version: 66.12
glider: 199
mission: 5
dive: 458
start: 9 30 114 22 59 0
data:
$ID,199
$MISSION,5
$DIVE,458
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$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,60
$T_MISSION,90
$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,200
$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,5
$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,-30314.529
$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,34
$R_STBD_OVSHOOT,15
$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,48
$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
$GPS1,300914,221525,7239.924,-14640.788,2,0.9,23,22.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-74.0
$GPS2,300914,225839,7239.952,-14640.356,6,0.7,26,22.0
$SPEED_LIMITS,0.132,0.285
$TGT_NAME,a
$TGT_LATLONG,7200.000,-14730.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,179.0,79258,-17.6,-11.111,-21.32,2694
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.69,-194.6,195,2363,511,484,0.0,0.0,0,91,0.00,0.00,-70.85,0.000,16386,0.000,0.000,196,2362,2152,2158,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.69,-194.6,197,2363,2159,2147,3.4,-2.1,7,153,11.18,2.65,-38.58,0.000,18692,0.459,0.132,2186,3773,3963,4024,3902,0,0,0,0,0,0,13.78,14.12,14.51
$GC,378,-0.69,-194.6,2186,3774,4025,3906,80.7,-22.3,64,384,0.00,2.45,0.00,0.000,1030,0.000,0.066,2185,2355,3963,4022,3905,0,0,0,0,0,0,28.83,14.26,28.83
$GC,683,-0.69,-194.6,2187,2353,4023,3906,140.4,-18.4,95,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2352,3963,4022,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,983,-0.69,-194.6,2188,2353,4023,3906,190.3,-15.7,125,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2353,3964,4024,3905,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1051,begin apogee
$GC,1057,-0.14,0.0,2185,2610,4025,3907,201.1,-15.1,132,1264,0.80,0.00,199.57,1.174,10246,0.279,0.000,2378,2609,3225,3276,3174,0,0,0,0,0,0,13.95,28.83,13.28
$STATE,1265,end apogee,CONTROL_FINISHED_OK
$STATE,1265,begin climb
$GC,1268,0.69,194.6,2379,2609,3276,3173,210.9,0.0,153,1442,0.95,2.22,164.80,1.205,10500,0.173,0.115,2652,3764,2426,2491,2361,0,0,0,0,0,0,13.84,13.54,12.95
$GC,1627,0.74,247.5,2651,3765,2485,2353,193.2,9.1,225,1678,0.00,2.05,45.08,1.180,9222,0.000,0.072,2661,2594,2214,2287,2142,0,0,0,0,0,0,28.83,14.11,13.32
$GC,1977,0.84,338.7,2662,2595,2279,2126,165.8,7.6,265,2064,0.12,2.47,78.85,1.166,10756,0.146,0.078,2722,1193,1837,1919,1755,0,0,0,0,0,0,14.33,14.12,13.47
$GC,2155,0.84,338.7,2722,1193,1910,1745,146.9,10.9,300,2161,0.00,2.53,0.00,0.000,1030,0.000,0.092,2722,2598,1823,1905,1742,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2460,0.84,338.7,2722,2597,1909,1740,111.6,11.3,331,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2598,1824,1908,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,0.89,338.7,2722,2599,1908,1740,80.3,9.7,361,2765,0.00,2.47,0.00,0.000,516,0.000,0.077,2732,1193,1823,1907,1739,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2862,0.95,396.6,2733,1193,1906,1739,71.0,8.9,381,2896,0.00,2.53,26.73,0.376,9222,0.000,0.093,2732,2600,1613,1701,1526,0,0,0,0,0,0,28.83,14.23,13.88
$GC,3201,1.05,496.8,2732,2600,1714,1541,41.5,7.3,419,3263,0.12,2.50,53.75,0.293,10756,0.149,0.080,2787,1201,1205,1286,1125,0,0,0,0,0,0,14.28,14.23,13.99
$GC,3318,1.05,496.8,2787,1202,1294,1135,30.0,10.7,439,3324,0.00,2.53,1.40,0.243,9222,0.000,0.092,2787,2599,1202,1282,1122,0,0,0,0,0,0,28.83,14.17,14.04
$FREEZE,8.36,0.725,-1.475,2,1,0
$FREEZE,8.33,0.714,-1.475,2,1,0
$FREEZE,8.27,0.714,-1.475,2,1,0
$FREEZE,8.09,0.698,-1.475,2,1,0
$FREEZE,7.79,0.698,-1.474,2,1,0
$FREEZE,7.51,0.688,-1.474,2,1,0
$FREEZE,7.18,0.688,-1.474,2,1,0
$FREEZE,6.81,0.686,-1.473,2,1,0
$GC,3625,1.20,644.5,2787,2600,1292,1131,11.5,5.5,470,3705,0.00,2.53,75.75,0.214,8708,0.000,0.076,2796,1203,602,657,548,0,0,0,0,0,0,28.83,14.13,14.00
$FREEZE,6.14,0.684,-1.473,2,1,0
$FREEZE,5.76,0.684,-1.472,2,1,0
$FREEZE,5.43,0.682,-1.472,2,1,0
$FREEZE,4.99,0.682,-1.472,2,1,0
$FREEZE,4.71,0.688,-1.471,2,1,0
$FREEZE,4.37,0.688,-1.471,2,1,0
$FREEZE,4.03,0.690,-1.470,2,1,0
$FREEZE,3.75,0.690,-1.470,2,1,0
$FREEZE,3.25,0.690,-1.470,2,1,0
$FREEZE,2.93,0.690,-1.469,2,1,0
$FREEZE,2.56,0.691,-1.469,2,1,0
$FREEZE,2.24,0.691,-1.469,2,1,0
$FREEZE,1.83,0.690,-1.468,2,1,0
$STATE,3771,end climb,SURFACE_DEPTH_REACHED
$STATE,3771,begin surface coast
$FREEZE,1.54,0.690,-1.468,2,1,0
$FREEZE,1.38,0.679,-0.677,2,1,0
$FREEZE,1.48,0.679,-0.678,2,1,0
$FINISH,1.5,1.009976
$STATE,3786,end surface coast,CONTROL_FINISHED_OK
$STATE,3786,begin surface
$SM_CCo,3805,13.27,0.199,0,0,500,669.67
$SM_GC,2.44,8.07,2.17,13.27,0.099,0.106,0.199,195,2363,500,-6.95,-0.45,669.67,0,0,0,0,0,0,14.21,14.19,14.07
$RAFOS_CLK,10
$RAFOS_FIX,7500.909668,-14140.484375,250914,080826,2,255,0.23
$IRIDIUM_FIX,7200.11,-14644.64,300914,224000
$TT8_MAMPS,0.078645,0.078645
$HUMID,50.47
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,12.60
$XPDR_PINGS,1
$SC_FREEKB,3959956
$24V_AH,12.95,221.620
$10V_AH,12.59,0.000
$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,21.250,29.600,645.925,13.275,0.000,0.000,0.000,2055.225,0.250,0.000,28.081,0.000,2284.379,610.154,2579.124,941.606,0.000,3168.602,0.000,760.554,1439.000,0.538,0.000
$DEVICE_MAMPS,459.000,132.345,1204.875,198.900,0.000,0.000,0.000,185.895,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3831.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,44.299,0.000,0.000,0.000
$MEM,105876
$DATA_FILE_SIZE,16762,503
$CAP_FILE_SIZE,93586,0
$CFSIZE,2097872896,1995636736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6405.45,0x2378b6,7,5
$SOUNDSPEED,1442.6
$GPS,011014,000411,7239.552,-14640.542,38,0.9,58,22.0