version: 66.12
glider: 199
mission: 5
dive: 215
start: 8 25 114 18 34 44
data:
$ID,199
$MISSION,5
$DIVE,215
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,669.66901
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22227.836
$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,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,1
$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
$GPS1,250814,113949,7344.895,-14654.194,4,0.8,24,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-9.8
$GPS2,250814,113949,7344.895,-14654.194,4,0.8,24,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7415.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.0,55795,-19.5,-11.628,-22.92,2318
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.1,2542,2365,699,588,0.0,0.0,0,30,0.00,0.00,-12.50,0.000,16386,0.000,0.000,2541,2364,1002,1067,937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.72,-175.1,2542,2365,1070,938,3.2,0.0,1,159,1.00,0.00,-121.53,0.000,21254,0.082,0.000,2195,2364,3944,3996,3893,0,0,0,0,0,0,14.34,28.83,14.61
$STATE,436,end dive,NO_VERTICAL_VELOCITY
$STATE,436,begin apogee
$FREEZE,3.37,-1.118,-1.460,2,3,0
$FREEZE,3.28,-1.202,-1.464,2,3,0
$FREEZE,3.32,-1.207,-1.465,2,3,0
$FREEZE,3.30,-1.127,-1.461,2,3,0
$FREEZE,3.28,-1.166,-1.463,2,3,0
$FREEZE,3.28,-1.180,-1.463,2,3,0
$FREEZE,3.28,-1.163,-1.462,2,3,0
$GC,440,-0.14,0.0,2194,2600,3997,3898,3.4,0.0,48,520,1.02,0.00,76.62,0.184,10246,0.467,0.000,2377,2599,3229,3262,3196,0,0,0,0,0,0,14.04,28.83,14.21
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$FREEZE,3.36,-1.210,-1.465,2,3,0
$FREEZE,3.22,-1.192,-1.464,2,3,0
$FREEZE,3.26,-1.210,-1.465,2,3,0
$FREEZE,3.27,-1.210,-1.465,2,3,0
$FREEZE,3.23,-1.222,-1.466,2,3,0
$FREEZE,3.22,-1.222,-1.466,2,3,0
$FREEZE,3.27,-1.222,-1.466,2,3,0
$FREEZE,3.21,-1.222,-1.466,2,3,0
$FREEZE,3.23,-1.226,-1.466,2,3,0
$FREEZE,3.22,-1.226,-1.466,2,3,0
$GC,524,0.72,175.1,2378,2600,3266,3197,3.3,0.0,56,607,1.38,2.22,76.05,0.180,10500,0.425,0.132,2644,3769,2514,2566,2462,0,0,0,0,0,0,14.03,14.19,14.17
$FREEZE,3.23,-1.223,-1.466,2,3,0
$FREEZE,3.21,-1.223,-1.466,2,3,0
$FREEZE,3.25,-1.202,-1.465,2,3,0
$FREEZE,3.21,-1.202,-1.465,2,3,0
$FREEZE,3.28,-1.220,-1.466,2,3,0
$FREEZE,3.17,-1.220,-1.466,2,3,0
$FREEZE,3.17,-1.221,-1.466,2,3,0
$FREEZE,3.22,-1.221,-1.466,2,3,0
$FREEZE,3.15,-1.223,-1.466,2,3,0
$FREEZE,3.09,-1.223,-1.466,2,3,0
$FREEZE,3.27,-1.222,-1.466,2,3,0
$FREEZE,3.23,-1.222,-1.466,2,3,0
$FREEZE,3.18,-1.207,-1.465,2,3,0
$FREEZE,3.27,-1.207,-1.465,2,3,0
$FREEZE,3.17,-1.225,-1.466,2,3,0
$FREEZE,3.16,-1.225,-1.466,2,3,0
$FREEZE,3.14,-1.225,-1.466,2,3,0
$FREEZE,3.09,-1.225,-1.466,2,3,0
$FREEZE,3.20,-1.219,-1.465,2,3,0
$FREEZE,3.24,-1.219,-1.465,2,3,0
$FREEZE,3.21,-1.214,-1.465,2,3,0
$FREEZE,3.20,-1.214,-1.465,2,3,0
$FREEZE,3.21,-1.214,-1.465,2,3,0
$FREEZE,3.19,-1.214,-1.465,2,3,0
$FREEZE,3.21,-1.213,-1.465,2,3,0
$FREEZE,3.27,-1.213,-1.465,2,3,0
$FREEZE,3.26,-1.219,-1.466,2,3,0
$FREEZE,3.17,-1.219,-1.466,2,3,0
$FREEZE,3.24,-1.215,-1.465,2,3,0
$FREEZE,3.21,-1.215,-1.465,2,3,0
$FREEZE,3.11,-1.207,-1.465,2,3,0
$FREEZE,3.24,-1.207,-1.465,2,3,0
$FREEZE,3.11,-1.211,-1.465,2,3,0
$FREEZE,3.22,-1.211,-1.465,2,3,0
$FREEZE,3.23,-1.214,-1.465,2,3,0
$FREEZE,3.19,-1.214,-1.465,2,3,0
$FREEZE,3.24,-1.147,-1.462,2,3,0
$FREEZE,3.16,-1.147,-1.462,2,3,0
$FREEZE,3.22,-1.120,-1.461,2,3,0
$FREEZE,3.26,-1.120,-1.461,2,3,0
$FREEZE,3.15,-1.122,-1.461,2,3,0
$FREEZE,3.20,-1.122,-1.461,2,3,0
$FREEZE,3.24,-1.116,-1.461,2,3,0
$FREEZE,3.17,-1.116,-1.461,2,3,0
$FREEZE,3.22,-1.136,-1.462,2,3,0
$FREEZE,3.19,-1.136,-1.462,2,3,0
$FREEZE,3.17,-1.127,-1.461,2,3,0
$FREEZE,3.27,-1.127,-1.461,2,3,0
$FREEZE,3.23,-1.176,-1.464,2,3,0
$FREEZE,3.22,-1.176,-1.464,2,3,0
$FREEZE,3.15,-1.195,-1.465,2,3,0
$FREEZE,3.22,-1.195,-1.465,2,3,0
$FREEZE,3.19,-1.226,-1.466,2,3,0
$FREEZE,3.14,-1.226,-1.466,2,3,0
$FREEZE,3.17,-1.195,-1.465,2,3,0
$FREEZE,3.22,-1.195,-1.465,2,3,0
$FREEZE,3.15,-1.216,-1.466,2,3,0
$FREEZE,3.13,-1.216,-1.466,2,3,0
$FREEZE,3.24,-1.204,-1.447,2,3,0
$GC,832,0.99,441.6,2644,3769,2584,2463,3.2,-0.2,112,926,0.45,2.05,88.32,0.181,11266,0.334,0.082,2741,2578,1707,1789,1625,0,0,0,0,0,0,14.04,14.32,28.83
$STATE,927,end climb,NO_VERTICAL_VELOCITY
$STATE,927,begin subsurface finish
$FINISH1,3.2,1.021310,346
$GC,931,0.35,345.8,2741,2579,1790,1623,3.2,-0.1,126,940,0.60,1.45,-4.55,0.000,20739,0.119,0.158,2545,3343,1822,1903,1741,0,0,0,0,0,0,14.26,28.83,14.46
$FINISH2,3.2
$STATE,940,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,940,begin surface
$RAFOS_CLK,49
$RAFOS_FIX,7340.948242,-14648.716797,250814,040455,2,255,0.23
$IRIDIUM_FIX,7312.24,-14916.77,250814,080434
$TT8_MAMPS,0.045689,0.045689
$HUMID,48.70
$INTERNAL_PRESSURE,8.54363
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3992320
$24V_AH,14.03,133.484
$10V_AH,13.32,0.000
$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,4.450,6.600,241.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,353.804,315.356,349.589,40.319,0.000,463.621,0.000,195.607,0.000,0.535,0.000
$DEVICE_MAMPS,466.650,157.590,184.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,992.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,58.426,0.000,0.000,0.000
$MEM,236336
$DATA_FILE_SIZE,3506,127
$CAP_FILE_SIZE,25785,0
$CFSIZE,2097872896,2042232832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,929.03,0x2378b6,5,5
$SOUNDSPEED,1432.6
$GPS,250814,113949,7344.895,-14654.194,4,0.8,24,22.2