version: 66.12
glider: 198
mission: 5
dive: 32
start: 7 30 114 13 41 9
data:
$ID,198
$MISSION,5
$DIVE,32
$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,-3362.7664
$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,31
$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
$GPS1,300714,133024,7106.451,-14426.714,39,0.9,59,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-73.3
$GPS2,300714,134051,7106.500,-14426.585,4,0.9,24,22.4
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,346.1,55489,-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,-145.9,204,2794,467,534,0.0,0.0,0,85,0.00,0.00,-63.60,0.000,16386,0.000,0.000,203,2794,2123,2168,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.71,-145.9,203,2794,2170,2078,3.8,-4.1,6,135,11.43,0.00,-29.88,0.000,19206,0.470,0.000,2363,2793,3785,3882,3688,0,0,0,0,0,0,14.15,28.83,14.53
$GC,429,-0.67,-145.9,2364,2794,3881,3696,77.8,-17.5,43,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2793,3787,3880,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,729,-0.67,-145.9,2363,2793,3881,3696,127.4,-16.0,73,738,0.00,2.38,0.00,0.000,516,0.000,0.086,2363,1392,3787,3879,3695,0,0,0,0,0,0,28.83,14.50,28.83
$GC,812,-0.67,-145.9,2364,1393,3880,3696,139.5,-14.1,89,823,0.00,2.53,0.00,0.000,1030,0.000,0.118,2361,2802,3786,3878,3695,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1127,-0.67,-145.9,2362,2803,3879,3696,183.5,-13.1,121,1136,0.00,2.40,0.00,0.000,516,0.000,0.085,2360,1387,3786,3878,3695,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1225,-0.67,-145.9,2362,1387,3878,3696,195.1,-11.0,140,1235,0.00,2.53,0.00,0.000,1030,0.000,0.118,2360,2800,3786,3878,3695,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1531,-0.67,-145.9,2362,2801,3877,3696,230.1,-11.2,171,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2800,3786,3877,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1830,-0.67,-145.9,2361,2801,3875,3696,263.1,-10.5,193,1840,0.00,2.38,0.00,0.000,516,0.000,0.085,2360,1391,3785,3875,3695,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1929,-0.69,-145.9,2361,1391,3874,3695,273.0,-10.1,212,1937,0.00,2.50,0.00,0.000,1030,0.000,0.119,2360,2801,3783,3871,3695,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2256,-0.69,-145.9,2361,2801,3873,3695,306.5,-10.3,227,2264,0.00,2.38,0.00,0.000,516,0.000,0.083,2360,1387,3783,3871,3695,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2308,-0.72,-145.9,2361,1387,3872,3702,311.9,-10.1,237,2318,0.00,2.53,0.00,0.000,1030,0.000,0.119,2360,2809,3783,3871,3695,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2623,-0.72,-145.9,2361,2810,3868,3696,343.3,-10.1,249,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2809,3782,3870,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.75,-145.9,2361,2810,3872,3694,373.3,-10.1,259,2931,0.00,2.40,0.00,0.000,516,0.000,0.084,2360,1385,3782,3870,3695,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3010,-0.78,-145.9,2361,1385,3872,3695,381.8,-9.5,276,3019,0.00,2.53,0.00,0.000,1030,0.000,0.119,2360,2799,3782,3870,3695,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3316,-0.80,-145.9,2361,2800,3871,3696,411.4,-9.7,287,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2798,3782,3870,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.82,-145.9,2361,2801,3871,3696,440.0,-9.6,297,3625,0.00,2.35,0.00,0.000,516,0.000,0.082,2361,1390,3780,3865,3695,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3689,-0.86,-145.9,2361,1391,3870,3695,447.0,-9.2,311,3698,0.12,2.50,0.00,0.000,5126,0.165,0.119,2311,2805,3786,3869,3703,0,0,0,0,0,0,14.66,14.62,28.83
$GC,4012,-0.86,-145.9,2312,2805,3870,3695,485.7,-12.2,325,4021,0.00,2.38,0.00,0.000,516,0.000,0.082,2311,1389,3782,3869,3695,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4080,-0.86,-145.9,2312,1390,3870,3696,493.8,-10.9,338,4088,0.00,2.50,0.00,0.000,1030,0.000,0.116,2304,2805,3782,3869,3695,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4136,begin apogee
$GC,4139,-0.14,0.0,2305,3053,3870,3695,500.6,-12.4,344,4292,0.95,0.00,143.70,2.649,10246,0.301,0.000,2547,3053,3186,3266,3106,0,0,0,0,1,0,14.53,28.83,12.67
$STATE,4295,end apogee,CONTROL_FINISHED_OK
$STATE,4295,begin climb
$GC,4296,0.71,145.9,2549,3054,3280,3104,504.8,0.0,349,4441,0.98,1.40,128.52,1.533,10500,0.188,0.119,2820,3788,2579,2645,2513,0,0,0,0,0,0,13.67,13.55,13.06
$GC,4515,0.66,145.9,2821,3788,2640,2508,483.5,15.1,385,4526,0.00,1.35,0.00,0.000,1030,0.000,0.079,2825,3044,2573,2638,2508,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4851,0.63,145.9,2825,3044,2637,2506,436.9,13.9,401,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,3044,2572,2638,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5150,0.60,145.9,2826,3045,2639,2507,395.7,13.8,411,5158,0.00,1.38,0.00,0.000,260,0.000,0.127,2825,3783,2572,2638,2506,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5237,0.55,145.9,2826,3783,2640,2506,382.6,15.3,428,5246,0.17,1.27,0.00,0.000,5126,0.268,0.080,2783,3049,2572,2638,2506,0,0,0,0,0,0,14.26,14.39,28.83
$GC,5542,0.55,155.7,2785,3050,2639,2507,347.1,11.4,439,5548,0.00,0.00,2.92,0.773,8198,0.000,0.000,2784,3050,2550,2619,2482,0,0,0,0,0,0,28.83,28.83,13.79
$GC,5842,0.56,169.4,2785,3050,2648,2483,313.7,11.2,449,5865,0.00,0.00,18.48,1.310,8198,0.000,0.000,2784,3049,2493,2566,2421,0,0,0,0,0,0,28.83,28.83,13.92
$GC,6142,0.57,170.9,2785,3050,2549,2409,278.6,11.8,459,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3050,2477,2544,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6442,0.57,181.6,2785,3049,2548,2410,243.7,11.3,471,6462,0.00,2.42,10.20,1.224,8708,0.000,0.082,2794,1642,2437,2507,2367,0,0,0,0,0,0,28.83,14.42,14.01
$GC,6466,0.58,185.3,2794,1643,2507,2366,241.0,11.7,474,6474,0.00,2.50,0.00,0.000,1030,0.000,0.113,2793,3052,2434,2504,2365,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6778,0.58,194.2,2795,3053,2496,2365,204.3,11.4,506,6793,0.00,0.00,10.70,1.187,8198,0.000,0.000,2794,3052,2393,2463,2324,0,0,0,0,0,0,28.83,28.83,14.00
$GC,7088,0.60,219.4,2795,3053,2452,2317,169.9,10.5,537,7118,0.00,0.00,23.67,1.120,8710,0.000,0.000,2793,3052,2282,2349,2215,0,0,0,0,0,0,28.83,28.83,13.95
$GC,7422,0.67,274.4,2794,3052,2337,2207,138.1,8.9,571,7478,0.00,2.53,48.55,1.043,8708,0.000,0.082,2804,1633,2057,2121,1994,0,0,0,0,0,0,28.83,14.22,13.85
$GC,7572,0.77,327.6,2805,1633,2107,1987,124.3,9.0,598,7628,0.12,2.55,47.45,1.001,11270,0.148,0.115,2857,3049,1842,1900,1784,0,0,0,0,0,0,14.30,14.26,13.75
$GC,7932,0.77,327.6,2858,3049,1880,1765,77.2,12.5,637,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,3049,1822,1879,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,0.85,386.2,2858,3050,1880,1764,44.3,8.7,667,8273,0.00,2.47,29.88,0.291,8708,0.000,0.083,2863,1637,1617,1681,1554,0,0,0,0,0,0,28.83,14.38,14.29
$GC,8307,0.96,444.5,2863,1637,1696,1553,37.7,8.7,678,8350,0.15,2.53,34.60,0.273,11270,0.138,0.116,2925,3054,1373,1424,1322,0,0,0,0,0,0,14.41,14.37,14.21
$GC,8654,1.15,639.2,2924,3049,1448,1322,12.8,1.3,715,8770,0.12,2.50,106.93,0.204,10756,0.158,0.081,2988,1642,578,541,616,0,0,0,0,0,0,14.36,14.26,14.23
$GC,8849,1.34,755.2,2989,1642,555,616,3.1,5.6,748,8873,0.12,2.55,12.60,0.182,11270,0.163,0.118,3028,3053,499,467,531,0,0,0,0,0,0,14.32,14.31,14.22
$STATE,8876,end climb,SURFACE_DEPTH_REACHED
$STATE,8876,begin surface coast
$FINISH,1.1,1.009459
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8977,0.00,0.000,0,0,502,658.39
$SM_GC,2.31,8.55,0.45,0.00,0.098,0.091,0.000,205,2792,502,-7.42,0.74,658.39,0,0,0,0,0,0,14.35,14.35,28.83
$RAFOS_CLK,48
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14420.80,300714,105053
$TT8_MAMPS,0.081641,0.081641
$HUMID,50.63
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4006048
$TM_FREEKB,7556608
$24V_AH,12.67,11.230
$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,22.725,60.600,618.200,0.000,0.000,0.000,0.000,390.075,0.000,0.000,25.975,0.000,6567.980,747.037,2210.572,79.593,0.000,1835.156,0.000,1119.188,1496.000,0.535,0.000
$DEVICE_MAMPS,470.475,139.230,2649.195,0.000,0.000,0.000,0.000,200.430,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8919.000,8974.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.051,13.297,0.000,0.000
$MEM,298428
$DATA_FILE_SIZE,26742,754
$CAP_FILE_SIZE,127593,0
$CFSIZE,2097872896,2086010880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9797.46,0x2378b6,7,5
$SOUNDSPEED,1450.2
$EKF,9072,4267.575195,-8666.177734,1.086508,0.801685,-0.147994,0.014134,0.000143,0.001363,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.011,75.55,1
$GPS,300714,161218,7107.667,-14426.058,37,0.8,57,22.4