version: 66.12
glider: 198
mission: 5
dive: 16
start: 7 28 114 20 18 24
data:
$ID,198
$MISSION,5
$DIVE,16
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,480
$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,115
$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,-3341.1978
$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,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,37
$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,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,16
$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,0.00069999998
$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
$GPS1,280714,200834,7054.685,-14429.878,3,0.8,24,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.2
$GPS2,280714,201807,7054.673,-14429.818,5,0.7,25,22.3
$SPEED_LIMITS,0.174,0.236
$TGT_NAME,3
$TGT_LATLONG,7053.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,164.7,3101,-22.4,-12.174,-27.24,1846
$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,-0.71,-145.9,206,2784,462,544,0.0,0.0,0,85,0.00,0.00,-63.35,0.000,16386,0.000,0.000,206,2784,2092,2140,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.71,-145.9,206,2785,2141,2046,3.5,-3.7,6,136,11.60,2.53,-31.52,0.000,18948,0.472,0.124,2363,1393,3783,3854,3712,0,0,0,0,0,0,14.06,14.22,14.46
$GC,360,-0.68,-145.9,2364,1393,3856,3716,62.0,-17.8,58,369,0.00,2.58,0.00,0.000,1030,0.000,0.125,2361,2805,3784,3854,3715,0,0,0,0,0,0,28.83,14.33,28.83
$GC,673,-0.68,-145.9,2361,2805,3856,3715,117.0,-16.4,90,683,0.00,2.45,0.00,0.000,516,0.000,0.099,2361,1394,3784,3854,3715,0,0,0,0,0,0,28.83,14.44,28.83
$GC,907,-0.68,-145.9,2361,1393,3855,3715,153.0,-14.5,136,915,0.00,2.55,0.00,0.000,1030,0.000,0.127,2362,2801,3784,3854,3715,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1219,-0.68,-145.9,2362,2808,3855,3716,196.8,-12.6,168,1227,0.00,2.42,0.00,0.000,516,0.000,0.099,2361,1392,3784,3854,3715,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1306,-0.70,-145.9,2361,1393,3855,3718,207.0,-11.2,185,1316,0.00,2.58,0.00,0.000,1030,0.000,0.129,2361,2809,3784,3854,3715,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1611,-0.72,-145.9,2361,2810,3855,3715,242.6,-11.4,216,1620,0.00,2.45,0.00,0.000,516,0.000,0.098,2361,1391,3783,3852,3715,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1674,-0.75,-145.9,2362,1390,3853,3716,249.5,-10.5,228,1682,0.00,2.55,0.00,0.000,1030,0.000,0.128,2357,2805,3783,3852,3715,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1986,-0.77,-145.9,2360,2804,3853,3715,283.7,-10.8,240,1994,0.00,2.42,0.00,0.000,516,0.000,0.097,2360,1391,3783,3851,3715,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2053,-0.81,-145.9,2362,1392,3851,3716,290.8,-10.8,253,2061,0.00,2.53,0.00,0.000,1030,0.000,0.127,2361,2799,3783,3851,3715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2380,-0.84,-145.9,2361,2799,3852,3715,326.2,-10.8,268,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2799,3783,3851,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.87,-145.9,2362,2800,3851,3714,358.3,-10.6,278,2690,0.12,2.40,0.00,0.000,4612,0.164,0.095,2313,1390,3782,3850,3715,0,0,0,0,0,0,14.63,14.61,28.83
$GC,2744,-0.87,-145.9,2313,1390,3850,3715,366.1,-12.0,290,2753,0.00,2.53,0.00,0.000,1030,0.000,0.124,2302,2804,3782,3850,3715,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3077,-0.87,-145.9,2303,2806,3846,3715,410.9,-13.5,306,3087,0.00,2.42,0.00,0.000,516,0.000,0.096,2302,1387,3782,3849,3715,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3146,-0.87,-145.9,2303,1388,3850,3716,419.8,-13.0,319,3154,0.00,2.53,0.00,0.000,1030,0.000,0.123,2292,2803,3782,3850,3714,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3156,begin apogee
$GC,3159,-0.14,0.0,2292,3051,3850,3715,421.1,-12.0,321,3300,1.02,0.00,130.80,2.557,10246,0.315,0.000,2547,3050,3188,3266,3111,0,0,0,0,1,0,14.48,28.83,12.79
$STATE,3302,end apogee,CONTROL_FINISHED_OK
$STATE,3302,begin climb
$GC,3303,0.71,145.9,2548,3051,3280,3112,425.5,0.0,325,3447,0.98,0.00,131.40,1.548,10502,0.195,0.000,2820,3050,2584,2649,2519,0,0,0,0,0,0,13.72,28.83,13.19
$GC,3766,0.71,145.9,2821,3051,2635,2505,376.9,12.9,360,3774,0.00,1.38,0.00,0.000,260,0.000,0.134,2825,3780,2569,2634,2504,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3843,0.67,145.9,2818,3780,2634,2504,365.8,14.6,375,3851,0.00,1.30,0.00,0.000,1030,0.000,0.088,2826,3047,2568,2633,2504,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4160,0.64,145.9,2826,3047,2634,2503,323.9,13.2,388,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,3047,2568,2633,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4460,0.62,145.9,2821,3047,2634,2503,284.0,13.5,398,4469,0.00,1.38,0.00,0.000,260,0.000,0.135,2825,3782,2570,2633,2507,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4533,0.57,145.9,2826,3783,2634,2504,273.4,15.5,412,4542,0.15,1.27,0.00,0.000,5126,0.282,0.089,2792,3049,2568,2633,2504,0,0,0,0,0,0,14.37,14.50,28.83
$GC,4846,0.59,169.0,2793,3049,2632,2504,237.1,10.9,433,4873,0.00,0.00,19.70,1.271,8198,0.000,0.000,2791,3049,2486,2554,2418,0,0,0,0,0,0,28.83,28.83,13.90
$GC,5167,0.61,195.4,2792,3050,2544,2411,201.5,10.7,465,5197,0.00,0.00,22.95,1.296,8710,0.000,0.000,2791,3049,2379,2446,2312,0,0,0,0,0,0,28.83,28.83,13.83
$GC,5491,0.68,251.4,2792,3050,2432,2303,168.7,9.1,499,5552,0.00,2.55,50.65,1.227,8708,0.000,0.096,2802,1643,2146,2208,2084,0,0,0,0,0,0,28.83,14.14,13.71
$GC,5601,0.77,297.5,2803,1644,2200,2078,158.5,9.6,518,5658,0.15,2.58,50.45,1.050,11270,0.141,0.122,2860,3047,1974,2034,1914,0,0,0,0,0,0,14.23,14.19,13.66
$GC,5962,0.77,297.5,2861,3048,2009,1892,110.5,12.9,557,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,3048,1952,2007,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6262,0.77,305.5,2861,3047,2008,1888,73.6,11.7,587,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,3048,1946,2003,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,0.86,381.9,2860,3048,2007,1889,42.3,7.9,617,6618,0.00,2.47,45.15,0.290,8708,0.000,0.098,2863,1637,1633,1693,1573,0,0,0,0,0,0,28.83,14.40,14.31
$GC,6762,0.99,468.3,2864,1637,1722,1573,26.3,7.4,654,6827,0.17,2.58,51.47,0.238,11270,0.132,0.125,2932,3059,1279,1326,1233,0,0,0,0,0,0,14.47,14.42,14.28
$GC,7121,1.20,661.0,2933,3058,1347,1234,9.2,1.4,693,7237,0.15,1.40,108.72,0.194,10500,0.158,0.141,2986,3785,498,457,539,0,0,0,0,0,0,14.47,14.29,14.30
$STATE,7254,end climb,SURFACE_DEPTH_REACHED
$STATE,7255,begin surface coast
$FINISH,0.8,1.019046
$STATE,7275,end surface coast,CONTROL_FINISHED_OK
$STATE,7275,begin surface
$SM_CCo,7356,0.00,0.000,0,0,503,658.14
$SM_GC,1.88,8.48,1.77,0.00,0.106,0.095,0.000,207,2801,503,-7.42,0.74,658.14,0,0,0,0,0,0,14.40,14.38,28.83
$RAFOS_CLK,456
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,280714,180431
$TT8_MAMPS,0.043442,0.043442
$HUMID,52.36
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,13.20
$XPDR_PINGS,0
$SC_FREEKB,4013216
$TM_FREEKB,7775456
$24V_AH,12.79,5.713
$10V_AH,12.63,0.000
$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,22.825,54.050,611.300,0.000,0.000,0.000,0.000,363.975,0.000,0.000,27.173,0.000,5106.902,714.460,2046.351,65.475,0.000,1732.724,0.000,1063.364,0.000,0.535,0.000
$DEVICE_MAMPS,472.005,146.115,2556.630,0.000,0.000,0.000,0.000,192.780,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7295.000,7333.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.035,13.478,0.000,0.000
$MEM,307132
$DATA_FILE_SIZE,23382,718
$CAP_FILE_SIZE,113708,0
$CFSIZE,2097872896,2090106880
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,7639.93,0x2378b6,7,5
$INTR,1,100.08,0x234484,0,24
$SOUNDSPEED,1448.1
$EKF,7427,4253.835449,-8669.683594,0.825182,0.093631,0.163838,-0.012440,0.000091,0.000850,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.079,184.21,1
$GPS,280714,222208,7053.526,-14429.713,13,0.8,33,22.3