version: 66.12
glider: 198
mission: 5
dive: 9
start: 7 28 114 6 12 29
data:
$ID,198
$MISSION,5
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$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,110
$T_MISSION,145
$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,-3332.3965
$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,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,17
$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,3
$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
$GPS1,280714,060227,7053.730,-14429.962,3,1.1,24,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.9
$GPS2,280714,061211,7053.762,-14429.930,4,1.0,25,22.3
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,339.1,11553,-20.0,-10.909,-25.39,2059
$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,-0.85,-145.9,209,2591,472,546,0.0,0.0,0,84,0.00,0.00,-63.40,0.000,16386,0.000,0.000,209,2590,2126,2164,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.85,-145.9,209,2591,2169,2088,3.9,-4.7,6,141,11.45,2.28,-31.50,0.000,18692,0.474,0.170,2340,3782,3782,3879,3686,0,0,0,0,0,0,14.13,14.28,14.55
$GC,365,-0.74,-145.9,2341,3784,3878,3693,73.5,-21.8,59,375,0.17,2.08,0.00,0.000,3078,0.334,0.090,2388,2597,3780,3870,3691,0,0,0,0,0,0,14.26,14.40,28.83
$GC,670,-0.74,-145.9,2382,2598,3887,3693,122.5,-15.2,90,678,0.00,2.15,0.00,0.000,260,0.000,0.143,2374,3783,3784,3876,3692,0,0,0,0,0,0,28.83,14.38,28.83
$GC,903,-0.72,-145.9,2375,3783,3878,3692,158.8,-14.6,136,910,0.00,2.05,0.00,0.000,1030,0.000,0.090,2374,2586,3784,3876,3692,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1214,-0.72,-145.9,2375,2582,3877,3692,197.5,-11.7,168,1222,0.00,2.20,0.00,0.000,260,0.000,0.148,2374,3784,3784,3876,3692,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1446,-0.72,-145.9,2374,3784,3876,3692,225.7,-11.7,214,1454,0.00,2.03,0.00,0.000,1030,0.000,0.091,2374,2596,3783,3874,3692,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1769,-0.72,-145.9,2375,2597,3875,3693,259.7,-10.5,241,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2598,3783,3874,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,-0.72,-145.9,2375,2597,3874,3692,290.3,-10.2,251,2076,0.00,2.17,0.00,0.000,260,0.000,0.148,2374,3786,3782,3873,3692,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2115,-0.72,-145.9,2374,3786,3873,3692,295.4,-11.5,260,2124,0.00,2.05,0.00,0.000,1030,0.000,0.091,2379,2605,3782,3872,3692,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2433,-0.72,-145.9,2375,2605,3873,3693,326.3,-9.6,273,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2605,3782,3872,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2733,-0.72,-145.9,2375,2605,3873,3692,355.1,-9.6,283,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2605,3781,3872,3691,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2791,begin apogee
$GC,2794,-0.17,0.0,2375,3003,3873,3692,361.0,-9.7,285,2947,0.75,0.00,133.48,2.648,10246,0.288,0.000,2567,3003,3196,3287,3105,0,0,0,0,1,0,14.49,28.83,12.72
$STATE,2949,end apogee,CONTROL_FINISHED_OK
$STATE,2949,begin climb
$GC,2950,0.85,145.9,2568,3002,3294,3105,365.6,0.0,290,3099,1.15,1.55,131.52,1.309,10500,0.190,0.137,2892,3779,2576,2642,2510,0,0,0,0,0,0,13.76,13.68,13.27
$GC,3323,0.72,145.9,2893,3779,2632,2500,314.8,18.7,354,3331,0.12,1.40,0.00,0.000,5126,0.313,0.090,2868,3001,2565,2630,2501,0,0,0,0,0,0,14.03,14.18,28.83
$GC,3635,0.63,145.9,2869,3001,2631,2498,266.0,15.3,366,3643,0.12,1.45,0.00,0.000,4356,0.363,0.135,2839,3786,2565,2630,2500,0,0,0,0,0,0,14.21,14.31,28.83
$GC,3867,0.54,145.9,2840,3783,2631,2499,229.8,15.3,412,3875,0.12,1.40,0.00,0.000,5126,0.330,0.093,2820,2998,2565,2631,2500,0,0,0,0,0,0,14.27,14.42,28.83
$GC,4179,0.51,145.9,2815,2998,2631,2500,193.2,11.0,444,4187,0.00,1.50,0.00,0.000,260,0.000,0.144,2814,3810,2564,2630,2499,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4272,0.45,145.9,2815,3812,2631,2500,182.6,11.4,462,4280,0.15,1.42,0.00,0.000,5126,0.310,0.094,2782,3003,2565,2630,2500,0,0,0,0,0,0,14.33,14.47,28.83
$GC,4584,0.55,231.9,2783,3003,2631,2501,157.7,6.6,494,4672,0.00,1.52,75.78,1.060,8452,0.000,0.145,2782,3781,2222,2287,2157,0,0,0,0,0,0,28.83,14.09,13.72
$GC,4721,0.58,253.8,2783,3782,2275,2148,146.2,9.8,516,4750,0.00,1.40,19.20,1.007,9222,0.000,0.094,2787,3003,2143,2211,2076,0,0,0,0,0,0,28.83,14.22,13.74
$GC,5045,0.66,295.5,2788,3002,2197,2058,116.6,8.8,550,5094,0.17,2.60,40.33,0.999,10756,0.130,0.106,2862,1587,1969,2032,1907,0,0,0,0,0,0,14.39,14.17,13.78
$GC,5147,0.66,295.5,2863,1586,2020,1901,104.6,11.9,566,5157,0.00,2.62,0.00,0.000,1030,0.000,0.133,2862,2998,1957,2018,1897,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5453,0.66,295.5,2862,2998,2018,1893,66.6,11.9,597,5462,0.00,1.50,0.00,0.000,260,0.000,0.148,2862,3785,1954,2016,1892,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5542,0.63,295.5,2863,3786,2017,1891,55.5,12.1,614,5551,0.10,1.40,0.00,0.000,5126,0.277,0.097,2840,3000,1953,2016,1890,0,0,0,0,0,0,14.30,14.42,28.83
$GC,5847,0.75,379.9,2841,2999,2018,1890,32.7,6.7,645,5902,0.00,2.47,45.00,0.262,8708,0.000,0.106,2849,1589,1640,1703,1577,0,0,0,0,0,0,28.83,14.38,14.30
$GC,5946,0.88,444.9,2849,1588,1725,1578,25.6,7.7,662,5994,0.20,2.60,38.38,0.239,11270,0.130,0.134,2924,3008,1374,1425,1323,0,0,0,0,0,0,14.43,14.38,14.28
$FREEZE,11.00,4.524,-1.372,0,1,0
$STATE,6248,end climb,NO_VERTICAL_VELOCITY
$STATE,6248,begin surface
$SM_CCo,6251,123.15,0.197,0,0,499,658.88
$SM_GC,2.07,8.32,0.73,0.00,0.114,0.090,0.000,213,2587,505,-7.51,0.57,657.65,0,0,0,0,0,0,14.41,14.44,28.83
$RAFOS_CLK,406
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,043749
$TT8_MAMPS,0.044191,0.044191
$HUMID,51.61
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,8.20
$XPDR_PINGS,0
$SC_FREEKB,4016352
$TM_FREEKB,7850016
$24V_AH,12.72,3.726
$10V_AH,12.64,0.000
$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,22.850,43.325,483.675,123.150,0.000,0.000,0.000,346.500,0.000,0.000,26.640,0.000,4353.316,721.585,1971.081,60.118,0.000,1704.005,0.000,1031.018,0.000,0.535,0.000
$DEVICE_MAMPS,474.300,169.830,2647.665,197.370,0.000,0.000,0.000,185.130,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6261.000,6247.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.261,13.851,0.000,0.000
$MEM,310272
$DATA_FILE_SIZE,23376,695
$CAP_FILE_SIZE,108466,0
$CFSIZE,2097872896,2091712512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5347.35,0x2378b6,7,5
$SOUNDSPEED,1446.8
$EKF,6598,4254.296875,-8669.665039,11.002041,0.015920,0.001476,0.008003,0.000067,0.000627,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.069,185.72,1
$GPS,280714,080224,7054.054,-14429.739,26,0.8,46,22.3