version: 66.12
glider: 198
mission: 5
dive: 34
start: 7 30 114 19 5 11
data:
$ID,198
$MISSION,5
$DIVE,34
$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,-3365.6458
$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,35
$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
$GPS1,300714,185338,7108.755,-14424.902,41,0.8,61,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-75.4
$GPS2,300714,190453,7108.707,-14424.774,4,0.7,24,22.4
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,345.0,51279,-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,-0.71,-145.9,207,2811,499,596,0.0,0.0,0,64,0.00,0.00,-42.92,0.000,16386,0.000,0.000,206,2810,1648,1674,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.71,-145.9,207,2811,1676,1623,3.2,-4.0,4,128,11.57,2.53,-45.22,0.000,18948,0.476,0.107,2361,1393,3782,3851,3713,0,0,0,0,0,0,14.12,14.33,14.52
$GC,138,-0.59,-145.9,2362,1393,3852,3715,17.7,-20.4,14,146,0.20,2.55,0.00,0.000,3078,0.374,0.118,2400,2800,3782,3851,3714,0,0,0,0,0,0,14.19,14.31,28.83
$GC,450,-0.59,-145.9,2400,2800,3852,3717,74.9,-15.2,46,458,0.00,2.40,0.00,0.000,516,0.000,0.083,2400,1392,3784,3851,3717,0,0,0,0,0,0,28.83,14.42,28.83
$GC,552,-0.59,-145.9,2401,1392,3852,3718,89.4,-14.2,66,560,0.00,2.55,0.00,0.000,1030,0.000,0.117,2400,2810,3784,3852,3717,0,0,0,0,0,0,28.83,14.43,28.83
$GC,864,-0.59,-145.9,2401,2811,3852,3718,133.0,-13.3,98,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2810,3784,3851,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1164,-0.62,-145.9,2401,2815,3852,3717,168.6,-11.3,128,1172,0.00,2.40,0.00,0.000,516,0.000,0.085,2400,1394,3784,3851,3717,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1232,-0.66,-145.9,2401,1394,3852,3717,175.7,-10.2,141,1241,0.00,2.53,0.00,0.000,1030,0.000,0.119,2399,2806,3784,3851,3717,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1537,-0.70,-145.9,2401,2807,3853,3716,206.2,-9.7,172,1544,0.00,2.38,0.00,0.000,516,0.000,0.083,2400,1397,3784,3851,3717,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1589,-0.75,-145.9,2400,1397,3852,3717,211.1,-9.3,182,1597,0.12,2.50,0.00,0.000,5126,0.161,0.119,2349,2798,3784,3851,3717,0,0,0,0,0,0,14.57,14.52,28.83
$GC,1901,-0.75,-145.9,2350,2798,3851,3717,247.6,-11.5,214,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2798,3783,3851,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,-0.75,-145.9,2356,2798,3852,3716,284.2,-11.3,226,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2798,3783,3851,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2521,-0.75,-145.9,2346,2798,3852,3716,316.9,-10.7,236,2529,0.00,2.38,0.00,0.000,516,0.000,0.083,2349,1387,3783,3852,3715,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2583,-0.77,-145.9,2350,1388,3852,3716,323.5,-10.4,248,2591,0.00,2.50,0.00,0.000,1030,0.000,0.118,2347,2806,3783,3851,3715,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2915,-0.77,-145.9,2348,2802,3852,3715,359.8,-11.0,264,2923,0.00,2.38,0.00,0.000,516,0.000,0.083,2347,1387,3783,3852,3715,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2957,-0.79,-145.9,2349,1389,3847,3715,364.4,-10.7,272,2965,0.00,2.50,0.00,0.000,1030,0.000,0.117,2347,2795,3783,3851,3715,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3279,-0.79,-145.9,2348,2795,3852,3715,398.7,-10.6,286,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2795,3783,3851,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3579,-0.79,-145.9,2348,2795,3852,3714,430.2,-10.4,296,3586,0.00,2.38,0.00,0.000,516,0.000,0.082,2347,1389,3783,3851,3715,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3645,-0.81,-145.9,2348,1390,3853,3716,437.0,-9.5,309,3653,0.00,2.53,0.00,0.000,1030,0.000,0.117,2347,2810,3782,3851,3714,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3973,-0.81,-145.9,2348,2810,3852,3715,471.4,-10.5,324,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2810,3782,3851,3714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4271,begin apogee
$GC,4274,-0.14,0.0,2348,3057,3852,3715,502.7,-10.5,334,4415,0.77,0.00,130.25,2.452,10246,0.283,0.000,2547,3056,3189,3270,3108,0,0,0,0,1,0,14.43,28.83,12.83
$STATE,4417,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4418,0.71,145.9,2549,3056,3281,3109,505.9,0.0,338,4567,0.95,1.45,130.80,1.662,10500,0.190,0.125,2816,3784,2584,2655,2514,0,0,0,0,0,0,13.70,13.50,12.96
$GC,4736,0.67,145.9,2816,3787,2641,2508,470.9,14.7,394,4744,0.00,1.30,0.00,0.000,1030,0.000,0.080,2821,3055,2574,2640,2508,0,0,0,0,0,0,28.83,13.95,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;5687fa7d68;,*6B
$MODEM_MSG,CACST,6,0,20140730200421.415339,3,1466,19,0160,0150,100,00,00,02,04,1,013,000,0,5,1,0,150,19.1,3.6,-100,-0.6,-01,0.3,18,900,0025*13
$EKF,range,348495.3
$EKF,4789,4269.318848,-8664.791016,467.844635,0.327579,0.047848,-0.126268,0.000092,0.000884,0.000095,0.001025,0.001025,0.000034
$GC,5058,0.65,145.9,2825,3055,2641,2507,427.4,13.5,408,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,3055,2573,2640,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5358,0.62,145.9,2822,3055,2641,2507,386.4,13.6,418,5365,0.00,1.38,0.00,0.000,260,0.000,0.125,2821,3787,2572,2639,2506,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5429,0.57,145.9,2822,3788,2642,2508,375.8,14.8,432,5437,0.12,1.27,0.00,0.000,5126,0.288,0.081,2793,3051,2573,2640,2507,0,0,0,0,0,0,14.27,14.40,28.83
$GC,5752,0.57,145.9,2793,3051,2641,2507,337.0,12.0,446,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,3051,2573,2640,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6051,0.57,145.9,2794,3047,2640,2508,300.9,12.0,456,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3051,2573,2640,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6352,0.58,151.1,2794,3051,2641,2507,265.8,11.6,466,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3051,2573,2640,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6651,0.58,159.5,2793,3051,2640,2508,231.7,11.4,486,6666,0.00,0.00,11.18,1.387,8198,0.000,0.000,2793,3051,2532,2602,2462,0,0,0,0,0,0,28.83,28.83,13.95
$GC,6961,0.60,190.2,2799,3051,2593,2453,197.6,10.2,517,6997,0.00,0.00,27.23,1.356,8198,0.000,0.000,2793,3049,2399,2468,2331,0,0,0,0,0,0,28.83,28.83,13.84
$GC,7292,0.65,220.6,2794,3057,2460,2326,162.4,10.3,550,7327,0.00,2.42,27.00,1.327,8708,0.000,0.079,2803,1639,2279,2348,2210,0,0,0,0,0,0,28.83,14.28,13.79
$GC,7367,0.72,260.1,2804,1639,2335,2206,155.0,9.8,563,7410,0.00,2.55,35.45,1.324,9222,0.000,0.113,2803,3056,2117,2183,2051,0,0,0,0,0,0,28.83,14.29,13.64
$GC,7715,0.79,293.6,2804,3056,2169,2037,118.9,10.1,600,7750,0.15,2.53,29.30,1.213,10756,0.135,0.082,2868,1641,1980,2044,1917,0,0,0,0,0,0,14.40,14.18,13.78
$GC,7799,0.79,293.6,2869,1641,2030,1911,108.3,13.0,615,7810,0.00,2.55,0.00,0.000,1030,0.000,0.112,2868,3052,1969,2029,1909,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8104,0.79,293.6,2869,3052,2030,1909,68.5,13.0,646,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,3052,1965,2028,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8405,0.86,358.2,2869,3052,2029,1902,37.2,8.4,676,8446,0.00,2.40,32.90,0.289,8708,0.000,0.079,2876,1641,1726,1786,1667,0,0,0,0,0,0,28.83,14.41,14.28
$GC,8580,0.96,434.7,2877,1640,1804,1667,23.6,7.7,709,8631,0.10,2.53,43.33,0.242,11270,0.175,0.116,2921,3056,1411,1461,1361,0,0,0,0,0,0,14.45,14.42,14.31
$GC,8925,1.19,651.8,2922,3055,1477,1361,8.9,0.1,746,9050,0.20,1.40,119.03,0.207,11012,0.135,0.132,3000,3788,526,485,567,0,0,0,0,0,0,14.49,14.32,14.28
$STATE,9118,end climb,SURFACE_DEPTH_REACHED
$STATE,9118,begin surface coast
$FINISH,0.9,1.018307
$STATE,9149,end surface coast,CONTROL_FINISHED_OK
$STATE,9149,begin surface
$SM_CCo,9231,0.00,0.000,0,0,531,652.50
$SM_GC,2.27,8.52,1.75,0.00,0.107,0.080,0.000,203,2791,531,-7.43,0.76,652.50,0,0,0,0,0,0,14.42,14.42,28.83
$RAFOS_CLK,384
$MODEM,13,1406750661,70.88620,-144.44479,261.415,378375.8
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14313.10,300714,161611
$TT8_MAMPS,0.046438,0.046438
$HUMID,50.47
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.20
$XPDR_PINGS,1
$SC_FREEKB,4005152
$TM_FREEKB,7527712
$24V_AH,12.83,11.918
$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,22.725,58.450,586.450,0.000,0.000,0.000,0.000,434.950,0.250,0.000,26.407,0.000,6829.907,688.115,2310.615,80.028,0.000,1824.407,0.000,1165.915,1482.000,0.535,0.000
$DEVICE_MAMPS,475.830,143.820,2451.825,0.000,0.000,0.000,0.000,193.545,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9173.000,9228.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.330,13.326,0.000,0.000
$MEM,297552
$DATA_FILE_SIZE,26686,783
$CAP_FILE_SIZE,130739,0
$CFSIZE,2097872896,2085519360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9736.04,0x2378b6,7,5
$SOUNDSPEED,1448.2
$EKF,9316,4269.809082,-8664.518555,0.908535,0.012958,-0.002860,-0.030722,0.000158,0.001513,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.031,37.88,1
$GPS,300714,214024,7109.908,-14424.224,27,0.7,47,22.4