version: 66.12
glider: 198
mission: 5
dive: 5
start: 7 28 114 0 10 26
data:
$ID,198
$MISSION,5
$DIVE,5
$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,-3327.3726
$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,13
$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
$GPS1,280714,000055,7053.870,-14431.782,3,0.9,24,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.0
$GPS2,280714,001008,7053.875,-14432.021,6,0.9,26,22.3
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,305.0,20330,-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,17,-0.92,-145.9,213,1997,487,525,0.0,0.0,0,79,0.00,0.00,-59.05,0.000,16386,0.000,0.000,212,1997,1916,1961,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.92,-145.9,213,1998,1961,1872,3.1,-3.8,6,142,11.48,2.67,-39.80,0.000,18948,0.475,0.161,2343,579,3778,3843,3714,0,0,0,0,0,0,14.07,14.25,14.52
$GC,366,-0.89,-145.9,2344,579,3848,3715,65.4,-18.0,60,376,0.12,2.53,0.00,0.000,3078,0.364,0.116,2356,1994,3778,3843,3714,0,0,0,0,0,0,14.22,14.34,28.83
$GC,679,-0.89,-145.9,2356,1994,3840,3715,118.8,-16.5,92,690,0.00,2.50,0.00,0.000,516,0.000,0.131,2356,583,3779,3843,3716,0,0,0,0,0,0,28.83,14.31,28.83
$GC,738,-0.89,-145.9,2357,584,3844,3717,128.4,-15.9,103,747,0.00,2.53,0.00,0.000,1030,0.000,0.116,2348,1995,3777,3843,3712,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1043,-0.89,-145.9,2347,1996,3846,3715,174.7,-14.2,134,1051,0.00,2.58,0.00,0.000,260,0.000,0.142,2347,3416,3779,3843,3716,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,1219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1219,begin apogee
$GC,1224,-0.17,0.0,2348,1984,3849,3717,200.1,-14.2,169,1357,0.95,0.00,122.62,2.440,10246,0.298,0.000,2584,1978,3188,3263,3113,0,0,0,0,1,0,14.34,28.83,12.77
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1360,0.92,145.9,2587,1982,3281,3113,205.2,0.0,182,1512,1.23,2.80,131.93,2.521,10756,0.184,0.128,2945,587,2593,2661,2526,0,0,0,0,1,0,13.74,13.43,12.63
$GC,1706,0.85,145.9,2945,587,2678,2526,174.0,12.7,242,1714,0.00,2.58,1.40,0.230,9222,0.000,0.113,2945,1994,2591,2663,2519,0,0,0,0,0,0,28.83,14.01,13.94
$GC,2019,0.84,198.0,2946,1994,2688,2519,141.6,9.2,274,2080,0.00,2.70,50.60,1.050,8452,0.000,0.134,2945,3412,2365,2430,2300,0,0,0,0,0,0,28.83,13.99,13.63
$GC,2304,0.74,198.0,2946,3405,2423,2293,104.7,12.8,328,2314,0.28,2.47,0.00,0.000,5126,0.345,0.096,2897,1991,2357,2421,2293,0,0,0,0,0,0,14.10,14.23,28.83
$GC,2618,0.80,263.6,2893,1991,2418,2293,75.6,8.5,360,2661,0.00,2.62,33.30,0.396,8452,0.000,0.139,2897,3412,2113,2180,2047,0,0,0,0,0,0,28.83,14.24,14.13
$GC,2885,0.84,318.3,2898,3409,2192,2048,46.4,9.1,411,2929,0.00,2.47,31.12,0.308,9222,0.000,0.096,2908,1994,1892,1956,1829,0,0,0,0,0,0,28.83,14.36,14.17
$GC,3233,0.95,411.8,2913,1995,1968,1828,17.8,6.9,448,3297,0.15,2.60,51.85,0.217,10756,0.148,0.134,2972,574,1510,1560,1460,0,0,0,0,0,0,14.44,14.31,14.29
$GC,3336,1.27,640.6,2975,574,1567,1460,13.0,-0.6,465,3474,0.25,2.55,128.52,0.202,11270,0.117,0.117,3061,2001,572,543,601,0,0,0,0,0,0,14.35,14.31,14.19
$STATE,3527,end climb,SURFACE_DEPTH_REACHED
$STATE,3527,begin surface coast
$FINISH,0.8,1.018602
$STATE,3537,end surface coast,CONTROL_FINISHED_OK
$STATE,3537,begin surface
$SM_CCo,3558,5.40,0.188,0,0,539,649.06
$SM_GC,3.11,8.82,0.00,5.40,0.116,0.000,0.188,210,2001,539,-7.57,0.17,649.06,0,0,0,0,0,0,14.35,28.83,14.27
$RAFOS_CLK,218
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,000329
$TT8_MAMPS,0.047187,0.047187
$HUMID,51.92
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,4018144
$TM_FREEKB,7884640
$24V_AH,12.63,2.642
$10V_AH,12.65,0.000
$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,23.275,36.125,551.350,5.400,0.000,0.000,0.000,332.725,0.000,0.000,27.440,0.000,1987.192,578.476,1516.414,44.225,0.000,1414.075,0.000,729.591,784.000,0.535,0.000
$DEVICE_MAMPS,475.065,161.415,2521.440,188.190,0.000,0.000,0.000,175.950,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3547.000,3565.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.057,13.960,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,16775,492
$CAP_FILE_SIZE,74003,0
$CFSIZE,2097872896,2092662784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,4381.65,0x2378b6,7,5
$INTR,1,3547.94,0x2378b6,7,5
$SOUNDSPEED,1443.3
$EKF,3642,4253.960938,-8672.434570,0.786416,0.233821,-0.087351,-0.049655,0.000020,0.000186,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.101,200.05,1
$GPS,280714,011105,7053.787,-14432.659,19,0.8,40,22.3