version: 66.12
glider: 198
mission: 5
dive: 4
start: 7 27 114 22 57 23
data:
$ID,198
$MISSION,5
$DIVE,4
$N_DIVES,5
$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,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,-3326.116
$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,19
$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,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
$GPS1,270714,225350,7054.202,-14431.297,3,0.9,3,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.0
$GPS2,270714,225706,7054.190,-14431.373,5,0.9,26,22.3
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,300.0,20339,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.92,-145.9,212,2001,500,551,0.0,0.0,0,95,0.00,0.00,-73.35,0.000,16386,0.000,0.000,207,1998,2382,2434,2330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.92,-145.9,207,2001,2436,2337,4.5,-6.3,7,141,11.10,2.62,-23.83,0.000,19204,0.467,0.158,2332,3411,3785,3851,3719,0,0,0,0,0,0,14.25,14.42,14.69
$GC,365,-0.85,-145.9,2333,3411,3852,3724,73.5,-21.8,58,375,0.17,2.45,0.00,0.000,3078,0.340,0.098,2367,1999,3787,3851,3724,0,0,0,0,0,0,14.33,14.46,28.83
$GC,670,-0.85,-145.9,2369,1998,3851,3723,123.6,-15.7,89,678,0.00,2.55,0.00,0.000,516,0.000,0.133,2367,576,3787,3851,3724,0,0,0,0,0,0,28.83,14.42,28.83
$GC,902,-0.85,-145.9,2371,575,3852,3731,157.3,-14.2,135,910,0.00,2.53,0.00,0.000,1030,0.000,0.121,2367,1998,3787,3851,3724,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1214,-0.85,-145.9,2362,2000,3851,3727,197.3,-12.1,167,1222,0.00,2.55,0.00,0.000,516,0.000,0.134,2361,575,3790,3850,3730,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,1235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1235,begin apogee
$GC,1240,-0.17,0.0,2362,1994,3851,3723,200.0,-12.3,171,1374,0.90,0.00,128.15,1.088,10246,0.289,0.000,2588,1994,3185,3259,3112,0,0,0,0,0,0,14.41,28.83,13.62
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1376,0.92,145.9,2592,1994,3247,3099,204.4,0.0,184,1518,1.17,2.72,124.40,1.047,10756,0.181,0.129,2945,557,2573,2633,2514,0,0,0,0,0,0,14.01,13.84,13.51
$GC,1527,0.85,145.9,2946,558,2630,2513,194.7,13.4,205,1536,0.00,2.65,0.00,0.000,1030,0.000,0.112,2946,1997,2567,2628,2507,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1832,0.79,160.6,2946,1997,2626,2495,153.8,11.3,236,1850,0.15,2.67,11.02,1.057,12548,0.330,0.135,2912,3414,2523,2593,2453,0,0,0,0,0,0,14.21,14.21,13.83
$GC,2074,0.76,199.5,2913,3414,2580,2438,126.8,10.0,283,2118,0.00,2.47,25.83,1.131,9222,0.000,0.093,2922,1988,2374,2447,2302,0,0,0,0,1,0,28.83,14.35,13.71
$GC,2422,0.78,248.3,2923,1988,2471,2302,92.1,9.4,320,2459,0.00,2.67,28.23,0.432,8452,0.000,0.134,2922,3411,2176,2248,2105,0,0,0,0,0,0,28.83,14.32,14.14
$GC,2683,0.73,265.1,2923,3411,2286,2102,59.2,11.2,370,2706,0.17,2.47,12.27,0.312,13318,0.315,0.096,2889,1985,2114,2196,2033,0,0,0,0,0,0,14.24,14.35,14.25
$GC,3010,0.88,385.8,2888,1989,2229,2033,36.5,5.4,404,3086,0.15,2.60,67.60,0.272,10500,0.151,0.135,2942,3409,1615,1668,1562,0,0,0,0,0,0,14.48,14.37,14.26
$GC,3140,0.84,385.8,2943,3409,1696,1562,22.6,15.8,426,3149,0.12,2.47,2.50,0.219,13318,0.340,0.102,2929,1998,1611,1668,1555,0,0,0,0,0,0,14.26,14.37,14.28
$FREEZE,12.87,2.597,-1.450,0,1,0
$STATE,3412,end climb,NO_VERTICAL_VELOCITY
$STATE,3412,begin surface
$SM_CCo,3416,154.73,0.206,0,0,499,658.88
$SM_GC,1.80,8.35,0.00,0.00,0.117,0.000,0.000,213,2002,505,-7.58,0.03,657.65,0,0,0,0,0,0,14.44,28.83,28.83
$RAFOS_CLK,229
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,270714,224927
$TT8_MAMPS,0.044191,0.044191
$HUMID,51.65
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,4018592
$TM_FREEKB,7890464
$24V_AH,13.51,2.351
$10V_AH,12.83,0.000
$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,22.300,36.025,400.000,154.725,0.000,0.000,0.000,0.000,0.000,0.000,27.597,0.000,2152.978,639.779,1018.174,26.884,0.000,1056.931,0.000,675.791,0.000,0.535,0.000
$DEVICE_MAMPS,467.415,157.590,1130.670,205.785,0.000,0.000,0.000,0.000,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3392.000,3398.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.334,14.329,0.000,0.000
$MEM,312600
$DATA_FILE_SIZE,13453,454
$CAP_FILE_SIZE,83968,0
$CFSIZE,2097872896,2092892160
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,3576.32,0x2378b6,7,5
$INTR,1,3683.33,0x2378b6,7,5
$SOUNDSPEED,1442.0
$EKF,3815,4254.060547,-8671.584961,12.868964,-0.001731,0.002832,0.005878,0.000018,0.000169,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.097,198.90,1
$GPS,280714,000055,7053.870,-14431.782,3,0.9,24,22.3