version: 66.12
glider: 198
mission: 5
dive: 20
start: 7 29 114 5 17 51
data:
$ID,198
$MISSION,5
$DIVE,20
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-3346.2261
$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,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,29
$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
$GPS1,290714,050744,7055.148,-14429.326,12,0.8,32,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.8
$GPS2,290714,051733,7055.124,-14429.354,5,1.0,26,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,343.0,76544,-21.9,-11.905,-26.85,1887
$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,-0.69,-145.9,203,2797,492,598,0.0,0.0,0,84,0.00,0.00,-63.22,0.000,16386,0.000,0.000,202,2797,2161,2201,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.69,-145.9,203,2796,2202,2122,4.0,-4.5,6,137,11.68,1.90,-29.90,0.000,19204,0.471,0.170,2388,3786,3785,3861,3710,0,0,0,0,0,0,14.14,14.29,14.52
$GC,221,-0.62,-145.9,2388,3787,3861,3708,37.2,-22.3,30,230,0.17,1.70,0.00,0.000,3078,0.344,0.085,2424,2791,3784,3861,3707,0,0,0,0,0,0,14.22,14.36,28.83
$GC,526,-0.62,-145.9,2424,2792,3862,3709,86.2,-14.2,61,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2791,3785,3861,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,826,-0.65,-145.9,2424,2791,3861,3710,125.0,-12.1,91,834,0.00,2.40,0.00,0.000,516,0.000,0.092,2424,1384,3784,3860,3709,0,0,0,0,0,0,28.83,14.51,28.83
$GC,913,-0.70,-145.9,2426,1384,3861,3709,135.0,-11.2,108,924,0.00,2.55,0.00,0.000,1030,0.000,0.125,2415,2798,3785,3861,3709,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1218,-0.73,-145.9,2416,2798,3861,3709,170.9,-11.6,139,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2798,3784,3860,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-0.78,-145.9,2416,2798,3861,3708,201.5,-9.4,169,1526,0.12,2.42,0.00,0.000,4612,0.154,0.090,2356,1382,3783,3858,3709,0,0,0,0,0,0,14.58,14.56,28.83
$GC,1550,-0.78,-145.9,2360,1380,3860,3708,205.3,-11.8,175,1558,0.00,2.58,0.00,0.000,1030,0.000,0.129,2359,2805,3783,3858,3708,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1863,-0.78,-145.9,2360,2803,3859,3710,241.9,-11.3,207,1870,0.00,2.42,0.00,0.000,516,0.000,0.092,2359,1382,3783,3858,3709,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1895,-0.80,-145.9,2360,1382,3858,3709,245.6,-11.4,213,1903,0.00,2.55,0.00,0.000,1030,0.000,0.130,2359,2798,3783,3857,3709,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2207,-0.80,-145.9,2360,2798,3858,3709,280.2,-11.1,227,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2797,3782,3857,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2507,-0.80,-145.9,2357,2799,3857,3710,313.2,-11.0,237,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2798,3783,3857,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-0.82,-145.9,2357,2798,3857,3709,345.1,-10.6,247,2815,0.00,2.38,0.00,0.000,516,0.000,0.090,2359,1392,3783,3857,3709,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2859,-0.86,-145.9,2360,1393,3856,3710,350.3,-9.2,257,2867,0.00,2.53,0.00,0.000,1030,0.000,0.128,2360,2802,3782,3856,3709,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3171,-0.88,-145.9,2360,2801,3857,3709,382.6,-10.3,269,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2802,3782,3855,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3471,-0.90,-145.9,2360,2803,3856,3710,413.4,-10.2,279,3479,0.00,2.40,0.00,0.000,516,0.000,0.091,2359,1385,3780,3854,3707,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3534,-0.94,-145.9,2360,1385,3855,3710,419.7,-10.2,291,3541,0.00,2.53,0.00,0.000,1030,0.000,0.128,2365,2801,3779,3850,3709,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3866,-0.96,-145.9,2360,2801,3855,3705,453.7,-10.2,307,3869,0.12,0.00,0.00,0.000,4102,0.159,0.000,2310,2801,3781,3854,3709,0,0,0,0,0,0,14.67,28.83,28.83
$GC,4165,-0.96,-145.9,2311,2803,3864,3709,491.2,-12.7,317,4173,0.00,2.40,0.00,0.000,516,0.000,0.090,2310,1382,3781,3854,3709,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4217,-0.96,-145.9,2311,1382,3857,3709,497.5,-12.0,327,4225,0.00,2.53,0.00,0.000,1030,0.000,0.125,2302,2803,3781,3854,3709,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,4258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4258,begin apogee
$GC,4261,-0.14,0.0,2302,3050,3855,3710,502.8,-12.5,330,4402,1.10,0.00,131.60,2.701,10246,0.306,0.000,2580,3049,3186,3264,3108,0,0,0,0,1,0,14.52,28.83,12.72
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4405,0.69,145.9,2581,3049,3282,3108,506.3,0.0,334,4549,0.90,1.48,130.95,1.505,10500,0.168,0.131,2843,3784,2584,2650,2518,0,0,0,0,0,0,13.71,13.66,13.18
$GC,4773,0.62,145.9,2851,3784,2635,2503,461.6,16.7,400,4782,0.00,1.33,0.00,0.000,1030,0.000,0.088,2848,3046,2569,2634,2504,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5106,0.57,145.9,2850,3048,2635,2503,411.6,15.0,416,5116,0.15,1.35,0.00,0.000,4356,0.314,0.133,2814,3785,2568,2633,2503,0,0,0,0,0,0,14.22,14.30,28.83
$GC,5215,0.53,145.9,2814,3785,2635,2503,395.5,14.4,437,5223,0.00,1.30,0.00,0.000,1030,0.000,0.092,2819,3046,2569,2634,2504,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5532,0.50,145.9,2819,3045,2635,2502,352.9,13.4,450,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,3049,2568,2634,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5832,0.47,145.9,2820,3050,2635,2504,313.1,13.2,460,5834,0.15,0.00,0.00,0.000,4102,0.308,0.000,2786,3050,2568,2633,2503,0,0,0,0,0,0,14.42,28.83,28.83
$GC,6132,0.48,155.7,2786,3050,2635,2503,278.5,11.4,470,6138,0.00,0.00,3.10,0.760,8198,0.000,0.000,2786,3050,2550,2618,2482,0,0,0,0,0,0,28.83,28.83,13.94
$GC,6432,0.49,169.5,2787,3050,2639,2482,245.0,11.2,482,6456,0.00,0.00,17.92,1.231,8198,0.000,0.000,2786,3050,2486,2557,2415,0,0,0,0,0,0,28.83,28.83,14.00
$GC,6752,0.50,186.4,2787,3050,2546,2407,209.2,11.0,514,6775,0.00,0.00,14.55,1.193,8198,0.000,0.000,2786,3050,2414,2483,2345,0,0,0,0,0,0,28.83,28.83,13.97
$GC,7072,0.56,238.2,2787,3050,2475,2340,176.2,9.1,546,7127,0.00,2.45,46.55,1.180,8708,0.000,0.087,2796,1640,2202,2266,2139,0,0,0,0,0,0,28.83,14.21,13.77
$GC,7177,0.65,292.6,2797,1642,2261,2133,166.6,8.9,564,7247,0.12,2.58,59.47,1.052,11270,0.154,0.122,2844,3052,1985,2047,1924,0,0,0,0,0,0,14.31,14.26,13.69
$GC,7541,0.65,292.6,2845,3053,2033,1908,119.8,12.4,604,7551,0.00,2.45,0.00,0.000,516,0.000,0.090,2848,1641,1971,2032,1910,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7700,0.70,313.0,2850,1641,2033,1910,101.8,10.8,635,7729,0.00,2.55,20.10,1.035,9222,0.000,0.125,2849,3052,1899,1962,1837,0,0,0,0,0,0,28.83,14.39,13.90
$GC,8033,0.73,321.1,2851,3053,1945,1822,62.2,11.5,670,8041,0.00,2.40,0.00,0.000,516,0.000,0.089,2855,1648,1883,1944,1822,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8080,0.79,353.6,2856,1648,1946,1823,57.5,10.1,679,8109,0.00,2.53,19.35,0.335,9222,0.000,0.125,2855,3049,1747,1810,1685,0,0,0,0,0,0,28.83,14.41,14.25
$GC,8414,0.88,420.8,2855,3049,1841,1685,27.0,8.2,714,8463,0.15,2.50,40.20,0.253,10756,0.141,0.092,2931,1642,1471,1528,1415,0,0,0,0,0,0,14.45,14.40,14.31
$GC,8552,0.97,490.0,2932,1642,1552,1415,12.8,8.1,739,8603,0.00,2.55,40.88,0.220,9222,0.000,0.127,2928,3051,1186,1227,1146,0,0,0,0,0,0,28.83,14.38,14.31
$GC,8897,1.23,719.1,2932,3054,1250,1146,6.3,-0.6,776,8999,0.30,1.42,95.28,0.196,10500,0.121,0.138,3034,3794,500,458,542,0,0,0,0,0,0,14.47,14.32,14.32
$STATE,9002,end climb,SURFACE_DEPTH_REACHED
$STATE,9002,begin surface coast
$FINISH,1.3,1.018612
$STATE,9007,end surface coast,CONTROL_FINISHED_OK
$STATE,9007,begin surface
$SM_CCo,9090,0.00,0.000,0,0,504,657.89
$SM_GC,2.25,8.40,1.75,0.00,0.084,0.086,0.000,205,2798,504,-7.52,1.10,657.89,0,0,0,0,0,0,14.40,14.40,28.83
$RAFOS_CLK,569
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,290714,025634
$TT8_MAMPS,0.044191,0.044191
$HUMID,52.28
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,13.30
$XPDR_PINGS,0
$SC_FREEKB,4011424
$TM_FREEKB,7725792
$24V_AH,12.72,7.080
$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,23.375,62.350,619.950,0.000,0.000,0.000,0.000,370.300,0.000,0.000,27.539,0.000,6629.307,739.977,2250.284,70.263,0.000,1830.713,0.000,1182.308,0.000,0.537,0.000
$DEVICE_MAMPS,471.240,169.830,2701.215,0.000,0.000,0.000,0.000,198.900,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9030.000,9073.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.448,13.367,0.000,0.000
$MEM,303792
$DATA_FILE_SIZE,26768,793
$CAP_FILE_SIZE,131290,0
$CFSIZE,2097872896,2089123840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,8073.48,0x2378b6,7,5
$SOUNDSPEED,1448.9
$EKF,9175,4256.195312,-8669.090820,1.281551,-0.181645,-0.011970,-0.076232,0.000150,0.001405,0.000098,0.000025,0.000025,0.000035
$CURRENT,0.053,152.16,1
$GPS,290714,075043,7055.944,-14428.714,20,0.9,40,22.3