version: 66.12
glider: 198
mission: 5
dive: 6
start: 7 28 114 1 18 3
data:
$ID,198
$MISSION,5
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,90
$T_MISSION,115
$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,-3328.6289
$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,2630
$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,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,19
$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
$GPS1,280714,011105,7053.787,-14432.659,19,0.8,40,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.4
$GPS2,280714,011749,7053.812,-14432.809,4,0.8,24,22.3
$SPEED_LIMITS,0.159,0.231
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,34.3,1737,-20.4,-11.111,-25.69,2022
$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,-0.86,-145.9,205,2609,498,588,0.0,0.0,0,84,0.00,0.00,-63.40,0.000,16386,0.000,0.000,205,2609,2134,2181,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.86,-145.9,206,2609,2183,2089,3.8,-4.8,6,134,11.57,2.25,-29.90,0.000,18692,0.478,0.169,2336,3785,3784,3851,3717,0,0,0,0,0,0,14.11,14.28,14.52
$GC,358,-0.77,-145.9,2339,3784,3860,3722,73.6,-22.6,58,367,0.20,2.08,0.00,0.000,3078,0.349,0.096,2377,2587,3786,3851,3722,0,0,0,0,0,0,14.26,14.42,28.83
$GC,671,-0.77,-145.9,2379,2588,3852,3723,124.5,-15.1,90,682,0.00,2.22,0.00,0.000,260,0.000,0.150,2374,3786,3787,3851,3723,0,0,0,0,0,0,28.83,14.40,28.83
$GC,906,-0.77,-145.9,2375,3787,3852,3724,161.8,-14.9,136,914,0.00,2.05,0.00,0.000,1030,0.000,0.095,2374,2590,3787,3851,3723,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1218,-0.77,-145.9,2375,2591,3852,3723,201.9,-11.9,168,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2589,3787,3851,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-0.77,-145.9,2375,2591,3851,3723,234.9,-10.6,198,1527,0.00,2.20,0.00,0.000,260,0.000,0.153,2374,3783,3786,3851,3722,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1596,-0.77,-145.9,2375,3784,3852,3723,243.8,-11.2,213,1605,0.00,2.05,0.00,0.000,1030,0.000,0.096,2374,2609,3787,3851,3723,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1901,-0.77,-145.9,2374,2609,3852,3722,275.5,-10.1,228,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2609,3786,3851,3722,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2170,begin apogee
$GC,2173,-0.17,0.0,2375,2613,3852,3723,302.9,-10.2,237,2308,0.75,0.00,129.77,1.222,10246,0.283,0.000,2567,2609,3182,3253,3111,0,0,0,0,0,0,14.47,28.83,13.53
$STATE,2311,end apogee,CONTROL_FINISHED_OK
$STATE,2311,begin climb
$GC,2312,0.86,145.9,2568,2610,3246,3105,306.4,0.0,241,2453,1.15,0.00,127.22,1.163,10758,0.197,0.000,2896,2609,2583,2649,2518,0,0,0,0,0,0,13.97,28.83,13.41
$GC,2768,0.77,145.9,2900,2609,2625,2502,248.0,15.5,275,2775,0.00,2.20,0.00,0.000,260,0.000,0.144,2896,3784,2560,2624,2497,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3000,0.65,145.9,2897,3784,2624,2501,207.5,17.7,321,3008,0.28,2.05,0.00,0.000,5126,0.326,0.092,2843,2598,2561,2622,2501,0,0,0,0,0,0,14.24,14.38,28.83
$GC,3312,0.63,163.8,2844,2598,2624,2500,171.7,10.2,353,3341,0.00,2.25,13.00,1.086,8452,0.000,0.145,2843,3776,2508,2573,2443,0,0,0,0,1,0,28.83,14.32,13.72
$GC,3565,0.59,181.5,2844,3776,2568,2440,144.9,10.2,402,3591,0.10,2.08,14.02,1.020,13318,0.334,0.093,2826,2601,2441,2508,2375,0,0,0,0,1,0,14.30,14.43,13.90
$GC,3886,0.68,254.7,2827,2602,2509,2372,118.9,7.4,435,3947,0.00,2.65,49.22,1.723,8708,0.000,0.112,2842,1188,2151,2216,2086,0,0,0,0,1,0,28.83,14.03,13.19
$GC,4171,0.73,300.4,2837,1188,2244,2086,93.9,8.8,489,4206,0.00,2.60,27.33,0.448,9222,0.000,0.132,2837,2595,1961,2023,1899,0,0,0,0,0,0,28.83,14.27,14.04
$GC,4510,0.78,340.0,2837,2594,2054,1900,60.5,9.1,525,4546,0.15,2.58,24.12,0.347,10756,0.148,0.112,2905,1186,1807,1873,1742,0,0,0,0,0,0,14.43,14.34,14.21
$GC,4645,0.82,369.6,2904,1186,1893,1741,46.5,9.6,550,4675,0.00,2.60,19.20,0.308,9222,0.000,0.131,2904,2605,1681,1740,1622,0,0,0,0,0,0,28.83,14.35,14.22
$GC,4979,0.96,486.9,2901,2604,1764,1622,15.5,5.1,585,5055,0.12,2.20,67.20,0.218,10500,0.156,0.145,2958,3793,1202,1233,1171,0,0,0,0,0,0,14.48,14.32,14.29
$GC,5279,1.17,654.4,2954,3789,1252,1171,8.2,2.6,641,5383,0.15,2.08,95.72,0.195,11270,0.145,0.095,3016,2587,519,484,554,0,0,0,0,0,0,14.42,14.40,14.28
$STATE,5386,end climb,SURFACE_DEPTH_REACHED
$STATE,5386,begin surface coast
$FINISH,0.5,1.011440
$STATE,5406,end surface coast,CONTROL_FINISHED_OK
$STATE,5406,begin surface
$SM_CCo,5487,0.00,0.000,0,0,520,653.97
$SM_GC,2.14,8.68,0.00,0.00,0.116,0.000,0.000,206,2588,520,-7.53,-0.34,653.97,0,0,0,0,0,0,14.37,28.83,28.83
$RAFOS_CLK,341
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,000536
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.79
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4017696
$TM_FREEKB,7875872
$24V_AH,13.19,2.865
$10V_AH,12.78,0.000
$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,23.150,37.250,566.825,0.000,0.000,0.000,0.000,242.050,0.000,0.000,25.939,0.000,3471.949,644.328,1725.139,53.146,0.000,1464.390,0.000,977.160,0.000,0.535,0.000
$DEVICE_MAMPS,478.125,169.065,1722.780,0.000,0.000,0.000,0.000,185.130,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5417.000,5433.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.198,13.736,0.000,0.000
$MEM,311616
$DATA_FILE_SIZE,23422,659
$CAP_FILE_SIZE,93449,0
$CFSIZE,2097872896,2092433408
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,2171.42,0x2378b6,2,5
$INTR,1,3580.86,0x234484,1,24
$INTR,2,5416.10,0x2378b6,7,5
$SOUNDSPEED,1446.0
$EKF,5574,4253.912109,-8671.834961,0.521838,0.078369,-0.107656,-0.039352,0.000045,0.000421,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.056,211.22,1
$GPS,280714,025054,7053.774,-14432.135,30,0.8,50,22.3