version: 66.12
glider: 198
mission: 5
dive: 29
start: 7 30 114 5 34 21
data:
$ID,198
$MISSION,5
$DIVE,29
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3358.9929
$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,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$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,29
$R_STBD_OVSHOOT,15
$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
$GPS1,300714,052325,7103.032,-14428.059,15,0.9,35,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-72.8
$GPS2,300714,053356,7103.027,-14427.981,5,0.9,25,22.4
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,344.2,61964,-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,-0.71,-145.9,206,2793,463,535,0.0,0.0,0,84,0.00,0.00,-62.75,0.000,16386,0.000,0.000,205,2797,2050,2089,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.71,-145.9,206,2793,2091,2013,3.0,-2.7,6,142,11.30,2.40,-35.10,0.000,18948,0.466,0.104,2360,1390,3781,3858,3705,0,0,0,0,0,0,14.18,14.35,14.54
$GC,146,-0.58,-145.9,2361,1390,3859,3700,18.1,-24.5,15,156,0.22,2.58,0.00,0.000,3078,0.360,0.120,2406,2806,3781,3857,3706,0,0,0,0,0,0,14.21,14.31,28.83
$GC,452,-0.58,-145.9,2407,2806,3858,3710,74.4,-15.2,46,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2806,3784,3857,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,751,-0.58,-145.9,2407,2807,3858,3711,117.0,-13.7,76,760,0.00,2.40,0.00,0.000,516,0.000,0.085,2406,1391,3784,3857,3711,0,0,0,0,0,0,28.83,14.51,28.83
$GC,798,-0.61,-145.9,2407,1392,3858,3712,122.9,-12.3,85,809,0.00,2.53,0.00,0.000,1030,0.000,0.116,2400,2806,3784,3857,3711,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1104,-0.63,-145.9,2401,2807,3858,3712,162.1,-12.8,116,1112,0.00,2.40,0.00,0.000,516,0.000,0.083,2400,1386,3784,3857,3711,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1156,-0.67,-145.9,2400,1386,3859,3711,168.6,-12.2,126,1164,0.00,2.53,0.00,0.000,1030,0.000,0.119,2400,2797,3784,3857,3711,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1469,-0.71,-145.9,2401,2798,3857,3711,200.8,-10.1,158,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2798,3783,3856,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,-0.75,-145.9,2401,2799,3854,3712,228.9,-8.9,188,1771,0.15,0.00,0.00,0.000,4102,0.142,0.000,2341,2798,3782,3853,3711,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2078,-0.75,-145.9,2341,2794,3852,3711,264.8,-11.6,211,2086,0.00,2.40,0.00,0.000,516,0.000,0.085,2340,1382,3781,3851,3711,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2124,-0.75,-145.9,2341,1382,3852,3712,270.1,-10.9,220,2133,0.00,2.53,0.00,0.000,1030,0.000,0.119,2333,2802,3781,3851,3711,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2443,-0.75,-145.9,2333,2803,3851,3712,307.5,-11.8,233,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2802,3780,3850,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2742,-0.75,-145.9,2333,2802,3845,3711,342.7,-11.7,243,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2802,3780,3850,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3043,-0.75,-145.9,2333,2802,3850,3712,377.8,-11.8,253,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2802,3780,3849,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3342,-0.75,-145.9,2333,2802,3848,3711,412.8,-11.6,263,3351,0.00,2.38,0.00,0.000,516,0.000,0.083,2339,1391,3778,3846,3711,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3400,-0.75,-145.9,2334,1392,3847,3712,419.2,-11.4,274,3409,0.00,2.50,0.00,0.000,1030,0.000,0.119,2328,2803,3778,3846,3711,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3705,-0.75,-145.9,2333,2804,3854,3711,454.3,-11.5,285,3708,0.12,0.00,0.00,0.000,2054,0.348,0.000,2349,2804,3778,3846,3711,0,0,0,0,0,0,14.54,28.83,28.83
$GC,4005,-0.75,-145.9,2353,2804,3847,3711,485.8,-10.4,295,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2803,3779,3846,3712,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4153,begin apogee
$GC,4157,-0.14,0.0,2351,3052,3847,3711,501.5,-10.5,300,4312,0.75,0.00,145.38,2.652,10246,0.279,0.000,2546,3052,3187,3264,3110,0,0,0,0,1,0,14.56,28.83,12.63
$STATE,4314,end apogee,CONTROL_FINISHED_OK
$STATE,4314,begin climb
$GC,4315,0.71,145.9,2548,3053,3277,3111,506.2,0.0,305,4461,0.98,1.48,130.20,1.621,10500,0.188,0.125,2825,3784,2579,2645,2514,0,0,0,0,0,0,13.64,13.51,13.02
$GC,4545,0.67,145.9,2822,3785,2638,2509,484.6,14.1,343,4553,0.00,1.33,0.00,0.000,1030,0.000,0.082,2825,3049,2573,2638,2508,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4867,0.64,145.9,2826,3050,2639,2507,441.8,13.3,357,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,3050,2571,2637,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,0.61,145.9,2826,3049,2639,2506,401.2,13.6,367,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,3049,2572,2638,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,0.58,145.9,2827,3050,2638,2506,359.8,13.8,377,5469,0.15,0.00,0.00,0.000,4102,0.312,0.000,2793,3050,2571,2638,2505,0,0,0,0,0,0,14.35,28.83,28.83
$GC,5766,0.58,145.9,2798,3049,2639,2505,323.3,12.1,387,5774,0.00,2.38,0.00,0.000,516,0.000,0.083,2803,1645,2571,2637,2505,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5818,0.60,166.7,2804,1644,2639,2505,317.5,10.8,397,5841,0.00,2.50,17.52,1.364,9222,0.000,0.116,2803,3052,2505,2575,2436,0,0,0,0,0,0,28.83,14.49,13.88
$GC,6165,0.60,166.7,2804,3049,2557,2423,274.3,12.4,415,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3052,2489,2556,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6465,0.60,166.7,2803,3053,2552,2423,236.9,12.4,431,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3052,2488,2555,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6765,0.60,168.8,2804,3052,2556,2422,201.1,11.8,461,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2488,2555,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7065,0.63,216.0,2806,3053,2556,2421,169.0,9.3,491,7115,0.00,2.50,42.85,1.195,8708,0.000,0.083,2813,1642,2295,2359,2232,0,0,0,0,0,0,28.83,14.30,13.86
$GC,7159,0.70,263.1,2814,1643,2350,2227,159.8,9.3,507,7208,0.00,2.53,42.08,1.120,9222,0.000,0.115,2813,3050,2107,2171,2044,0,0,0,0,0,0,28.83,14.32,13.72
$GC,7512,0.75,287.4,2814,3051,2151,2025,122.0,10.6,545,7541,0.00,2.42,20.60,1.047,8708,0.000,0.081,2821,1646,2002,2065,1940,0,0,0,0,0,0,28.83,14.29,13.90
$GC,7601,0.83,321.2,2821,1645,2055,1933,113.2,10.1,561,7638,0.15,2.53,30.73,1.019,11270,0.137,0.116,2882,3049,1873,1932,1814,0,0,0,0,0,0,14.35,14.28,13.80
$GC,7942,0.83,321.2,2882,3050,1905,1791,64.8,13.4,597,7952,0.00,2.42,0.00,0.000,516,0.000,0.084,2888,1638,1847,1904,1790,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7986,0.85,352.5,2889,1637,1904,1790,60.1,10.2,605,8008,0.00,2.55,13.88,0.332,9222,0.000,0.117,2888,3057,1750,1811,1689,0,0,0,0,0,0,28.83,14.39,14.24
$GC,8313,0.88,398.1,2889,3058,1838,1690,24.8,9.4,639,8348,0.00,2.42,27.73,0.247,8708,0.000,0.081,2896,1636,1565,1626,1504,0,0,0,0,0,0,28.83,14.42,14.34
$GC,8417,1.03,527.2,2897,1637,1648,1505,16.6,4.9,658,8502,0.12,2.53,73.05,0.219,11270,0.152,0.117,2949,3051,1036,1059,1013,0,0,0,0,0,0,14.47,14.42,14.27
$GC,8810,1.22,663.5,2950,3051,1070,1014,2.6,4.5,701,8829,0.12,0.00,14.57,0.187,10498,0.164,0.000,2995,3050,931,952,911,0,0,0,0,0,0,14.43,28.83,28.83
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,0.9,1.019514
$STATE,8862,end surface coast,CONTROL_FINISHED_OK
$STATE,8862,begin surface
$SM_CCo,8883,54.85,0.181,0,0,538,649.06
$SM_GC,2.07,8.45,0.43,54.85,0.103,0.096,0.181,199,2802,538,-7.44,1.02,649.06,0,0,0,0,0,0,14.45,14.43,14.33
$RAFOS_CLK,21
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14432.35,300714,024647
$TT8_MAMPS,0.081641,0.081641
$HUMID,51.73
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4007392
$TM_FREEKB,7598688
$24V_AH,12.63,10.170
$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,22.525,53.075,558.575,54.850,0.000,0.000,0.000,392.550,0.000,0.000,26.235,0.000,6650.170,718.652,2135.618,74.310,0.000,1765.845,0.000,1053.857,1495.000,0.536,0.000
$DEVICE_MAMPS,465.885,142.290,2652.255,180.540,0.000,0.000,0.000,203.490,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8887.000,8941.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.307,13.289,0.000,0.000
$MEM,299840
$DATA_FILE_SIZE,23412,707
$CAP_FILE_SIZE,125243,0
$CFSIZE,2097872896,2086797312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9616.67,0x2378b6,7,5
$SOUNDSPEED,1449.1
$EKF,9030,4264.105469,-8667.625000,0.936243,0.002831,-0.105515,-0.004602,0.000153,0.001450,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.018,41.48,1
$GPS,300714,080448,7104.173,-14427.472,34,0.8,54,22.4