version: 66.12
glider: 198
mission: 5
dive: 24
start: 7 29 114 16 7 6
data:
$ID,198
$MISSION,5
$DIVE,24
$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,-3351.937
$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,26
$R_STBD_OVSHOOT,14
$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
$GPS1,290714,155606,7057.851,-14429.014,18,1.1,38,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.6
$GPS2,290714,160642,7057.770,-14429.011,4,0.9,25,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.0,71670,-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,19,-0.69,-145.9,204,2797,460,540,0.0,0.0,0,80,0.00,0.00,-58.70,0.000,16386,0.000,0.000,203,2796,1933,1969,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,204,2796,1972,1900,3.3,-2.5,6,143,11.65,2.50,-39.28,0.000,18948,0.469,0.112,2398,1387,3782,3851,3714,0,0,0,0,0,0,14.10,14.30,14.52
$GC,168,-0.66,-145.9,2399,1387,3853,3715,21.0,-18.0,20,175,0.00,2.58,0.00,0.000,1030,0.000,0.122,2388,2801,3783,3851,3715,0,0,0,0,0,0,28.83,14.28,28.83
$GC,479,-0.64,-145.9,2389,2802,3851,3719,79.9,-16.8,52,487,0.15,1.77,0.00,0.000,2308,0.355,0.132,2411,3789,3787,3856,3718,0,0,0,0,0,0,14.27,14.35,28.83
$GC,591,-0.64,-145.9,2412,3790,3851,3720,98.0,-16.3,74,599,0.00,1.73,0.00,0.000,1030,0.000,0.083,2411,2795,3784,3850,3719,0,0,0,0,0,0,28.83,14.42,28.83
$GC,903,-0.66,-145.9,2411,2794,3851,3719,140.4,-12.8,106,910,0.00,2.40,0.00,0.000,516,0.000,0.089,2410,1390,3784,3850,3719,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1000,-0.70,-145.9,2411,1387,3851,3719,151.8,-11.2,125,1009,0.00,2.55,0.00,0.000,1030,0.000,0.122,2404,2801,3784,3850,3719,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1305,-0.73,-145.9,2404,2801,3851,3719,187.1,-10.8,156,1313,0.00,2.40,0.00,0.000,516,0.000,0.086,2404,1389,3784,3850,3718,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1352,-0.77,-145.9,2404,1389,3851,3720,192.0,-10.2,165,1361,0.00,2.55,0.00,0.000,1030,0.000,0.124,2400,2803,3784,3850,3718,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1658,-0.81,-145.9,2401,2804,3851,3717,221.8,-9.7,196,1665,0.00,2.40,0.00,0.000,516,0.000,0.087,2405,1392,3783,3850,3716,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1700,-0.86,-145.9,2401,1393,3856,3718,225.8,-9.1,204,1707,0.15,2.53,0.00,0.000,5126,0.145,0.125,2341,2800,3783,3850,3717,0,0,0,0,0,0,14.54,14.50,28.83
$GC,2031,-0.86,-145.9,2343,2802,3850,3717,265.1,-11.9,230,2039,0.00,2.40,0.00,0.000,516,0.000,0.086,2342,1392,3782,3849,3716,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2073,-0.86,-145.9,2342,1392,3851,3712,270.1,-11.1,238,2081,0.00,2.53,0.00,0.000,1030,0.000,0.122,2334,2801,3786,3849,3724,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2396,-0.86,-145.9,2335,2801,3848,3716,308.6,-11.8,252,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2801,3781,3847,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2695,-0.86,-145.9,2334,2801,3848,3716,343.7,-11.7,262,2703,0.00,2.38,0.00,0.000,516,0.000,0.086,2334,1392,3781,3847,3715,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2747,-0.86,-145.9,2334,1392,3845,3715,349.6,-10.5,272,2755,0.00,2.53,0.00,0.000,1030,0.000,0.124,2334,2804,3780,3846,3715,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3060,-0.86,-145.9,2335,2806,3847,3716,385.7,-11.6,284,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2804,3778,3840,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-0.86,-145.9,2334,2804,3848,3715,420.2,-11.5,294,3368,0.00,2.38,0.00,0.000,516,0.000,0.087,2330,1394,3780,3846,3715,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3422,-0.86,-145.9,2334,1394,3847,3716,427.1,-10.9,306,3430,0.00,2.50,0.00,0.000,1030,0.000,0.122,2333,2799,3780,3846,3715,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3754,-0.86,-145.9,2337,2800,3847,3720,464.5,-11.2,322,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2799,3780,3846,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-0.86,-145.9,2334,2805,3847,3716,497.9,-11.0,332,4062,0.00,2.38,0.00,0.000,516,0.000,0.086,2334,1389,3780,3846,3715,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,4075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4075,begin apogee
$GC,4081,-0.14,0.0,2335,3050,3847,3716,500.5,-11.1,336,4221,0.95,0.00,130.65,2.757,10246,0.295,0.000,2578,3049,3187,3266,3109,0,0,0,0,1,0,14.52,28.83,12.67
$STATE,4223,end apogee,CONTROL_FINISHED_OK
$STATE,4223,begin climb
$GC,4224,0.69,145.9,2579,3049,3279,3109,503.5,0.0,340,4367,0.93,1.48,128.77,1.476,10500,0.170,0.129,2847,3786,2583,2649,2517,0,0,0,0,0,0,13.71,13.62,13.16
$GC,4591,0.62,145.9,2848,3788,2639,2513,456.3,16.7,406,4599,0.00,1.30,0.00,0.000,1030,0.000,0.084,2850,3056,2573,2638,2508,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4924,0.57,145.9,2851,3061,2639,2507,405.7,15.1,422,4931,0.15,1.35,0.00,0.000,4356,0.323,0.127,2816,3796,2572,2638,2507,0,0,0,0,0,0,14.17,14.27,28.83
$GC,5085,0.51,145.9,2817,3797,2639,2508,381.3,15.2,454,5093,0.00,1.30,0.00,0.000,1030,0.000,0.085,2822,3048,2572,2638,2507,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5408,0.48,145.9,2823,3049,2639,2508,337.1,13.6,468,5411,0.15,0.00,0.00,0.000,4102,0.314,0.000,2790,3048,2572,2638,2507,0,0,0,0,0,0,14.36,28.83,28.83
$GC,5708,0.48,146.7,2790,3049,2639,2507,301.1,11.9,478,5715,0.00,1.38,0.00,0.000,260,0.000,0.134,2789,3787,2572,2638,2506,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5804,0.46,146.7,2790,3788,2639,2506,288.5,13.1,497,5812,0.00,1.27,0.00,0.000,1030,0.000,0.087,2795,3048,2570,2635,2506,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6131,0.46,154.1,2796,3049,2634,2507,250.1,11.5,512,6137,0.00,0.00,2.90,0.694,8198,0.000,0.000,2795,3048,2556,2625,2487,0,0,0,0,0,0,28.83,28.83,13.95
$GC,6431,0.47,171.3,2796,3049,2642,2489,217.0,11.0,540,6455,0.00,0.00,20.25,1.248,8198,0.000,0.000,2795,3049,2483,2555,2411,0,0,0,0,0,0,28.83,28.83,13.95
$GC,6751,0.50,209.0,2795,3048,2539,2400,181.3,9.9,572,6787,0.00,0.00,33.05,1.147,8198,0.000,0.000,2795,3049,2331,2398,2265,0,0,0,0,0,0,28.83,28.83,13.89
$GC,7082,0.57,266.6,2796,3049,2375,2248,148.9,8.8,605,7136,0.00,0.00,51.17,1.047,8710,0.000,0.000,2795,3048,2098,2162,2034,0,0,0,0,0,0,28.83,28.83,13.80
$GC,7431,0.65,320.0,2795,3048,2135,2009,116.0,9.0,641,7488,0.15,2.53,48.03,0.986,10756,0.137,0.087,2863,1642,1868,1926,1811,0,0,0,0,0,0,14.42,14.16,13.82
$GC,7627,0.68,320.0,2864,1641,1908,1800,92.9,12.1,677,7634,0.00,2.55,0.00,0.000,1030,0.000,0.120,2863,3050,1854,1906,1802,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7938,0.68,323.4,2864,3051,1907,1796,52.8,11.7,709,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,3050,1850,1906,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8239,0.76,394.1,2864,3051,1907,1794,26.4,8.1,739,8283,0.00,2.42,37.70,0.256,8708,0.000,0.083,2871,1642,1582,1640,1524,0,0,0,0,0,0,28.83,14.42,14.33
$GC,8342,0.90,497.4,2873,1642,1665,1524,18.9,6.3,757,8412,0.15,2.55,59.50,0.230,11270,0.139,0.122,2933,3057,1157,1192,1123,0,0,0,0,0,0,14.45,14.40,14.28
$GC,8706,1.14,704.2,2933,3056,1221,1123,6.5,0.6,797,8810,0.17,2.45,91.40,0.197,10756,0.140,0.090,3013,1642,498,463,534,0,0,0,0,0,0,14.47,14.35,14.31
$STATE,8813,end climb,SURFACE_DEPTH_REACHED
$STATE,8813,begin surface coast
$FINISH,0.9,1.019012
$STATE,8833,end surface coast,CONTROL_FINISHED_OK
$STATE,8833,begin surface
$SM_CCo,8916,0.00,0.000,0,0,502,658.39
$SM_GC,2.17,8.57,2.17,0.00,0.110,0.129,0.000,209,2802,502,-7.51,-0.42,658.39,0,0,0,0,0,0,14.40,14.35,28.83
$RAFOS_CLK,560
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14421.61,290714,131823
$TT8_MAMPS,0.045689,0.045689
$HUMID,52.28
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4009632
$TM_FREEKB,7669568
$24V_AH,12.67,8.423
$10V_AH,12.60,0.000
$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,23.175,66.250,603.425,0.000,0.000,0.000,0.000,398.500,0.000,0.000,27.174,0.000,6430.754,683.650,2368.854,75.357,0.000,1851.963,0.000,1214.922,983.000,0.535,0.000
$DEVICE_MAMPS,468.945,133.875,2757.060,0.000,0.000,0.000,0.000,201.195,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8856.000,8910.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.659,13.329,0.000,0.000
$MEM,302020
$DATA_FILE_SIZE,26738,817
$CAP_FILE_SIZE,132143,0
$CFSIZE,2097872896,2088075264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9668.29,0x2378b6,7,5
$SOUNDSPEED,1449.2
$EKF,9007,4258.765137,-8669.026367,0.892764,-0.301867,-0.004003,-0.029348,0.000125,0.001175,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.016,94.07,1
$GPS,290714,183710,7058.731,-14428.796,33,0.8,53,22.3