version: 66.12
glider: 198
mission: 5
dive: 21
start: 7 29 114 8 2 6
data:
$ID,198
$MISSION,5
$DIVE,21
$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,-3347.4841
$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,35
$R_STBD_OVSHOOT,12
$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
$GPS1,290714,075043,7055.944,-14428.714,20,0.9,40,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-72.4
$GPS2,290714,080149,7055.903,-14428.557,4,0.8,24,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.3,75047,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.69,-145.9,206,2797,465,541,0.0,0.0,0,80,0.00,0.00,-59.00,0.000,16386,0.000,0.000,206,2796,1986,2023,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,206,2798,2025,1950,4.0,-4.7,6,138,11.62,2.42,-35.12,0.000,18948,0.468,0.112,2397,1399,3783,3885,3682,0,0,0,0,0,0,14.09,14.28,14.50
$GC,362,-0.67,-145.9,2398,1399,3878,3694,56.1,-17.4,59,371,0.00,2.55,0.00,0.000,1030,0.000,0.122,2388,2806,3785,3877,3694,0,0,0,0,0,0,28.83,14.32,28.83
$GC,667,-0.67,-145.9,2389,2807,3878,3696,106.2,-15.8,90,675,0.00,2.42,0.00,0.000,516,0.000,0.087,2388,1395,3786,3877,3695,0,0,0,0,0,0,28.83,14.40,28.83
$GC,858,-0.67,-145.9,2389,1395,3879,3696,132.0,-13.3,128,868,0.00,2.55,0.00,0.000,1030,0.000,0.124,2387,2806,3785,3877,3694,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1172,-0.67,-145.9,2388,2807,3876,3696,173.5,-12.3,160,1182,0.00,2.42,0.00,0.000,516,0.000,0.089,2387,1393,3785,3875,3695,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1241,-0.70,-145.9,2388,1392,3876,3695,181.3,-11.2,173,1250,0.00,2.55,0.00,0.000,1030,0.000,0.125,2387,2799,3784,3874,3695,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1546,-0.73,-145.9,2388,2799,3875,3695,214.8,-10.6,204,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2796,3784,3874,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,-0.76,-145.9,2388,2799,3873,3695,245.0,-9.8,234,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2799,3783,3872,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-0.80,-145.9,2388,2800,3871,3696,275.9,-9.5,248,2176,0.00,2.40,0.00,0.000,516,0.000,0.090,2384,1388,3782,3870,3695,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2230,-0.85,-145.9,2388,1389,3871,3696,281.6,-8.9,260,2240,0.00,2.55,0.00,0.000,1030,0.000,0.126,2387,2806,3782,3870,3695,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2564,-0.89,-145.9,2388,2808,3870,3696,312.0,-9.1,276,2567,0.15,0.00,0.00,0.000,4102,0.143,0.000,2328,2805,3781,3869,3694,0,0,0,0,0,0,14.61,28.83,28.83
$GC,2864,-0.89,-145.9,2329,2806,3870,3695,347.2,-11.9,286,2872,0.00,2.40,0.00,0.000,516,0.000,0.090,2328,1397,3782,3869,3695,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2951,-0.89,-145.9,2329,1397,3869,3697,357.1,-10.7,303,2960,0.00,2.50,0.00,0.000,1030,0.000,0.122,2318,2798,3782,3869,3695,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3256,-0.89,-145.9,2318,2799,3869,3695,394.5,-12.3,314,3264,0.00,2.38,0.00,0.000,516,0.000,0.088,2318,1398,3779,3864,3695,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3297,-0.89,-145.9,2320,1399,3869,3697,399.6,-12.0,322,3306,0.12,2.50,0.00,0.000,3078,0.334,0.122,2333,2806,3781,3868,3695,0,0,0,0,0,0,14.51,14.60,28.83
$GC,3620,-0.89,-145.9,2334,2807,3869,3695,436.1,-11.3,336,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2804,3781,3868,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-0.89,-145.9,2334,2804,3869,3695,470.3,-11.3,346,3928,0.00,2.38,0.00,0.000,516,0.000,0.088,2333,1397,3781,3868,3695,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4012,-0.89,-145.9,2334,1397,3869,3692,480.4,-10.8,364,4022,0.00,2.50,0.00,0.000,1030,0.000,0.124,2333,2799,3779,3865,3694,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,4195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4195,begin apogee
$GC,4198,-0.14,0.0,2335,3062,3869,3696,500.9,-11.1,375,4343,0.95,0.00,133.48,2.710,10246,0.292,0.000,2579,3061,3186,3265,3108,0,0,0,0,1,0,14.53,28.83,12.63
$STATE,4344,end apogee,CONTROL_FINISHED_OK
$STATE,4344,begin climb
$GC,4345,0.69,145.9,2580,3061,3282,3109,504.0,0.0,379,4488,0.93,1.48,130.02,1.525,10500,0.168,0.130,2848,3793,2584,2648,2520,0,0,0,0,0,0,13.70,13.60,13.15
$GC,4713,0.62,145.9,2848,3793,2636,2509,458.0,17.1,445,4720,0.00,1.33,0.00,0.000,1030,0.000,0.084,2853,3051,2571,2635,2508,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5045,0.56,145.9,2854,3052,2636,2509,407.3,15.2,461,5052,0.12,1.35,0.00,0.000,4356,0.329,0.126,2824,3790,2571,2635,2508,0,0,0,0,0,0,14.18,14.28,28.83
$GC,5276,0.51,145.9,2825,3787,2636,2504,371.9,15.9,507,5284,0.10,1.27,0.00,0.000,5126,0.290,0.088,2799,3060,2573,2635,2511,0,0,0,0,0,0,14.28,14.41,28.83
$GC,5589,0.51,145.9,2804,3061,2636,2509,332.5,12.4,519,5596,0.00,1.35,0.00,0.000,260,0.000,0.134,2803,3784,2571,2635,2507,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5820,0.47,145.9,2804,3785,2636,2509,301.0,13.0,565,5828,0.00,1.27,0.00,0.000,1030,0.000,0.089,2808,3045,2569,2630,2508,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6133,0.47,145.9,2809,3049,2636,2508,262.7,12.3,577,6140,0.00,1.38,0.00,0.000,260,0.000,0.135,2808,3788,2571,2635,2507,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6364,0.43,145.9,2809,3789,2636,2508,231.6,13.2,623,6372,0.12,1.27,0.00,0.000,5126,0.293,0.089,2779,3052,2571,2635,2508,0,0,0,0,0,0,14.43,14.54,28.83
$GC,6676,0.46,190.7,2780,3051,2637,2508,200.6,9.5,655,6720,0.00,1.42,38.58,1.196,8452,0.000,0.135,2779,3788,2401,2467,2335,0,0,0,0,0,0,28.83,14.28,13.90
$GC,6829,0.47,201.0,2779,3795,2453,2322,184.6,11.3,683,6838,0.00,1.27,4.32,0.920,9222,0.000,0.089,2784,3057,2366,2433,2300,0,0,0,0,0,0,28.83,14.40,13.85
$GC,7142,0.54,258.9,2785,3060,2442,2301,156.6,8.8,715,7211,0.00,2.47,58.08,1.053,8708,0.000,0.086,2794,1637,2114,2176,2053,0,0,0,0,0,0,28.83,14.18,13.78
$GC,7291,0.65,317.2,2794,1637,2167,2046,143.5,8.7,741,7352,0.15,2.58,52.28,1.001,11270,0.140,0.121,2853,3054,1887,1946,1829,0,0,0,0,0,0,14.31,14.26,13.72
$GC,7656,0.65,317.2,2853,3055,1920,1810,96.0,12.6,781,7664,0.00,1.38,0.00,0.000,260,0.000,0.134,2853,3786,1864,1919,1809,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7738,0.65,317.2,2853,3785,1920,1807,85.2,13.2,797,7745,0.00,1.30,0.00,0.000,1030,0.000,0.089,2857,3048,1862,1919,1806,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8050,0.71,365.9,2858,3050,1920,1808,49.3,9.3,829,8083,0.00,1.42,25.35,0.309,8452,0.000,0.138,2857,3787,1699,1761,1637,0,0,0,0,0,0,28.83,14.39,14.28
$GC,8142,0.76,391.9,2863,3788,1787,1637,39.9,10.5,845,8165,0.00,1.27,17.35,0.291,9222,0.000,0.091,2860,3055,1589,1647,1531,0,0,0,0,0,0,28.83,14.45,14.28
$GC,8459,0.92,523.5,2861,3057,1680,1532,13.4,4.7,878,8543,0.17,2.50,75.47,0.219,10756,0.143,0.089,2939,1642,1051,1079,1023,0,0,0,0,0,0,14.47,14.38,14.31
$GC,8767,1.14,689.6,2939,1641,1098,1024,4.3,2.9,935,8831,0.17,2.55,57.47,0.196,11266,0.148,0.125,2999,3056,635,606,665,0,0,0,0,0,0,14.44,14.42,28.83
$STATE,8832,end climb,SURFACE_DEPTH_REACHED
$STATE,8832,begin surface coast
$FINISH,0.9,1.010083
$STATE,8859,end surface coast,CONTROL_FINISHED_OK
$STATE,8859,begin surface
$SM_CCo,8880,15.05,0.197,0,0,539,649.06
$SM_GC,2.42,8.50,0.45,15.05,0.109,0.096,0.197,213,2793,539,-7.51,0.76,649.06,0,0,0,0,0,0,14.42,14.42,14.34
$RAFOS_CLK,559
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14425.45,290714,051110
$TT8_MAMPS,0.046438,0.046438
$HUMID,51.45
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4010976
$TM_FREEKB,7711616
$24V_AH,12.63,7.442
$10V_AH,12.61,0.000
$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,23.125,64.325,592.400,15.050,0.000,0.000,0.000,425.875,0.000,0.000,26.309,0.000,6174.874,690.149,2621.579,76.504,0.000,1966.551,0.000,1398.902,1283.000,0.535,0.000
$DEVICE_MAMPS,468.180,142.290,2710.395,197.370,0.000,0.000,0.000,195.840,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8886.000,8938.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.632,13.369,0.000,0.000
$MEM,303340
$DATA_FILE_SIZE,33354,950
$CAP_FILE_SIZE,138504,0
$CFSIZE,2097872896,2088828928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9854.99,0x2378b6,7,5
$SOUNDSPEED,1449.7
$EKF,8991,4256.750000,-8669.484375,0.872277,-0.020117,0.112730,-0.006084,0.000118,0.001104,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.058,146.05,1
$GPS,290714,103154,7056.513,-14428.974,37,0.9,57,22.3