version: 66.12
glider: 198
mission: 5
dive: 27
start: 7 30 114 0 15 20
data:
$ID,198
$MISSION,5
$DIVE,27
$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,-3356.4775
$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,33
$R_STBD_OVSHOOT,17
$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
$GPS1,300714,000402,7100.795,-14428.239,13,0.8,33,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-70.6
$GPS2,300714,001502,7100.824,-14428.206,5,0.8,25,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.9,66009,-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,-145.9,209,2793,462,539,0.0,0.0,0,84,0.00,0.00,-62.80,0.000,16386,0.000,0.000,207,2794,2063,2108,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.69,-145.9,208,2795,2110,2018,3.2,-3.2,6,140,11.68,2.42,-32.60,0.000,18948,0.469,0.105,2398,1394,3782,3851,3713,0,0,0,0,0,0,14.07,14.23,14.46
$GC,324,-0.67,-145.9,2395,1394,3845,3717,50.5,-17.9,51,334,0.00,2.55,0.00,0.000,1030,0.000,0.116,2390,2808,3786,3850,3722,0,0,0,0,0,0,28.83,14.31,28.83
$GC,629,-0.67,-145.9,2391,2809,3852,3719,99.5,-14.8,82,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2808,3784,3851,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,929,-0.67,-145.9,2390,2809,3855,3718,143.0,-13.9,112,938,0.00,2.40,0.00,0.000,516,0.000,0.084,2390,1395,3784,3851,3717,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1017,-0.70,-145.9,2390,1395,3852,3718,153.7,-12.2,129,1026,0.00,2.53,0.00,0.000,1030,0.000,0.121,2387,2802,3784,3851,3718,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1322,-0.72,-145.9,2387,2802,3852,3718,190.4,-11.2,160,1330,0.00,2.40,0.00,0.000,516,0.000,0.085,2384,1388,3784,3851,3718,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1385,-0.75,-145.9,2387,1388,3852,3718,196.6,-9.6,172,1393,0.00,2.53,0.00,0.000,1030,0.000,0.122,2387,2797,3783,3850,3717,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1698,-0.79,-145.9,2387,2798,3852,3716,227.4,-10.1,204,1705,0.00,2.38,0.00,0.000,516,0.000,0.085,2386,1398,3783,3851,3716,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1765,-0.83,-145.9,2388,1391,3852,3716,233.9,-9.7,217,1774,0.00,2.53,0.00,0.000,1030,0.000,0.122,2387,2802,3783,3850,3716,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2090,-0.87,-145.9,2387,2802,3852,3715,265.1,-9.4,240,2093,0.12,0.00,0.00,0.000,4102,0.158,0.000,2336,2802,3782,3850,3715,0,0,0,0,0,0,14.60,28.83,28.83
$GC,2390,-0.87,-145.9,2337,2802,3851,3716,300.3,-11.8,250,2400,0.00,2.40,0.00,0.000,516,0.000,0.085,2336,1379,3782,3849,3715,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2494,-0.87,-145.9,2337,1379,3850,3715,312.1,-11.2,270,2503,0.00,2.55,0.00,0.000,1030,0.000,0.122,2334,2810,3782,3849,3715,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2818,-0.87,-145.9,2335,2809,3850,3716,350.5,-11.8,284,2825,0.00,2.38,0.00,0.000,516,0.000,0.085,2334,1396,3781,3847,3715,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2869,-0.87,-145.9,2336,1395,3848,3716,356.2,-10.5,294,2879,0.00,2.50,0.00,0.000,1030,0.000,0.120,2326,2800,3781,3847,3715,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3184,-0.87,-145.9,2327,2801,3847,3716,393.5,-11.8,306,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2800,3781,3847,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3483,-0.87,-145.9,2327,2800,3848,3716,428.6,-11.7,316,3491,0.00,2.35,0.00,0.000,516,0.000,0.084,2325,1395,3780,3846,3714,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3585,-0.87,-145.9,2326,1394,3847,3711,439.8,-10.8,336,3593,0.12,2.50,0.00,0.000,3078,0.347,0.119,2342,2805,3780,3846,3715,0,0,0,0,0,0,14.51,14.61,28.83
$GC,3907,-0.87,-145.9,2343,2806,3847,3716,473.6,-10.4,350,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2805,3780,3846,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4176,begin apogee
$GC,4180,-0.14,0.0,2342,3055,3847,3715,501.7,-10.4,359,4332,0.90,0.00,142.57,2.635,10246,0.286,0.000,2576,3051,3188,3268,3109,0,0,0,0,1,0,14.54,28.83,12.66
$STATE,4335,end apogee,CONTROL_FINISHED_OK
$STATE,4335,begin climb
$GC,4336,0.69,145.9,2577,3054,3280,3109,505.2,0.0,364,4479,0.93,1.48,129.65,1.513,10500,0.169,0.125,2844,3788,2582,2648,2517,0,0,0,0,0,0,13.69,13.58,13.11
$GC,4703,0.62,145.9,2845,3789,2646,2509,458.4,16.6,430,4713,0.00,1.30,0.00,0.000,1030,0.000,0.083,2849,3059,2571,2636,2507,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5037,0.57,145.9,2850,3057,2637,2508,407.9,15.1,446,5047,0.12,1.35,0.00,0.000,4356,0.329,0.125,2821,3801,2569,2637,2502,0,0,0,0,0,0,14.19,14.26,28.83
$GC,5271,0.52,145.9,2822,3802,2638,2506,372.7,15.2,492,5279,0.00,1.30,0.00,0.000,1030,0.000,0.083,2828,3050,2571,2637,2506,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5583,0.49,145.9,2828,3050,2638,2506,330.3,13.5,504,5591,0.12,1.35,0.00,0.000,4356,0.317,0.125,2796,3800,2571,2636,2506,0,0,0,0,0,0,14.38,14.42,28.83
$GC,5655,0.46,145.9,2797,3800,2638,2506,320.5,13.8,518,5664,0.00,1.30,0.00,0.000,1030,0.000,0.084,2802,3048,2571,2637,2506,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5978,0.46,145.9,2802,3048,2644,2506,281.4,12.0,532,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3048,2571,2636,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6278,0.46,148.4,2810,3048,2637,2505,245.4,11.8,544,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3048,2571,2637,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6578,0.47,162.9,2803,3049,2637,2506,210.3,11.1,574,6601,0.00,2.40,14.07,1.222,8708,0.000,0.084,2812,1636,2510,2579,2442,0,0,0,0,0,0,28.83,14.45,14.00
$GC,6660,0.49,195.1,2813,1637,2576,2441,201.8,10.2,589,6697,0.00,2.53,28.12,1.154,9222,0.000,0.118,2812,3053,2384,2451,2317,0,0,0,0,0,0,28.83,14.46,13.90
$GC,6991,0.50,208.0,2812,3053,2436,2305,163.6,11.2,624,7005,0.00,0.00,10.55,1.082,8198,0.000,0.000,2812,3053,2334,2399,2270,0,0,0,0,0,0,28.83,28.83,13.96
$GC,7301,0.54,264.2,2813,3054,2387,2261,133.2,8.8,655,7362,0.00,2.50,51.30,1.039,8708,0.000,0.083,2819,1646,2095,2157,2034,0,0,0,0,0,0,28.83,14.18,13.83
$GC,7441,0.63,316.6,2822,1647,2147,2028,119.9,9.1,680,7497,0.00,2.55,46.83,0.994,9222,0.000,0.117,2821,3057,1885,1945,1825,0,0,0,0,0,0,28.83,14.28,13.75
$GC,7801,0.69,346.5,2821,3057,1923,1807,81.8,10.3,719,7821,0.00,2.50,14.23,0.353,8708,0.000,0.085,2828,1644,1777,1842,1713,0,0,0,0,0,0,28.83,14.35,14.16
$GC,7920,0.78,388.5,2828,1643,1871,1713,69.8,9.6,742,7959,0.17,2.53,25.88,0.370,11270,0.126,0.119,2903,3050,1606,1668,1545,0,0,0,0,0,0,14.41,14.36,14.19
$GC,8253,0.79,400.2,2898,3050,1690,1546,28.2,11.3,777,8270,0.00,1.40,9.20,0.254,8452,0.000,0.131,2899,3790,1555,1620,1491,0,0,0,0,0,0,28.83,14.40,14.33
$GC,8454,1.06,681.2,2898,3790,1644,1491,13.2,-3.4,816,8611,0.17,1.27,144.18,0.213,11270,0.083,0.087,2980,3058,497,459,536,0,0,0,0,0,0,14.45,14.45,14.25
$STATE,8664,end climb,SURFACE_DEPTH_REACHED
$STATE,8664,begin surface coast
$FINISH,0.9,1.019572
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8765,0.00,0.000,0,0,501,658.63
$SM_GC,1.89,8.35,0.45,0.00,0.094,0.093,0.000,204,2791,501,-7.52,0.71,658.63,0,0,0,0,0,0,14.40,14.40,28.83
$RAFOS_CLK,546
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14436.17,290714,212345
$TT8_MAMPS,0.04494,0.04494
$HUMID,51.57
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4008288
$TM_FREEKB,7626944
$24V_AH,12.66,9.437
$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,22.700,61.050,616.575,0.000,0.000,0.000,0.000,417.250,0.000,0.000,26.871,0.000,6225.822,737.895,2383.848,78.441,0.000,1905.192,0.000,1250.740,0.000,0.536,0.000
$DEVICE_MAMPS,468.945,141.525,2635.425,0.000,0.000,0.000,0.000,199.665,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8711.000,8765.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.661,13.316,0.000,0.000
$MEM,300668
$DATA_FILE_SIZE,30042,847
$CAP_FILE_SIZE,130276,0
$CFSIZE,2097872896,2087321600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9840.45,0x2378b6,7,5
$SOUNDSPEED,1449.8
$EKF,8857,4261.846680,-8668.521484,0.910370,0.084995,-0.189668,0.014428,0.000124,0.001171,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.023,66.44,1
$GPS,300714,024254,7101.899,-14428.262,35,0.8,55,22.3