version: 66.12
glider: 198
mission: 5
dive: 17
start: 7 28 114 22 32 23
data:
$ID,198
$MISSION,5
$DIVE,17
$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,-3342.4556
$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,21
$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
$GPS1,280714,222208,7053.526,-14429.713,13,0.8,33,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.6
$GPS2,280714,223206,7053.467,-14429.710,6,0.8,26,22.3
$SPEED_LIMITS,0.174,0.236
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,344.6,79609,-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,-145.9,208,2800,474,540,0.0,0.0,0,84,0.00,0.00,-62.67,0.000,16386,0.000,0.000,206,2800,2067,2109,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.71,-145.9,207,2801,2111,2025,3.4,-3.4,6,141,11.65,1.88,-32.03,0.000,18692,0.479,0.167,2354,3786,3783,3853,3713,0,0,0,0,0,0,14.13,14.28,14.53
$GC,365,-0.64,-145.9,2355,3786,3855,3714,70.2,-19.7,59,376,0.10,1.75,0.00,0.000,3078,0.328,0.084,2379,2788,3786,3858,3715,0,0,0,0,0,0,14.28,14.43,28.83
$GC,671,-0.64,-145.9,2379,2788,3863,3715,120.1,-15.8,90,679,0.00,2.35,0.00,0.000,516,0.000,0.096,2379,1385,3784,3853,3715,0,0,0,0,0,0,28.83,14.45,28.83
$GC,743,-0.64,-145.9,2380,1386,3854,3716,130.5,-14.2,104,751,0.00,2.58,0.00,0.000,1030,0.000,0.127,2374,2806,3784,3853,3715,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1055,-0.64,-145.9,2375,2805,3854,3715,175.1,-13.5,136,1062,0.00,2.42,0.00,0.000,516,0.000,0.095,2374,1391,3784,3853,3715,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1132,-0.67,-145.9,2375,1390,3854,3715,184.5,-12.1,151,1141,0.00,2.55,0.00,0.000,1030,0.000,0.127,2379,2803,3784,3853,3716,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1437,-0.69,-145.9,2375,2804,3854,3716,219.9,-10.9,182,1445,0.00,2.42,0.00,0.000,516,0.000,0.095,2374,1390,3784,3853,3715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1490,-0.73,-145.9,2374,1389,3854,3715,225.4,-9.8,192,1497,0.00,2.55,0.00,0.000,1030,0.000,0.127,2374,2804,3784,3853,3715,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1822,-0.76,-145.9,2375,2804,3852,3716,259.8,-10.3,220,1829,0.00,2.42,0.00,0.000,516,0.000,0.096,2374,1395,3783,3851,3715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1919,-0.81,-145.9,2375,1391,3852,3715,269.4,-9.9,239,1926,0.12,2.53,0.00,0.000,5126,0.164,0.127,2325,2799,3783,3851,3715,0,0,0,0,0,0,14.58,14.54,28.83
$GC,2245,-0.81,-145.9,2326,2800,3852,3716,309.4,-12.2,254,2253,0.00,2.40,0.00,0.000,516,0.000,0.094,2325,1390,3782,3850,3715,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2307,-0.81,-145.9,2326,1394,3851,3716,316.7,-11.5,266,2315,0.00,2.53,0.00,0.000,1030,0.000,0.125,2316,2799,3782,3850,3715,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2639,-0.81,-145.9,2314,2800,3850,3716,358.3,-12.6,282,2647,0.00,2.42,0.00,0.000,516,0.000,0.094,2316,1382,3782,3850,3715,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2721,-0.81,-145.9,2317,1382,3850,3716,368.2,-12.1,298,2729,0.12,2.55,0.00,0.000,3078,0.344,0.125,2330,2799,3782,3849,3715,0,0,0,0,0,0,14.46,14.55,28.83
$GC,3034,-0.81,-145.9,2331,2799,3850,3715,405.2,-11.9,310,3041,0.00,2.40,0.00,0.000,516,0.000,0.094,2330,1388,3781,3849,3714,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3126,-0.81,-145.9,2331,1387,3849,3715,415.7,-11.6,328,3133,0.00,2.53,0.00,0.000,1030,0.000,0.126,2321,2802,3779,3849,3710,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3186,begin apogee
$GC,3189,-0.14,0.0,2321,3050,3849,3716,423.1,-12.1,335,3331,0.90,0.00,131.95,2.684,10246,0.304,0.000,2547,3050,3188,3264,3112,0,0,0,0,1,0,14.49,28.83,12.74
$STATE,3333,end apogee,CONTROL_FINISHED_OK
$STATE,3333,begin climb
$GC,3334,0.71,145.9,2548,3050,3284,3112,427.1,0.0,339,3477,0.98,1.48,130.05,1.329,10500,0.197,0.132,2819,3784,2583,2649,2518,0,0,0,0,0,0,13.70,13.67,13.27
$GC,3572,0.67,145.9,2820,3785,2634,2504,406.0,14.0,379,3580,0.00,1.33,0.00,0.000,1030,0.000,0.087,2824,3048,2568,2632,2504,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3884,0.65,145.9,2825,3049,2633,2500,364.9,13.2,391,3892,0.00,1.40,0.00,0.000,260,0.000,0.135,2824,3786,2567,2633,2502,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3976,0.60,145.9,2825,3787,2632,2503,351.5,14.6,409,3986,0.10,1.27,0.00,0.000,5126,0.294,0.088,2803,3060,2567,2631,2503,0,0,0,0,0,0,14.21,14.33,28.83
$GC,4310,0.60,148.8,2803,3059,2633,2502,311.4,12.0,425,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3060,2567,2631,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4610,0.60,150.0,2804,3060,2637,2504,275.1,12.1,435,4617,0.00,1.35,0.00,0.000,260,0.000,0.135,2803,3788,2566,2631,2502,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4722,0.57,150.0,2804,3792,2632,2503,260.7,12.8,457,4731,0.00,1.30,0.00,0.000,1030,0.000,0.090,2808,3047,2567,2631,2503,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5035,0.58,163.5,2809,3047,2633,2502,224.1,11.4,483,5058,0.00,0.00,14.27,1.080,8198,0.000,0.000,2808,3047,2508,2577,2440,0,0,0,0,0,0,28.83,28.83,14.03
$GC,5366,0.60,193.1,2809,3047,2569,2428,186.9,10.5,515,5402,0.00,0.00,26.38,1.044,8198,0.000,0.000,2808,3047,2384,2451,2317,0,0,0,0,0,0,28.83,28.83,13.93
$GC,5696,0.64,245.4,2806,3048,2441,2310,154.0,9.3,548,5752,0.00,2.47,46.88,0.978,8708,0.000,0.090,2819,1639,2172,2235,2110,0,0,0,0,0,0,28.83,14.17,13.79
$GC,5772,0.72,302.7,2820,1640,2225,2104,147.0,9.0,560,5832,0.00,2.60,53.53,0.933,9222,0.000,0.123,2819,3057,1946,2003,1889,0,0,0,0,0,0,28.83,14.15,13.67
$GC,6136,0.78,323.5,2820,3058,1982,1864,106.5,11.0,600,6162,0.00,0.00,17.88,0.926,8198,0.000,0.000,2820,3057,1854,1913,1795,0,0,0,0,0,0,28.83,28.83,13.85
$GC,6457,0.87,362.5,2817,3058,1899,1785,73.8,10.0,632,6485,0.15,2.47,18.17,0.364,10756,0.142,0.096,2889,1642,1712,1774,1651,0,0,0,0,0,0,14.35,14.31,14.13
$GC,6549,0.89,362.5,2896,1642,1803,1651,61.8,12.9,649,6561,0.00,2.55,2.80,0.207,9222,0.000,0.123,2889,3047,1711,1774,1649,0,0,0,0,0,0,28.83,14.31,14.22
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b5b3a867a;,*00
$MODEM_MSG,CACST,6,0,20140729000506.903363,3,278,00,0123,0150,100,00,00,04,06,1,004,000,0,5,1,0,150,-13.0,1.9,-100,1.2,-01,-0.3,14,900,0025*0E
$EKF,range, 5791.0
$EKF,6736,4254.279297,-8669.613281,40.631271,0.220193,-0.060895,-0.107872,0.000082,0.000769,0.000099,0.001025,0.001025,0.000050
$GC,6855,0.95,409.6,2890,3048,1803,1649,28.1,9.5,680,6894,0.00,1.38,29.45,0.250,8452,0.000,0.133,2890,3803,1519,1579,1459,0,0,0,0,0,0,28.83,14.33,14.27
$GC,6917,0.95,413.3,2890,3800,1594,1460,21.2,12.0,689,6929,0.00,1.33,4.32,0.220,9222,0.000,0.093,2893,3051,1502,1563,1442,0,0,0,0,0,0,28.83,14.40,14.26
$FREEZE,11.15,3.432,-1.434,0,1,0
$STATE,7182,end climb,NO_VERTICAL_VELOCITY
$STATE,7182,begin surface
$SM_CCo,7185,140.68,0.199,0,0,499,658.88
$SM_GC,2.20,7.93,0.43,0.00,0.080,0.106,0.000,203,2803,504,-7.43,0.93,657.89,0,0,0,0,0,0,14.44,14.43,28.83
$RAFOS_CLK,141
$MODEM,4,1406592306,74.83900,-143.51601,306.903,444416.0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,201153
$TT8_MAMPS,0.046438,0.046438
$HUMID,49.84
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4012768
$TM_FREEKB,7763904
$24V_AH,12.74,6.047
$10V_AH,12.62,0.000
$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,22.050,60.075,475.675,140.675,0.000,0.000,0.000,381.375,0.000,0.000,27.505,0.000,5140.632,774.187,2099.365,68.011,0.000,1798.660,0.000,1061.251,1434.000,0.535,0.000
$DEVICE_MAMPS,478.890,166.770,2684.385,198.900,0.000,0.000,0.000,194.310,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7204.000,7241.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.913,13.512,0.000,0.000
$MEM,305312
$DATA_FILE_SIZE,23440,716
$CAP_FILE_SIZE,119992,0
$CFSIZE,2097872896,2089877504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,8038.25,0x2378b6,7,5
$SOUNDSPEED,1448.3
$EKF,7553,4254.312500,-8669.616211,11.152144,0.001238,0.002058,0.014065,0.000084,0.000786,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.057,189.58,1
$GPS,290714,003813,7054.084,-14429.733,14,0.7,34,22.3