version: 66.12
glider: 198
mission: 5
dive: 23
start: 7 29 114 13 25 57
data:
$ID,198
$MISSION,5
$DIVE,23
$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,-3350.3232
$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,27
$R_STBD_OVSHOOT,13
$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
$GPS1,290714,131224,7057.168,-14428.897,31,0.9,51,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.0
$GPS2,290714,132540,7057.011,-14428.720,5,0.8,25,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,336.8,73032,-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,-145.9,202,2790,488,606,0.0,0.0,0,85,0.00,0.00,-63.50,0.000,16386,0.000,0.000,199,2790,2115,2153,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.69,-145.9,202,2790,2154,2078,3.1,-2.8,6,143,11.57,2.47,-33.20,0.000,18948,0.467,0.112,2395,1391,3783,3856,3711,0,0,0,0,0,0,14.13,14.30,14.52
$GC,167,-0.66,-145.9,2395,1390,3858,3712,20.9,-17.5,19,176,0.00,2.58,0.00,0.000,1030,0.000,0.122,2392,2806,3784,3856,3712,0,0,0,0,0,0,28.83,14.31,28.83
$GC,472,-0.64,-145.9,2387,2808,3857,3714,78.1,-16.5,50,482,0.15,1.75,0.00,0.000,2308,0.356,0.134,2410,3787,3782,3855,3710,0,0,0,0,0,0,14.33,14.40,28.83
$GC,606,-0.64,-145.9,2410,3787,3854,3714,98.8,-14.2,76,613,0.00,1.73,0.00,0.000,1030,0.000,0.087,2410,2796,3785,3856,3714,0,0,0,0,0,0,28.83,14.49,28.83
$GC,918,-0.66,-145.9,2410,2796,3857,3709,140.1,-12.7,108,925,0.00,2.38,0.00,0.000,516,0.000,0.090,2410,1393,3785,3856,3714,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1010,-0.70,-145.9,2410,1393,3856,3715,150.7,-11.1,126,1020,0.00,2.55,0.00,0.000,1030,0.000,0.127,2403,2809,3785,3856,3714,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1324,-0.73,-145.9,2404,2809,3857,3714,186.2,-10.5,158,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2809,3785,3856,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1624,-0.77,-145.9,2404,2809,3855,3714,215.5,-9.9,188,1631,0.00,2.42,0.00,0.000,516,0.000,0.088,2403,1386,3783,3853,3714,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1746,-0.82,-145.9,2404,1386,3853,3714,226.6,-9.5,212,1754,0.12,2.55,0.00,0.000,5126,0.157,0.128,2353,2798,3783,3852,3714,0,0,0,0,0,0,14.57,14.52,28.83
$GC,2078,-0.82,-145.9,2350,2798,3861,3714,264.5,-11.4,238,2087,0.00,2.40,0.00,0.000,516,0.000,0.088,2350,1387,3782,3850,3714,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2116,-0.82,-145.9,2352,1388,3851,3716,268.8,-10.4,245,2124,0.00,2.55,0.00,0.000,1030,0.000,0.128,2346,2805,3782,3850,3714,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2444,-0.82,-145.9,2348,2805,3851,3713,305.9,-11.3,260,2452,0.00,2.40,0.00,0.000,516,0.000,0.088,2347,1388,3781,3849,3714,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2485,-0.82,-145.9,2348,1388,3850,3714,310.6,-10.8,268,2494,0.00,2.53,0.00,0.000,1030,0.000,0.126,2347,2798,3781,3849,3714,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2808,-0.82,-145.9,2348,2799,3849,3717,346.2,-11.2,282,2817,0.00,2.38,0.00,0.000,516,0.000,0.087,2347,1391,3781,3848,3714,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2881,-0.82,-145.9,2348,1391,3849,3715,354.1,-9.9,296,2889,0.00,2.53,0.00,0.000,1030,0.000,0.125,2347,2801,3781,3848,3714,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3204,-0.82,-145.9,2348,2802,3848,3715,389.6,-10.9,310,3213,0.00,2.40,0.00,0.000,516,0.000,0.088,2347,1383,3780,3847,3714,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3247,-0.85,-145.9,2348,1382,3847,3714,394.4,-10.8,318,3257,0.00,2.55,0.00,0.000,1030,0.000,0.125,2347,2810,3780,3847,3714,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3572,-0.85,-145.9,2344,2809,3847,3714,429.4,-10.8,332,3579,0.00,2.40,0.00,0.000,516,0.000,0.087,2347,1385,3780,3846,3714,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3618,-0.87,-145.9,2348,1385,3847,3715,434.3,-10.1,341,3626,0.00,2.53,0.00,0.000,1030,0.000,0.124,2347,2802,3780,3846,3714,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3936,-0.87,-145.9,2348,2803,3847,3715,468.4,-10.8,354,3945,0.00,2.38,0.00,0.000,516,0.000,0.086,2347,1388,3783,3852,3714,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3994,-0.89,-145.9,2348,1388,3847,3714,474.5,-9.9,365,4003,0.00,2.53,0.00,0.000,1030,0.000,0.125,2347,2806,3780,3846,3715,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,4238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4238,begin apogee
$GC,4241,-0.14,0.0,2348,3052,3847,3713,500.7,-10.7,374,4425,0.88,0.00,179.07,1.353,10246,0.288,0.000,2576,3052,3185,3263,3108,0,0,0,0,0,0,14.54,28.83,13.42
$STATE,4427,end apogee,CONTROL_FINISHED_OK
$STATE,4427,begin climb
$GC,4428,0.69,145.9,2577,3052,3258,3102,505.4,0.0,380,4567,0.93,1.45,122.50,1.385,10500,0.174,0.131,2847,3787,2576,2641,2511,0,0,0,0,0,0,13.88,13.74,13.23
$GC,4791,0.62,145.9,2848,3788,2630,2501,457.8,17.2,445,4800,0.00,1.30,0.00,0.000,1030,0.000,0.084,2851,3048,2567,2629,2506,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5096,0.57,145.9,2852,3049,2630,2500,410.6,15.5,456,5104,0.15,1.35,0.00,0.000,4356,0.317,0.127,2817,3790,2564,2629,2500,0,0,0,0,0,0,14.26,14.34,28.83
$GC,5328,0.52,145.9,2818,3790,2629,2500,375.5,15.4,502,5337,0.00,1.30,0.00,0.000,1030,0.000,0.086,2822,3048,2564,2629,2499,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5642,0.49,145.9,2823,3048,2630,2499,332.4,13.6,514,5651,0.15,1.35,0.00,0.000,4356,0.312,0.129,2785,3797,2564,2629,2499,0,0,0,0,0,0,14.40,14.47,28.83
$GC,5795,0.47,145.9,2786,3798,2629,2507,312.0,13.5,544,5803,0.00,1.30,0.00,0.000,1030,0.000,0.088,2791,3050,2563,2629,2498,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6127,0.47,151.5,2791,3049,2630,2498,273.5,11.6,560,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,3050,2563,2629,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6427,0.48,161.2,2792,3049,2639,2498,239.8,11.4,576,6442,0.00,0.00,11.38,1.161,8198,0.000,0.000,2791,3049,2526,2595,2458,0,0,0,0,0,0,28.83,28.83,14.02
$GC,6737,0.50,190.8,2791,3050,2580,2442,205.8,10.3,607,6772,0.00,2.50,26.48,1.229,8708,0.000,0.087,2801,1631,2396,2465,2328,0,0,0,0,0,0,28.83,14.32,13.90
$GC,6841,0.55,213.8,2802,1631,2453,2321,194.7,10.7,624,6870,0.00,2.58,20.33,1.161,9222,0.000,0.122,2801,3059,2307,2372,2242,0,0,0,0,0,0,28.83,14.38,13.88
$GC,7164,0.60,257.5,2802,3059,2359,2230,159.7,9.5,658,7213,0.00,2.47,39.92,1.080,8708,0.000,0.086,2809,1639,2122,2188,2056,0,0,0,0,0,0,28.83,14.19,13.82
$GC,7233,0.69,316.6,2810,1644,2180,2052,153.4,8.7,668,7296,0.12,2.58,54.00,1.007,11270,0.154,0.119,2860,3053,1887,1947,1827,0,0,0,0,0,0,14.26,14.23,13.67
$GC,7590,0.69,316.6,2861,3053,1924,1807,104.1,13.3,707,7598,0.00,2.45,0.00,0.000,516,0.000,0.087,2867,1632,1865,1923,1807,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7657,0.71,316.6,2868,1633,1924,1807,95.7,12.6,720,7666,0.00,2.55,0.00,0.000,1030,0.000,0.120,2867,3048,1865,1923,1807,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7962,0.71,316.6,2868,3048,1923,1805,57.0,12.4,751,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3048,1863,1921,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8262,0.78,388.3,2867,3048,1922,1805,29.0,8.0,781,8304,0.00,1.40,36.12,0.262,8452,0.000,0.135,2867,3787,1602,1660,1545,0,0,0,0,0,0,28.83,14.42,14.35
$GC,8328,0.83,418.8,2868,3787,1677,1545,23.1,10.2,791,8357,0.00,1.30,19.00,0.239,9222,0.000,0.090,2871,3045,1479,1537,1421,0,0,0,0,0,0,28.83,14.47,14.33
$FREEZE,11.98,4.425,-1.426,0,1,0
$STATE,8620,end climb,NO_VERTICAL_VELOCITY
$STATE,8620,begin surface
$SM_CCo,8624,135.93,0.210,0,0,497,659.37
$SM_GC,2.06,7.85,0.43,0.00,0.080,0.106,0.000,207,2797,503,-7.52,0.76,658.14,0,0,0,0,0,0,14.47,14.47,28.83
$RAFOS_CLK,557
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,290714,131612
$TT8_MAMPS,0.04494,0.04494
$HUMID,50.70
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4010080
$TM_FREEKB,7683680
$24V_AH,13.23,8.070
$10V_AH,12.74,0.000
$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,21.925,74.725,508.800,135.925,0.000,0.000,0.000,497.000,0.000,0.000,26.154,0.000,6397.120,824.466,2434.049,76.280,0.000,2049.924,0.000,1215.032,0.000,0.535,0.000
$DEVICE_MAMPS,467.415,149.940,1385.415,209.610,0.000,0.000,0.000,195.075,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8644.000,8696.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.249,13.380,0.000,0.000
$MEM,302444
$DATA_FILE_SIZE,26725,822
$CAP_FILE_SIZE,135472,0
$CFSIZE,2097872896,2088337408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9782.31,0x2378b6,7,5
$SOUNDSPEED,1449.7
$EKF,9012,4258.019531,-8669.210938,11.984879,-0.005898,-0.002038,-0.009365,0.000120,0.001124,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.037,158.84,1
$GPS,290714,155606,7057.851,-14429.014,18,1.1,38,22.3