version: 66.12
glider: 199
mission: 5
dive: 3
start: 7 27 114 22 30 17
data:
$ID,199
$MISSION,5
$DIVE,3
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,55
$T_MISSION,75
$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,-21585.713
$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,2500
$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,1994
$C_ROLL_CLIMB,1994
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,13
$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,4
$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
$GPS1,270714,222617,7054.601,-14431.730,2,1.2,2,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.5
$GPS2,270714,223000,7054.584,-14431.806,4,0.9,24,22.3
$SPEED_LIMITS,0.144,0.255
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,292.5,19738,-22.3,-12.121,-25.43,1854
$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,17,begin dive
$GC,18,-0.88,-145.9,196,2001,572,502,0.0,0.0,0,94,0.00,0.00,-72.97,0.000,16386,0.000,0.000,195,2001,2353,2352,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.88,-145.9,195,2002,2354,2355,3.8,-5.0,7,146,10.98,2.60,-28.02,0.000,18948,0.474,0.149,2211,590,3947,4002,3893,0,0,0,0,0,0,14.14,14.31,14.59
$GC,370,-0.84,-145.9,2212,590,4001,3897,68.8,-18.6,59,378,0.00,2.53,0.00,0.000,1030,0.000,0.123,2202,1994,3949,4002,3896,0,0,0,0,0,0,28.83,14.38,28.83
$GC,682,-0.84,-145.9,2203,1995,4002,3897,126.4,-17.7,91,690,0.00,2.55,0.00,0.000,516,0.000,0.126,2201,575,3949,4002,3897,0,0,0,0,0,0,28.83,14.38,28.83
$GC,914,-0.84,-145.9,2206,575,4001,3897,165.0,-15.3,137,924,0.15,2.55,0.00,0.000,3078,0.330,0.124,2221,1994,3949,4002,3897,0,0,0,0,0,0,14.29,14.41,28.83
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1190,-0.16,0.0,2222,1995,4000,3897,200.7,-12.4,165,1392,0.85,0.00,172.07,1.935,10246,0.268,0.000,2442,1994,3352,3410,3294,0,0,0,0,4,0,14.33,28.83,12.94
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1395,0.88,145.9,2441,1995,3412,3297,210.0,0.0,185,1630,1.10,2.88,184.62,1.893,11012,0.135,0.146,2777,3410,2757,2810,2705,0,0,0,0,7,0,13.80,13.52,12.83
$GC,1654,0.76,145.9,2777,3411,2815,2703,205.4,13.6,222,1664,0.20,2.62,0.00,0.000,5126,0.332,0.103,2750,1992,2759,2813,2705,0,0,0,0,0,0,13.62,13.74,28.83
$GC,1960,0.78,206.4,2753,1992,2811,2706,174.0,8.8,253,2059,0.00,2.88,77.10,1.786,8452,0.000,0.148,2750,3413,2508,2574,2443,0,0,0,0,3,0,28.83,13.65,12.99
$GC,2283,0.75,234.1,2750,3412,2579,2445,139.2,10.6,312,2328,0.00,2.55,31.52,1.590,9222,0.000,0.106,2759,1994,2395,2463,2327,0,0,0,0,1,0,28.83,14.09,13.19
$GC,2632,0.77,274.3,2761,1995,2467,2328,104.4,9.9,349,2682,0.00,2.75,35.25,1.323,8452,0.000,0.148,2760,3399,2230,2305,2155,0,0,0,0,1,0,28.83,13.91,13.35
$GC,2906,0.73,274.3,2761,3399,2311,2157,70.7,12.3,401,2916,0.15,2.53,0.00,0.000,5126,0.319,0.107,2740,1987,2232,2308,2156,0,0,0,0,0,0,14.12,14.22,28.83
$GC,3220,0.89,401.3,2742,1986,2307,2157,47.5,5.1,433,3293,0.15,2.75,65.45,0.324,10500,0.168,0.148,2785,3407,1713,1806,1620,0,0,0,0,0,0,14.33,14.19,14.09
$GC,3517,0.98,475.1,2789,3409,1803,1620,16.5,8.0,488,3562,0.00,2.53,38.05,0.230,9222,0.000,0.108,2795,1987,1410,1513,1308,0,0,0,0,0,0,28.83,14.31,14.19
$GC,3866,1.32,678.3,2795,1988,1513,1302,11.2,0.9,525,3987,0.40,2.58,109.75,0.212,10756,0.126,0.137,2935,581,581,651,511,0,0,0,0,0,0,14.37,14.22,14.18
$STATE,4005,end climb,SURFACE_DEPTH_REACHED
$STATE,4005,begin surface coast
$FINISH,1.5,1.019506
$STATE,4010,end surface coast,CONTROL_FINISHED_OK
$STATE,4010,begin surface
$SM_CCo,4033,5.88,0.204,0,0,538,689.05
$SM_GC,2.78,8.57,2.60,5.88,0.117,0.118,0.204,198,1995,538,-7.16,-0.59,689.05,0,0,0,0,0,0,14.27,14.27,14.21
$RAFOS_CLK,161
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14430.80,270714,222231
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.95
$INTERNAL_PRESSURE,8.51433
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4016204
$TM_FREEKB,7889920
$24V_AH,12.83,17.912
$10V_AH,12.45,0.000
$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,22.550,36.875,713.825,5.875,0.000,0.000,0.000,0.000,0.000,0.000,25.583,0.000,2114.008,809.825,1159.218,31.023,0.000,1327.274,0.000,808.960,0.000,0.538,0.000
$DEVICE_MAMPS,473.535,149.175,1934.685,204.255,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3991.000,3997.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.146,1000.000,0.000,0.000
$MEM,313740
$DATA_FILE_SIZE,16819,547
$CAP_FILE_SIZE,89104,0
$CFSIZE,2097872896,2093449216
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$INTR,0,3223.33,0x2378b6,7,5
$INTR,1,1187.75,0x2378b6,2,5
$SOUNDSPEED,1445.0
$EKF,4107,4254.444336,-8672.549805,1.452511,0.165260,-0.126921,-0.099841,0.000014,0.000132,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.027,350.02,1
$GPS,270714,233841,7054.512,-14432.602,18,1.0,38,22.3