version: 66.12
glider: 198
mission: 5
dive: 22
start: 7 29 114 10 42 54
data:
$ID,198
$MISSION,5
$DIVE,22
$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,-3349.0652
$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,31
$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
$GPS1,290714,103154,7056.513,-14428.974,37,0.9,57,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-70.5
$GPS2,290714,104237,7056.408,-14428.648,5,0.8,25,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,336.5,74130,-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,-145.9,210,2792,488,609,0.0,0.0,0,85,0.00,0.00,-63.55,0.000,16386,0.000,0.000,210,2793,2114,2154,2075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.69,-145.9,211,2793,2156,2077,3.2,-2.6,6,137,11.62,2.50,-32.83,0.000,18948,0.471,0.116,2395,1393,3781,3851,3712,0,0,0,0,0,0,14.14,14.30,14.53
$GC,302,-0.66,-145.9,2395,1393,3852,3717,45.4,-17.8,46,309,0.00,2.55,0.00,0.000,1030,0.000,0.124,2389,2797,3783,3852,3715,0,0,0,0,0,0,28.83,14.35,28.83
$GC,613,-0.66,-145.9,2391,2798,3852,3718,98.8,-15.5,78,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2798,3784,3851,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,913,-0.66,-145.9,2391,2797,3853,3717,143.3,-14.4,108,923,0.00,2.40,0.00,0.000,516,0.000,0.089,2390,1392,3784,3851,3717,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1002,-0.68,-145.9,2391,1392,3852,3717,155.1,-12.2,125,1011,0.00,2.55,0.00,0.000,1030,0.000,0.125,2387,2806,3784,3851,3717,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1307,-0.68,-145.9,2388,2806,3852,3717,192.1,-11.4,156,1317,0.00,2.40,0.00,0.000,516,0.000,0.088,2387,1392,3784,3852,3717,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1371,-0.72,-145.9,2388,1393,3852,3722,199.1,-11.0,168,1381,0.00,2.55,0.00,0.000,1030,0.000,0.127,2387,2809,3783,3851,3716,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1685,-0.74,-145.9,2388,2809,3852,3716,232.1,-10.0,200,1695,0.00,2.40,0.00,0.000,516,0.000,0.089,2388,1394,3783,3851,3715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1734,-0.79,-145.9,2388,1394,3852,3722,237.2,-10.3,209,1743,0.00,2.53,0.00,0.000,1030,0.000,0.127,2387,2798,3783,3851,3715,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2049,-0.82,-145.9,2388,2799,3852,3716,267.7,-9.6,229,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2798,3783,3851,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-0.86,-145.9,2388,2798,3852,3715,296.3,-9.4,239,2357,0.12,2.40,0.00,0.000,4612,0.161,0.087,2332,1387,3782,3850,3715,0,0,0,0,0,0,14.62,14.61,28.83
$GC,2446,-0.86,-145.9,2333,1386,3851,3715,307.5,-11.4,258,2454,0.00,2.53,0.00,0.000,1030,0.000,0.125,2327,2798,3782,3850,3714,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2774,-0.86,-145.9,2328,2798,3851,3709,347.9,-12.6,273,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2798,3782,3850,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.86,-145.9,2327,2798,3851,3715,385.1,-12.4,283,3081,0.00,2.38,0.00,0.000,516,0.000,0.088,2327,1391,3781,3848,3715,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3170,-0.86,-145.9,2327,1390,3850,3715,396.8,-12.0,302,3179,0.15,2.53,0.00,0.000,3078,0.339,0.123,2348,2809,3782,3849,3715,0,0,0,0,0,0,14.51,14.60,28.83
$GC,3498,-0.86,-145.9,2348,2808,3850,3715,433.9,-11.3,317,3505,0.00,2.40,0.00,0.000,516,0.000,0.088,2348,1385,3781,3848,3715,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3549,-0.88,-145.9,2349,1386,3849,3716,439.4,-10.3,327,3557,0.00,2.53,0.00,0.000,1030,0.000,0.125,2347,2800,3781,3848,3714,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3862,-0.88,-145.9,2346,2796,3849,3716,473.6,-10.8,339,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2796,3781,3848,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4130,begin apogee
$GC,4133,-0.14,0.0,2347,3055,3849,3714,502.8,-10.7,348,4321,0.90,0.00,182.60,1.399,10246,0.288,0.000,2579,3056,3184,3262,3107,0,0,0,0,0,0,14.54,28.83,13.40
$STATE,4322,end apogee,CONTROL_FINISHED_OK
$STATE,4322,begin climb
$GC,4323,0.69,145.9,2582,3056,3257,3101,507.4,0.0,354,4462,0.88,1.48,124.12,1.420,10500,0.169,0.132,2839,3790,2582,2648,2517,0,0,0,0,0,0,13.88,13.72,13.25
$GC,4695,0.63,145.9,2840,3790,2630,2501,459.6,16.3,419,4704,0.00,1.33,0.00,0.000,1030,0.000,0.086,2845,3047,2565,2629,2501,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5001,0.58,145.9,2852,3047,2631,2501,413.9,14.8,430,5008,0.00,1.40,0.00,0.000,260,0.000,0.136,2845,3784,2565,2630,2501,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5232,0.51,145.9,2845,3785,2630,2501,375.3,16.9,476,5241,0.17,1.30,0.00,0.000,5126,0.298,0.086,2804,3051,2565,2630,2500,0,0,0,0,0,0,14.22,14.35,28.83
$GC,5546,0.51,145.9,2805,3046,2630,2501,334.8,12.7,488,5556,0.00,1.40,0.00,0.000,260,0.000,0.135,2804,3790,2568,2636,2500,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5655,0.47,145.9,2805,3790,2630,2501,319.7,13.7,509,5663,0.00,1.30,0.00,0.000,1030,0.000,0.087,2809,3048,2564,2629,2500,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5973,0.47,145.9,2811,3045,2631,2501,279.0,12.7,522,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3048,2564,2629,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6272,0.47,145.9,2810,3048,2630,2501,241.7,12.0,536,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3048,2564,2629,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6572,0.48,157.1,2810,3047,2630,2500,206.5,11.3,566,6579,0.00,0.00,3.97,0.878,8198,0.000,0.000,2809,3048,2543,2611,2476,0,0,0,0,0,0,28.83,28.83,13.95
$GC,6873,0.51,199.1,2810,3047,2629,2475,175.1,9.6,596,6923,0.00,2.50,43.28,1.147,8708,0.000,0.086,2820,1641,2364,2432,2297,0,0,0,0,0,0,28.83,14.28,13.85
$GC,6992,0.55,228.1,2822,1642,2413,2288,163.6,10.3,617,7028,0.00,2.55,25.90,1.118,9222,0.000,0.122,2820,3047,2243,2308,2178,0,0,0,0,0,0,28.83,14.30,13.79
$GC,7322,0.58,258.7,2821,3048,2293,2166,128.1,10.2,652,7359,0.00,2.47,26.65,1.076,8708,0.000,0.089,2828,1640,2117,2182,2052,0,0,0,0,0,0,28.83,14.23,13.85
$GC,7409,0.65,303.1,2829,1636,2172,2047,119.8,9.5,666,7458,0.00,2.58,40.83,1.027,9222,0.000,0.122,2828,3051,1942,2003,1881,0,0,0,0,0,0,28.83,14.29,13.72
$GC,7762,0.70,322.2,2830,3052,1983,1862,80.9,10.9,704,7778,0.00,0.00,7.18,0.320,8198,0.000,0.000,2828,3052,1878,1947,1809,0,0,0,0,0,0,28.83,28.83,14.16
$GC,8072,0.80,399.7,2829,3052,1976,1814,50.5,7.7,735,8126,0.15,0.00,45.55,0.328,10758,0.145,0.000,2895,3051,1559,1619,1500,0,0,0,0,0,0,14.44,28.83,14.23
$GC,8422,0.88,457.8,2896,3052,1634,1501,12.7,8.7,772,8466,0.00,1.40,34.38,0.222,8452,0.000,0.142,2894,3791,1320,1374,1267,0,0,0,0,0,0,28.83,14.38,14.34
$GC,8690,1.08,625.4,2896,3792,1389,1268,10.5,2.8,823,8794,0.20,1.30,93.22,0.206,11270,0.091,0.093,2983,3048,635,601,669,0,0,0,0,0,0,14.47,14.47,14.29
$STATE,8827,end climb,SURFACE_DEPTH_REACHED
$STATE,8827,begin surface coast
$FINISH,0.9,1.017294
$STATE,8847,end surface coast,CONTROL_FINISHED_OK
$STATE,8847,begin surface
$SM_CCo,8868,14.60,0.190,0,0,539,649.06
$SM_GC,2.28,8.45,0.45,14.60,0.106,0.112,0.190,203,2791,539,-7.51,0.62,649.06,0,0,0,0,0,0,14.42,14.40,14.33
$RAFOS_CLK,272
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14425.45,290714,075439
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.12
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4010528
$TM_FREEKB,7697472
$24V_AH,13.25,7.767
$10V_AH,12.75,0.000
$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,22.650,56.550,627.675,14.600,0.000,0.000,0.000,401.075,0.000,0.000,26.825,0.000,6308.623,762.422,2379.755,75.002,0.000,1906.294,0.000,1246.705,1497.000,0.536,0.000
$DEVICE_MAMPS,471.240,147.645,1419.840,189.720,0.000,0.000,0.000,201.960,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8874.000,8925.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.546,13.343,0.000,0.000
$MEM,302908
$DATA_FILE_SIZE,30057,844
$CAP_FILE_SIZE,131347,0
$CFSIZE,2097872896,2088599552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9647.34,0x2378b6,7,5
$SOUNDSPEED,1450.1
$EKF,8973,4257.449707,-8669.338867,0.867790,0.208082,-0.008261,0.012437,0.000132,0.001238,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.068,153.92,1
$GPS,290714,131224,7057.168,-14428.897,31,0.9,51,22.3