version: 66.12
glider: 198
mission: 5
dive: 13
start: 7 28 114 14 10 15
data:
$ID,198
$MISSION,5
$DIVE,13
$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,-3337.4263
$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,25
$R_STBD_OVSHOOT,14
$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
$GPS1,280714,135837,7054.955,-14430.463,3,0.8,24,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.7
$GPS2,280714,140958,7054.970,-14430.766,5,1.0,26,22.3
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,351.1,9328,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.85,-145.9,201,2799,480,615,0.0,0.0,0,87,0.00,0.00,-65.85,0.000,16386,0.000,0.000,200,2799,2206,2254,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.85,-145.9,206,2797,2256,2159,3.6,-3.9,6,136,11.48,1.83,-28.20,0.000,18692,0.474,0.164,2342,3793,3781,3850,3712,0,0,0,0,0,0,14.14,14.30,14.54
$GC,360,-0.75,-145.9,2343,3797,3851,3715,70.4,-20.0,58,370,0.12,1.75,0.00,0.000,3078,0.332,0.089,2372,2796,3782,3849,3715,0,0,0,0,0,0,14.28,14.43,28.83
$GC,674,-0.73,-145.9,2373,2796,3851,3714,123.6,-15.9,90,683,0.00,1.80,0.00,0.000,260,0.000,0.142,2366,3787,3782,3850,3714,0,0,0,0,0,0,28.83,14.43,28.83
$GC,907,-0.69,-145.9,2366,3787,3851,3715,162.1,-15.8,136,915,0.15,1.67,0.00,0.000,3078,0.321,0.092,2397,2798,3782,3850,3714,0,0,0,0,0,0,14.38,14.52,28.83
$GC,1220,-0.69,-145.9,2398,2799,3850,3715,197.7,-10.2,168,1227,0.00,2.42,0.00,0.000,516,0.000,0.106,2396,1397,3782,3849,3715,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1297,-0.72,-145.9,2397,1397,3851,3715,205.6,-9.7,183,1306,0.00,2.55,0.00,0.000,1030,0.000,0.132,2390,2804,3782,3850,3715,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1602,-0.74,-145.9,2391,2804,3849,3715,237.2,-10.1,214,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2803,3781,3849,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1911,-0.77,-145.9,2391,2799,3847,3716,267.9,-9.8,233,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2803,3780,3847,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.80,-145.9,2391,2804,3847,3715,296.7,-9.6,243,2219,0.00,2.42,0.00,0.000,516,0.000,0.103,2390,1400,3780,3846,3714,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2268,-0.83,-145.9,2391,1400,3847,3715,302.0,-9.3,254,2279,0.00,2.53,0.00,0.000,1030,0.000,0.132,2387,2799,3780,3846,3715,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2574,-0.86,-145.9,2388,2800,3847,3714,330.6,-9.3,265,2576,0.12,0.00,0.00,0.000,4102,0.160,0.000,2339,2800,3780,3846,3714,0,0,0,0,0,0,14.59,28.83,28.83
$STATE,2842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2842,begin apogee
$GC,2845,-0.17,0.0,2337,3210,3846,3715,361.7,-11.6,274,3027,0.90,0.00,172.60,1.255,10246,0.298,0.000,2565,3209,3177,3256,3098,0,0,0,0,0,0,14.49,28.83,13.43
$STATE,3029,end apogee,CONTROL_FINISHED_OK
$STATE,3030,begin climb
$GC,3031,0.85,145.9,2566,3210,3253,3099,366.7,0.0,280,3169,1.15,1.15,123.97,1.239,10500,0.193,0.139,2895,3782,2582,2647,2517,0,0,0,0,0,0,13.91,13.77,13.33
$GC,3393,0.72,145.9,2896,3784,2625,2498,313.8,19.0,345,3402,0.12,1.05,0.00,0.000,5126,0.302,0.098,2868,3200,2560,2624,2497,0,0,0,0,0,0,14.09,14.24,28.83
$GC,3699,0.63,145.9,2869,3201,2625,2496,264.6,16.0,356,3707,0.12,1.10,0.00,0.000,4356,0.360,0.138,2841,3780,2560,2624,2496,0,0,0,0,0,0,14.26,14.35,28.83
$GC,3931,0.55,145.9,2841,3780,2625,2495,228.6,15.3,402,3940,0.12,1.02,0.00,0.000,5126,0.321,0.099,2814,3203,2560,2624,2496,0,0,0,0,0,0,14.30,14.45,28.83
$GC,4245,0.51,145.9,2815,3208,2626,2496,191.2,11.4,434,4254,0.00,1.10,0.00,0.000,260,0.000,0.148,2814,3783,2560,2624,2496,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4403,0.49,167.1,2815,3784,2626,2497,173.5,9.9,465,4428,0.08,1.05,17.35,1.043,13318,0.317,0.103,2796,3194,2501,2574,2429,0,0,0,0,0,0,14.35,14.48,13.95
$GC,4722,0.55,220.2,2800,3195,2559,2414,145.9,8.3,498,4792,0.00,2.55,62.62,1.013,8708,0.000,0.097,2809,1788,2283,2350,2216,0,0,0,0,0,0,28.83,14.14,13.72
$GC,4962,0.64,271.2,2810,1788,2331,2204,126.1,8.4,542,5018,0.00,2.58,49.03,1.113,9222,0.000,0.132,2809,3197,2076,2142,2011,0,0,0,0,0,0,28.83,14.29,13.63
$GC,5311,0.68,304.5,2810,3197,2119,1988,92.3,9.2,580,5335,0.12,2.55,16.95,0.381,10756,0.155,0.099,2865,1788,1946,2012,1880,0,0,0,0,0,0,14.36,14.27,14.12
$GC,5489,0.68,304.5,2864,1789,2045,1881,72.3,11.4,614,5500,0.00,2.60,3.30,0.213,9222,0.000,0.131,2865,3202,1942,2012,1873,0,0,0,0,0,0,28.83,14.33,14.27
$GC,5804,0.78,385.3,2864,3204,2049,1873,38.9,6.9,646,5860,0.00,0.00,47.30,0.288,8198,0.000,0.000,2866,3203,1616,1676,1556,0,0,0,0,0,0,28.83,28.83,14.26
$GC,6154,1.09,589.1,2866,3204,1699,1556,13.2,0.7,681,6278,0.32,1.15,113.85,0.214,10500,0.119,0.148,2982,3788,785,759,811,0,0,0,0,0,0,14.45,14.27,14.21
$STATE,6380,end climb,SURFACE_DEPTH_REACHED
$STATE,6381,begin surface coast
$FINISH,0.9,1.019478
$STATE,6391,end surface coast,CONTROL_FINISHED_OK
$STATE,6391,begin surface
$SM_CCo,6412,35.33,0.181,0,0,538,649.06
$SM_GC,1.95,8.55,1.80,35.33,0.116,0.096,0.181,211,2784,538,-7.51,0.45,649.06,0,0,0,0,0,0,14.40,14.40,14.31
$RAFOS_CLK,402
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,280714,140152
$TT8_MAMPS,0.04494,0.04494
$HUMID,52.20
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,4014560
$TM_FREEKB,7808640
$24V_AH,13.33,4.804
$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,23.375,37.425,606.975,35.325,0.000,0.000,0.000,415.075,0.000,0.000,27.900,0.000,4270.484,728.423,2074.612,61.066,0.000,1765.860,0.000,1067.097,0.000,0.535,0.000
$DEVICE_MAMPS,473.535,163.710,1254.600,180.540,0.000,0.000,0.000,193.545,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6411.000,6447.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.315,13.778,0.000,0.000
$MEM,308584
$DATA_FILE_SIZE,23385,722
$CAP_FILE_SIZE,108647,0
$CFSIZE,2097872896,2090795008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7246.75,0x2378b6,7,5
$SOUNDSPEED,1446.9
$EKF,6517,4255.467773,-8670.412109,0.920326,0.074003,-0.115764,-0.082825,0.000073,0.000682,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.066,193.90,1
$GPS,280714,155849,7055.246,-14430.609,9,1.0,30,22.3