,0,0,0,0,0,0,14.12,14.24,28.83
$GC,2982,0.69,162.3,2709,1387,2774,2670,242.8,11.0,328,3002,0.00,2.55,12.05,1.283,9222,0.000,0.119,2708,2797,2681,2738,2625,0,0,0,0,0,0,28.83,14.27,13.64
$GC,3306,0.66,170.3,2709,2797,2729,2606,203.3,11.4,362,3311,0.00,0.00,1.70,0.224,8198,0.000,0.000,2708,2797,2653,2714,2592,0,0,0,0,0,0,28.83,28.83,14.28
$GC,3607,0.69,219.8,2708,2800,2726,2605,171.2,9.2,392,3680,0.00,2.58,65.03,1.226,8708,0.000,0.106,2717,1386,2442,2510,2374,0,0,0,0,0,0,28.83,13.99,13.52
$GC,3814,0.74,256.4,2717,1387,2501,2360,151.2,9.9,430,3863,0.00,2.60,39.95,1.198,9222,0.000,0.119,2717,2799,2297,2369,2225,0,0,0,0,0,0,28.83,14.17,13.52
$GC,4167,0.77,286.8,2719,2800,2356,2206,112.6,10.2,468,4209,0.00,2.62,33.50,1.167,8708,0.000,0.109,2728,1395,2167,2247,2088,0,0,0,0,0,0,28.83,14.05,13.59
$GC,4278,0.80,311.8,2729,1396,2242,2071,101.4,10.5,488,4312,0.00,2.58,25.12,1.151,9222,0.000,0.118,2727,2800,2073,2161,1986,0,0,0,0,0,0,28.83,14.09,13.57
$GC,4616,0.81,315.9,2727,2801,2153,1964,63.1,11.6,524,4624,0.00,2.50,0.00,0.000,516,0.000,0.109,2737,1396,2057,2151,1963,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4848,0.97,418.1,2739,1396,2150,1963,42.5,6.3,570,4909,0.15,2.55,51.72,0.291,11270,0.160,0.119,2785,2805,1641,1737,1546,0,0,0,0,0,0,14.30,14.28,14.15
$GC,5213,1.29,641.3,2786,2806,1751,1567,11.0,-0.3,610,5344,0.30,1.80,118.75,0.204,10500,0.134,0.144,2882,3765,731,807,655,0,0,0,0,0,0,14.35,14.20,14.19
$STATE,5397,end climb,SURFACE_DEPTH_REACHED
$STATE,5397,begin surface coast
$FINISH,0.5,1.005761
$STATE,5417,end surface coast,CONTROL_FINISHED_OK
$STATE,5417,begin surface
$SM_CCo,5440,26.40,0.191,0,0,537,689.05
$SM_GC,1.38,8.48,2.30,26.40,0.122,0.106,0.191,199,2503,537,-7.06,0.71,689.05,0,0,0,0,0,0,14.29,14.29,14.23
$RAFOS_CLK,225
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14430.80,280714,190208
$TT8_MAMPS,0.047187,0.047187
$HUMID,51.85
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,4014784
$TM_FREEKB,7772960
$24V_AH,13.13,41.983
$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,22.475,48.800,660.350,26.400,0.000,0.000,0.000,310.175,0.000,0.000,26.460,0.000,3363.938,752.050,1780.784,60.374,0.000,1644.682,0.000,952.919,0.000,0.537,0.000
$DEVICE_MAMPS,479.655,143.820,1393.830,191.250,0.000,0.000,0.000,173.655,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5435.000,5447.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.095,1000.000,0.000,0.000
$MEM,306604
$DATA_FILE_SIZE,20071,644
$CAP_FILE_SIZE,95977,0
$CFSIZE,2097872896,2089975808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6190.29,0x2378b6,7,5
$SOUNDSPEED,1446.7
$EKF,5528,4253.852539,-8666.705078,0.487338,0.053115,0.033904,-0.017956,0.000054,0.000503,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.103,191.03,1
$GPS,280714,221951,7053.551,-14426.880,2,0.7,23,22.3