version: 66.12
glider: 198
mission: 5
dive: 12
start: 7 28 114 12 9 28
data:
$ID,198
$MISSION,5
$DIVE,12
$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,-3336.1721
$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,2800
$C_ROLL_CLIMB,3200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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,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
$GPS1,280714,115948,7054.585,-14430.344,37,0.8,57,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.0
$GPS2,280714,120910,7054.558,-14430.577,5,0.8,26,22.3
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,347.1,10085,-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,18,-0.85,-145.9,211,2810,506,593,0.0,0.0,0,79,0.00,0.00,-58.72,0.000,16386,0.000,0.000,210,2811,1995,2036,1955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.85,-145.9,210,2810,2037,1956,3.8,-4.7,6,136,11.60,1.80,-35.03,0.000,18692,0.477,0.165,2342,3785,3775,3846,3704,0,0,0,0,0,0,14.05,14.25,14.50
$GC,360,-0.76,-145.9,2343,3785,3853,3712,72.9,-21.4,59,371,0.15,1.73,0.00,0.000,3078,0.333,0.088,2377,2807,3781,3852,3711,0,0,0,0,0,0,14.21,14.37,28.83
$GC,666,-0.73,-145.9,2383,2807,3852,3711,122.8,-15.0,90,673,0.00,1.80,0.00,0.000,260,0.000,0.143,2374,3785,3784,3857,3712,0,0,0,0,0,0,28.83,14.35,28.83
$GC,797,-0.70,-145.9,2375,3785,3852,3712,143.7,-15.8,116,805,0.00,1.75,0.00,0.000,1030,0.000,0.089,2374,2793,3781,3851,3711,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1109,-0.70,-145.9,2375,2794,3851,3712,186.4,-12.6,148,1117,0.00,2.42,0.00,0.000,516,0.000,0.104,2373,1395,3781,3851,3711,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1202,-0.70,-145.9,2375,1396,3851,3712,197.1,-11.2,166,1210,0.12,2.55,0.00,0.000,3078,0.343,0.133,2398,2792,3781,3851,3712,0,0,0,0,0,0,14.36,14.45,28.83
$GC,1515,-0.73,-145.9,2399,2792,3851,3711,228.5,-10.0,198,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2792,3781,3850,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,-0.75,-145.9,2399,2793,3851,3712,259.0,-9.3,224,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2792,3780,3849,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2135,-0.78,-145.9,2399,2793,3850,3712,286.7,-9.0,234,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2792,3780,3849,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,-0.82,-145.9,2399,2793,3849,3713,313.5,-8.9,244,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2792,3780,3849,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2735,-0.85,-145.9,2399,2796,3849,3712,339.4,-8.6,254,2743,0.12,2.42,0.00,0.000,4612,0.159,0.100,2343,1391,3779,3847,3711,0,0,0,0,0,0,14.64,14.60,28.83
$GC,2792,-0.85,-145.9,2342,1392,3844,3713,345.3,-10.6,265,2801,0.00,2.58,0.00,0.000,1030,0.000,0.133,2343,2813,3777,3846,3709,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,2946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2946,begin apogee
$GC,2949,-0.17,0.0,2343,3207,3847,3713,362.4,-11.1,271,3084,0.88,0.00,129.27,1.387,10246,0.298,0.000,2566,3206,3186,3264,3108,0,0,0,0,0,0,14.49,28.83,13.43
$STATE,3087,end apogee,CONTROL_FINISHED_OK
$STATE,3087,begin climb
$GC,3088,0.85,145.9,2567,3207,3252,3098,365.4,0.0,275,3224,1.15,1.17,123.15,1.271,10500,0.191,0.140,2897,3789,2582,2648,2516,0,0,0,0,0,0,13.93,13.78,13.31
$GC,3449,0.72,145.9,2897,3789,2626,2498,310.9,19.3,340,3458,0.12,1.05,0.00,0.000,5126,0.309,0.098,2870,3202,2561,2625,2498,0,0,0,0,0,0,14.12,14.25,28.83
$GC,3754,0.63,145.9,2870,3201,2629,2497,260.5,16.3,351,3758,0.15,0.00,0.00,0.000,4102,0.353,0.000,2840,3202,2561,2625,2497,0,0,0,0,0,0,14.27,28.83,28.83
$GC,4054,0.57,145.9,2840,3202,2626,2496,217.5,13.7,375,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,3202,2560,2625,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,0.51,145.9,2840,3203,2625,2497,179.8,11.0,405,4356,0.17,0.00,0.00,0.000,4102,0.343,0.000,2802,3202,2560,2625,2496,0,0,0,0,0,0,14.38,28.83,28.83
$GC,4654,0.58,217.6,2802,3200,2625,2496,155.2,7.3,435,4724,0.00,2.55,64.10,1.089,8708,0.000,0.097,2812,1794,2290,2355,2225,0,0,0,0,0,0,28.83,14.16,13.72
$GC,4913,0.64,268.8,2813,1794,2336,2211,132.7,8.4,483,4969,0.00,2.58,47.35,1.050,9222,0.000,0.131,2812,3204,2082,2147,2017,0,0,0,0,0,0,28.83,14.32,13.73
$GC,5263,0.66,281.2,2813,3204,2128,1998,96.6,10.3,521,5278,0.00,2.53,4.28,0.196,8708,0.000,0.100,2822,1799,2045,2118,1972,0,0,0,0,0,0,28.83,14.32,14.25
$GC,5357,0.73,317.7,2823,1800,2140,1973,87.9,9.1,539,5387,0.15,2.55,23.45,0.421,11270,0.145,0.130,2881,3200,1888,1952,1825,0,0,0,0,0,0,14.40,14.36,14.14
$GC,5681,0.71,317.7,2882,3202,1989,1821,47.1,11.0,573,5690,0.00,2.53,2.53,0.220,8708,0.000,0.100,2889,1797,1891,1963,1820,0,0,0,0,0,0,28.83,14.42,14.35
$GC,5734,0.77,368.6,2889,1793,1987,1821,42.3,8.4,583,5772,0.00,2.55,30.73,0.303,9222,0.000,0.130,2889,3201,1681,1741,1622,0,0,0,0,0,0,28.83,14.37,14.23
$GC,6076,1.02,546.5,2890,3202,1774,1624,13.7,2.0,619,6186,0.17,2.53,101.05,0.218,11012,0.139,0.096,2968,1794,956,964,948,0,0,0,0,0,0,14.47,14.33,14.25
$STATE,6389,end climb,SURFACE_DEPTH_REACHED
$STATE,6389,begin surface coast
$FINISH,0.9,1.019201
$STATE,6409,end surface coast,CONTROL_FINISHED_OK
$STATE,6409,begin surface
$SM_CCo,6430,59.03,0.188,0,0,540,649.06
$SM_GC,1.98,8.30,1.90,59.03,0.096,0.144,0.188,201,2799,540,-7.53,-0.59,649.06,0,0,0,0,0,0,14.45,14.39,14.32
$RAFOS_CLK,407
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14423.93,280714,100454
$TT8_MAMPS,0.04494,0.04494
$HUMID,51.69
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,4015008
$TM_FREEKB,7818944
$24V_AH,13.31,4.541
$10V_AH,12.72,0.000
$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,23.100,40.125,525.900,59.025,0.000,0.000,0.000,355.000,0.000,0.000,27.633,0.000,4390.586,614.895,1989.831,60.440,0.000,1606.897,0.000,1010.124,843.000,0.535,0.000
$DEVICE_MAMPS,477.360,165.240,1386.945,188.190,0.000,0.000,0.000,192.015,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6429.000,6465.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.282,13.597,0.000,0.000
$MEM,309040
$DATA_FILE_SIZE,23411,680
$CAP_FILE_SIZE,105738,0
$CFSIZE,2097872896,2091024384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.2
$EKF,6552,4255.179199,-8669.964844,0.905680,0.150585,-0.006872,-0.060554,0.000076,0.000710,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.081,214.46,1
$GPS,280714,135837,7054.955,-14430.463,3,0.8,24,22.3