version: 66.12
glider: 198
mission: 5
dive: 50
start: 8 2 114 10 40 45
data:
$ID,198
$MISSION,5
$DIVE,50
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$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,215
$T_MISSION,250
$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,-3385.8042
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$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,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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
$GPS1,020814,102624,7135.704,-14410.402,46,0.8,66,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.6
$GPS2,020814,104027,7135.683,-14410.692,6,0.8,26,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,25.0,713,-30.9,-11.628,-35.00,1025
$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,-0.91,-77.4,201,2674,466,521,0.0,0.0,0,75,0.00,0.00,-52.97,0.000,16386,0.000,0.000,200,2673,1840,1873,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.96,-145.9,202,2674,1874,1809,3.7,-4.0,5,133,10.80,2.40,-35.53,0.000,18948,0.460,0.103,2270,1268,3781,3846,3717,0,0,0,0,0,0,14.09,14.31,14.50
$GC,357,-0.96,-145.9,2271,1268,3847,3723,73.6,-22.3,58,366,0.00,2.53,0.00,0.000,1030,0.000,0.107,2264,2681,3784,3846,3722,0,0,0,0,0,0,28.83,14.38,28.83
$GC,662,-0.96,-145.9,2265,2682,3847,3723,142.3,-21.5,89,670,0.00,2.40,0.00,0.000,516,0.000,0.083,2264,1270,3784,3846,3723,0,0,0,0,0,0,28.83,14.47,28.83
$GC,895,-0.99,-145.9,2265,1270,3847,3724,186.2,-17.8,135,902,0.00,2.50,0.00,0.000,1030,0.000,0.111,2264,2682,3784,3846,3723,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1206,-1.01,-145.9,2265,2681,3847,3722,239.0,-16.1,167,1215,0.00,2.40,0.00,0.000,516,0.000,0.083,2264,1266,3783,3846,3721,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1269,-1.05,-145.9,2265,1266,3847,3721,248.8,-15.7,179,1277,0.00,2.50,0.00,0.000,1030,0.000,0.112,2264,2680,3783,3845,3721,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1581,-1.09,-145.9,2265,2680,3847,3720,296.8,-15.4,191,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2679,3783,3846,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-1.12,-145.9,2265,2680,3847,3719,342.6,-15.2,201,1884,0.12,0.00,0.00,0.000,4102,0.164,0.000,2218,2680,3782,3846,3718,0,0,0,0,0,0,14.61,28.83,28.83
$GC,2181,-1.12,-145.9,2218,2680,3852,3718,394.4,-17.2,211,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2680,3782,3845,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2481,-1.12,-145.9,2218,2680,3846,3718,446.1,-17.1,221,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2680,3782,3845,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2781,-1.12,-145.9,2218,2680,3843,3719,497.3,-17.0,231,2789,0.00,2.38,0.00,0.000,516,0.000,0.084,2217,1268,3782,3846,3718,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2823,-1.12,-145.9,2217,1267,3847,3718,504.2,-16.1,239,2831,0.00,2.47,0.00,0.000,1030,0.000,0.107,2207,2683,3781,3845,3717,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3146,-1.12,-145.9,2207,2682,3846,3717,559.7,-17.3,253,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2682,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-1.12,-145.9,2207,2683,3845,3719,610.8,-17.0,263,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2682,3780,3844,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-1.12,-145.9,2208,2684,3846,3718,661.6,-16.9,273,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2682,3781,3844,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-1.12,-145.9,2208,2683,3845,3715,711.9,-16.6,283,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2681,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4284,begin apogee
$GC,4287,-0.14,0.0,2205,3062,3846,3717,751.3,-16.5,291,4471,1.35,0.00,178.20,1.473,10246,0.327,0.000,2538,3067,3183,3262,3104,0,0,0,0,0,0,14.53,28.83,13.31
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4475,0.96,145.9,2538,3062,3261,3101,756.0,0.0,297,4612,1.23,1.45,123.93,1.748,10500,0.185,0.119,2889,3792,2584,2651,2518,0,0,0,0,0,0,13.85,13.62,13.02
$GC,4852,0.96,145.9,2892,3793,2639,2508,694.1,20.5,362,4861,0.00,1.33,0.00,0.000,1030,0.000,0.076,2894,3043,2573,2638,2508,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5158,0.96,145.9,2895,3043,2639,2506,637.2,18.6,373,5166,0.00,1.38,0.00,0.000,260,0.000,0.122,2894,3778,2572,2638,2506,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5300,0.94,145.9,2894,3779,2639,2506,608.5,20.1,401,5308,0.00,1.27,0.00,0.000,1030,0.000,0.078,2900,3047,2575,2645,2506,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5613,0.94,145.9,2900,3047,2639,2502,549.7,18.7,413,5621,0.00,1.38,0.00,0.000,260,0.000,0.122,2900,3787,2571,2638,2505,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5750,0.91,145.9,2901,3787,2638,2505,521.2,20.7,440,5760,0.00,1.27,0.00,0.000,1030,0.000,0.078,2906,3046,2570,2637,2504,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6069,0.91,145.9,2904,3047,2638,2506,460.5,18.9,453,6077,0.00,1.35,0.00,0.000,260,0.000,0.122,2906,3780,2570,2637,2504,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6181,0.89,145.9,2907,3780,2638,2504,437.3,21.1,475,6189,0.12,1.25,0.00,0.000,5126,0.321,0.079,2880,3054,2570,2636,2504,0,0,0,0,0,0,14.31,14.45,28.83
$GC,6493,0.89,145.9,2881,3054,2638,2504,382.4,17.6,487,6500,0.00,1.35,0.00,0.000,260,0.000,0.122,2880,3787,2570,2637,2504,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6629,0.89,145.9,2881,3788,2637,2505,356.2,19.0,514,6637,0.00,1.27,0.00,0.000,1030,0.000,0.079,2885,3046,2568,2632,2504,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6947,0.89,145.9,2887,3046,2638,2504,300.8,17.2,527,6954,0.00,1.35,0.00,0.000,260,0.000,0.122,2886,3784,2570,2636,2504,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7128,0.89,145.9,2887,3785,2637,2505,266.8,18.5,563,7136,0.00,1.25,0.00,0.000,1030,0.000,0.079,2891,3052,2568,2632,2504,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7440,0.89,145.9,2898,3053,2638,2505,215.3,15.5,591,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,3049,2570,2637,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7740,0.89,145.9,2893,3052,2638,2504,171.9,12.7,621,7747,0.00,1.33,0.00,0.000,260,0.000,0.123,2891,3779,2570,2637,2504,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7832,0.89,145.9,2892,3779,2637,2505,159.8,13.0,639,7839,0.00,1.25,0.00,0.000,1030,0.000,0.080,2897,3048,2570,2637,2504,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8144,0.92,168.9,2897,3048,2638,2504,127.7,9.3,671,8173,0.00,2.40,18.67,1.078,8708,0.000,0.080,2908,1632,2486,2555,2418,0,0,0,0,0,0,28.83,14.47,14.05
$GC,8227,0.99,185.2,2909,1632,2549,2410,119.6,10.0,686,8250,0.00,2.50,13.05,1.046,9222,0.000,0.111,2908,3047,2423,2491,2356,0,0,0,0,0,0,28.83,14.45,13.97
$GC,8545,1.02,196.5,2908,3043,2483,2350,84.8,10.5,719,8553,0.00,1.40,3.95,0.309,8452,0.000,0.125,2908,3794,2384,2452,2316,0,0,0,0,0,0,28.83,14.45,14.26
$GC,8672,1.03,200.9,2909,3795,2490,2317,71.1,11.2,744,8684,0.00,1.27,4.88,0.319,9222,0.000,0.077,2913,3050,2369,2445,2294,0,0,0,0,0,0,28.83,14.47,14.32
$GC,8979,1.13,286.2,2914,3047,2477,2294,49.4,3.1,775,9034,0.12,1.33,46.62,0.324,10500,0.157,0.124,2963,3786,2020,2087,1953,0,0,0,0,0,0,14.51,14.39,14.29
$GC,9128,1.13,286.2,2963,3786,2100,1957,36.4,12.0,802,9137,0.00,1.27,1.42,0.213,9222,0.000,0.080,2969,3048,2020,2086,1954,0,0,0,0,0,0,28.83,14.47,14.39
$GC,9434,1.28,414.3,2969,3048,2102,1954,12.9,-1.2,833,9507,0.00,1.42,67.07,0.213,8452,0.000,0.135,2968,3790,1497,1549,1445,0,0,0,0,0,0,28.83,14.36,14.35
$FREEZE,11.77,3.172,-1.434,0,1,0
$STATE,9640,end climb,NO_VERTICAL_VELOCITY
$STATE,9640,begin surface
$SM_CCo,9644,129.70,0.209,0,0,502,659.12
$SM_GC,2.16,8.52,1.92,0.00,0.118,0.075,0.000,202,2675,504,-7.41,0.99,657.89,0,0,0,0,0,0,14.48,14.49,28.83
$RAFOS_CLK,338
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14404.85,020814,062813
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.48
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3997984
$TM_FREEKB,7192928
$24V_AH,13.02,17.957
$10V_AH,12.72,0.000
$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,22.275,52.250,457.800,129.700,0.000,0.000,0.000,536.350,0.000,0.000,27.353,0.000,7399.383,724.852,2619.983,104.491,0.000,2008.182,0.000,1288.354,1496.000,0.535,0.000
$DEVICE_MAMPS,459.765,134.640,1748.025,208.845,0.000,0.000,0.000,204.255,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9671.000,9762.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.666,13.354,0.000,0.000
$MEM,289720
$DATA_FILE_SIZE,30057,871
$CAP_FILE_SIZE,135989,0
$CFSIZE,2097872896,2080309248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14617.60,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,10082,4296.600586,-8648.659180,11.767865,0.002886,-0.001160,0.016335,0.000181,0.001821,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.050,290.03,1
$GPS,020814,132844,7136.695,-14409.479,16,0.8,36,22.6