version: 66.12
glider: 198
mission: 5
dive: 3
start: 7 27 114 21 57 46
data:
$ID,198
$MISSION,5
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,33
$T_MISSION,54
$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,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-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,648.87579
$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,-3308.916
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,3186
$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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,270714,215353,7054.565,-14430.554,2,1.2,3,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.0
$GPS2,270714,215729,7054.544,-14430.604,5,1.0,25,22.3
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,299.2,20402,-22.3,-12.121,-27.17,1854
$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,16,begin dive
$GC,18,-0.92,-145.9,214,1999,472,517,0.0,0.0,0,94,0.00,0.00,-72.82,0.000,16386,0.000,0.000,213,1999,2338,2386,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.92,-145.9,214,1999,2388,2291,4.7,-7.2,7,138,11.35,2.65,-24.27,0.000,18948,0.476,0.156,2345,587,3784,3875,3694,0,0,0,0,0,0,14.18,14.33,14.63
$GC,362,-0.88,-145.9,2345,589,3870,3702,67.3,-18.3,58,372,0.12,2.55,0.00,0.000,3078,0.353,0.126,2357,1993,3788,3869,3707,0,0,0,0,0,0,14.28,14.40,28.83
$GC,667,-0.88,-145.9,2358,1993,3870,3702,119.0,-16.3,89,675,0.00,2.53,0.00,0.000,516,0.000,0.132,2358,593,3785,3869,3702,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,678,begin apogee
$GC,683,-0.17,0.0,2348,1996,3870,3702,120.8,-16.4,91,816,0.95,0.00,123.97,1.200,10246,0.302,0.000,2585,1996,3176,3251,3101,0,0,0,0,0,0,14.33,28.83,13.62
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,819,0.92,145.9,2586,1996,3253,3100,127.5,0.0,104,958,1.23,2.75,122.80,0.998,10500,0.203,0.137,2935,3405,2578,2647,2510,0,0,0,0,0,0,13.98,13.87,13.50
$GC,962,1.05,290.9,2936,3404,2641,2504,128.0,4.1,124,1071,0.12,2.53,90.40,1.938,11270,0.158,0.090,2989,1992,2005,2069,1941,0,0,0,0,1,0,13.97,13.94,12.86
$GC,1375,0.99,290.9,2989,1992,2085,1941,63.8,15.7,171,1385,0.00,2.70,1.58,0.225,8452,0.000,0.138,2989,3408,2002,2072,1933,0,0,0,0,0,0,28.83,14.20,14.19
$GC,1609,0.93,304.1,2989,3408,2084,1934,31.5,11.4,217,1625,0.20,2.45,9.02,0.275,13318,0.331,0.096,2956,1996,1945,2014,1876,0,0,0,0,0,0,14.21,14.33,14.23
$GC,1920,1.17,501.1,2956,1996,2035,1873,14.7,1.2,249,2042,0.20,2.62,109.07,0.207,11012,0.131,0.135,3041,590,1143,1156,1130,0,0,0,0,0,0,14.40,14.26,14.23
$GC,2166,1.39,663.3,3042,591,1167,1136,8.0,3.1,292,2261,0.17,2.53,87.88,0.186,11266,0.137,0.117,3109,1999,525,499,551,0,0,0,0,0,0,14.35,14.30,28.83
$STATE,2262,end climb,SURFACE_DEPTH_REACHED
$STATE,2262,begin surface coast
$FINISH,0.2,1.018549
$STATE,2280,end surface coast,CONTROL_FINISHED_OK
$STATE,2280,begin surface
$SM_CCo,2361,0.00,0.000,0,0,525,653.23
$SM_GC,1.65,8.98,0.00,0.00,0.116,0.000,0.000,207,1996,525,-7.58,0.11,653.23,0,0,0,0,0,0,14.35,28.83,28.83
$RAFOS_CLK,145
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,270714,214936
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.90
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,4019040
$TM_FREEKB,7896096
$24V_AH,12.86,2.168
$10V_AH,12.85,0.000
$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,23.325,25.875,544.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,26.292,0.000,1126.561,581.595,713.972,20.663,0.000,914.011,0.000,462.761,0.000,0.536,0.000
$DEVICE_MAMPS,475.830,156.060,1937.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2260.000,2268.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.451,14.568,0.000,0.000
$MEM,313424
$DATA_FILE_SIZE,10146,310
$CAP_FILE_SIZE,55281,0
$CFSIZE,2097872896,2093187072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2517.31,0x2378b6,7,5
$INTR,1,2289.66,0x2378b6,7,5
$SOUNDSPEED,1442.4
$EKF,2420,4254.358887,-8670.708008,0.211435,-0.066814,-0.126327,-0.029710,0.000011,0.000103,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.083,219.24,1
$GPS,270714,223803,7054.269,-14430.950,2,1.0,23,22.3