version: 66.12
glider: 198
mission: 5
dive: 52
start: 8 2 114 17 11 5
data:
$ID,198
$MISSION,5
$DIVE,52
$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,-3388.3274
$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,35
$R_STBD_OVSHOOT,14
$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
$GPS1,020814,165724,7135.661,-14409.810,35,0.9,55,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.4
$GPS2,020814,171046,7135.588,-14409.828,6,0.8,26,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,336.6,769,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.91,-77.4,198,2676,474,528,0.0,0.0,0,74,0.00,0.00,-52.72,0.000,16386,0.000,0.000,197,2676,1853,1873,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.96,-145.9,198,2676,1875,1835,3.6,-4.0,5,131,10.70,2.47,-36.53,0.000,18948,0.455,0.107,2273,1272,3780,3845,3716,0,0,0,0,0,0,14.10,14.32,14.50
$GC,310,-0.96,-145.9,2274,1271,3846,3729,59.0,-22.6,49,320,0.00,2.50,0.00,0.000,1030,0.000,0.107,2265,2682,3783,3845,3722,0,0,0,0,0,0,28.83,14.34,28.83
$GC,624,-0.96,-145.9,2265,2683,3846,3723,129.4,-21.2,81,633,0.00,2.40,0.00,0.000,516,0.000,0.080,2265,1267,3783,3845,3722,0,0,0,0,0,0,28.83,14.48,28.83
$GC,642,-0.96,-145.9,2265,1266,3846,3722,133.2,-21.3,84,652,0.00,2.53,0.00,0.000,1030,0.000,0.112,2262,2688,3783,3845,3721,0,0,0,0,0,0,28.83,14.45,28.83
$GC,947,-0.96,-145.9,2265,2689,3846,3725,193.5,-18.3,115,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2688,3783,3845,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1247,-0.99,-145.9,2265,2686,3846,3722,243.3,-16.1,145,1256,0.00,1.98,0.00,0.000,260,0.000,0.130,2264,3790,3784,3849,3720,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1315,-0.99,-145.9,2265,3791,3846,3721,255.2,-17.8,158,1323,0.00,1.90,0.00,0.000,1030,0.000,0.078,2264,2676,3782,3845,3719,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1643,-1.02,-145.9,2265,2676,3846,3719,306.6,-15.5,173,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2676,3782,3845,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,-1.05,-145.9,2265,2677,3845,3719,352.0,-14.9,183,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2675,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,-1.09,-145.9,2265,2676,3846,3717,396.5,-14.8,193,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2676,3779,3845,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,-1.13,-145.9,2265,2676,3846,3716,440.9,-14.7,203,2545,0.12,0.00,0.00,0.000,4102,0.164,0.000,2215,2676,3780,3845,3715,0,0,0,0,0,0,14.63,28.83,28.83
$GC,2842,-1.13,-145.9,2216,2676,3846,3715,491.3,-16.9,213,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2676,3780,3845,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,-1.13,-145.9,2216,2676,3845,3715,541.5,-16.8,223,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2676,3780,3845,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3442,-1.13,-145.9,2217,2677,3845,3716,591.0,-16.4,233,3452,0.00,2.35,0.00,0.000,516,0.000,0.088,2216,1272,3779,3844,3714,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3491,-1.13,-145.9,2217,1273,3845,3716,598.9,-15.5,242,3499,0.00,2.47,0.00,0.000,1030,0.000,0.113,2208,2681,3780,3845,3715,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3809,-1.13,-145.9,2209,2682,3845,3715,651.9,-16.8,255,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2681,3779,3844,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-1.13,-145.9,2208,2681,3845,3715,702.1,-16.6,265,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2681,3779,3844,3714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4408,begin apogee
$GC,4411,-0.14,0.0,2207,3059,3845,3714,751.8,-16.5,275,4563,1.33,0.00,138.57,2.467,10246,0.327,0.000,2535,3059,3191,3282,3100,0,0,0,0,1,0,14.52,28.83,12.78
$STATE,4565,end apogee,CONTROL_FINISHED_OK
$STATE,4565,begin climb
$GC,4566,0.96,145.9,2537,3060,3287,3104,756.7,0.0,280,4709,1.25,1.45,128.20,1.787,10500,0.181,0.122,2892,3780,2585,2657,2514,0,0,0,0,0,0,13.74,13.48,12.92
$GC,4933,0.96,145.9,2893,3781,2648,2510,698.7,20.0,346,4940,0.00,1.30,0.00,0.000,1030,0.000,0.080,2898,3055,2578,2647,2509,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5265,0.96,145.9,2898,3056,2648,2509,637.3,18.4,362,5273,0.00,1.38,0.00,0.000,260,0.000,0.125,2897,3787,2580,2653,2508,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5477,0.94,145.9,2898,3787,2643,2508,594.4,20.1,404,5484,0.00,1.30,0.00,0.000,1030,0.000,0.081,2903,3044,2577,2647,2508,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5809,0.94,145.9,2904,3044,2648,2508,531.8,18.8,420,5816,0.00,1.38,0.00,0.000,260,0.000,0.126,2903,3786,2577,2647,2508,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5970,0.90,145.9,2903,3786,2648,2508,498.4,20.3,452,5978,0.00,1.27,0.00,0.000,1030,0.000,0.082,2909,3047,2577,2647,2508,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6292,0.90,145.9,2909,3048,2648,2508,437.8,18.5,466,6300,0.00,1.35,0.00,0.000,260,0.000,0.125,2909,3783,2577,2647,2508,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6444,0.87,145.9,2909,3784,2653,2509,406.5,21.4,496,6453,0.15,1.25,0.00,0.000,5126,0.312,0.083,2876,3058,2576,2646,2507,0,0,0,0,0,0,14.42,14.57,28.83
$GC,6776,0.87,145.9,2877,3058,2647,2508,349.8,16.9,512,6784,0.00,1.33,0.00,0.000,260,0.000,0.125,2872,3780,2577,2647,2507,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6893,0.87,145.9,2877,3780,2648,2507,328.2,18.3,535,6902,0.00,1.25,0.00,0.000,1030,0.000,0.082,2882,3048,2576,2646,2507,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7199,0.87,145.9,2883,3049,2647,2508,276.1,16.9,546,7206,0.00,1.35,0.00,0.000,260,0.000,0.127,2882,3786,2577,2647,2507,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7301,0.87,145.9,2883,3787,2648,2508,257.7,18.1,566,7308,0.00,1.25,0.00,0.000,1030,0.000,0.083,2887,3054,2577,2647,2507,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7612,0.87,145.9,2888,3054,2647,2508,207.3,15.6,597,7621,0.00,1.35,0.00,0.000,260,0.000,0.126,2887,3787,2577,2647,2507,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7735,0.87,145.9,2888,3788,2647,2508,187.4,15.2,621,7745,0.00,1.25,0.00,0.000,1030,0.000,0.084,2893,3057,2577,2647,2507,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8050,0.90,156.5,2894,3058,2647,2508,150.5,10.6,653,8064,0.00,0.00,4.35,1.325,8198,0.000,0.000,2893,3056,2557,2636,2478,0,0,0,0,0,0,28.83,28.83,13.97
$GC,8360,0.94,185.7,2894,3058,2647,2479,121.1,8.7,684,8395,0.00,1.40,29.05,1.101,8452,0.000,0.127,2893,3790,2423,2498,2348,0,0,0,0,0,0,28.83,14.37,13.98
$GC,8619,0.95,192.9,2894,3791,2488,2344,91.4,10.9,734,8627,0.00,1.30,2.08,0.265,9222,0.000,0.084,2898,3047,2402,2479,2325,0,0,0,0,0,0,28.83,14.47,14.27
$GC,8932,1.02,230.7,2899,3047,2499,2325,62.3,7.8,766,8961,0.00,1.40,21.20,0.367,8452,0.000,0.132,2899,3783,2246,2322,2171,0,0,0,0,0,0,28.83,14.40,14.32
$GC,9185,1.09,286.8,2900,3784,2330,2172,41.9,6.0,815,9223,0.08,1.27,30.23,0.301,11270,0.102,0.085,2950,3048,2018,2088,1948,0,0,0,0,0,0,14.50,14.50,14.33
$GC,9517,1.17,325.0,2951,3048,2096,1949,11.8,7.8,850,9550,0.00,2.45,20.75,0.213,8708,0.000,0.086,2959,1642,1863,1933,1793,0,0,0,0,0,0,28.83,14.47,14.40
$FREEZE,11.65,3.126,-1.488,0,1,0
$STATE,9744,end climb,NO_VERTICAL_VELOCITY
$STATE,9744,begin surface
$SM_CCo,9747,180.70,0.207,0,0,499,659.37
$SM_GC,2.17,8.27,1.90,0.00,0.100,0.118,0.000,204,2678,489,-7.40,-0.65,661.57,0,0,0,0,0,0,14.50,14.45,28.83
$RAFOS_CLK,637
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14406.37,020814,133252
$TT8_MAMPS,0.044191,0.044191
$HUMID,52.00
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3997088
$TM_FREEKB,7158784
$24V_AH,12.78,18.580
$10V_AH,12.67,0.000
$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,21.900,47.450,374.425,180.700,0.000,0.000,0.000,509.450,0.000,0.000,27.303,0.000,7560.214,715.729,2599.526,103.984,0.000,1978.755,0.000,1323.614,0.000,0.536,0.000
$DEVICE_MAMPS,455.175,131.580,2467.125,206.550,0.000,0.000,0.000,203.490,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9775.000,9850.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.573,13.307,0.000,0.000
$MEM,288716
$DATA_FILE_SIZE,30029,893
$CAP_FILE_SIZE,136121,0
$CFSIZE,2097872896,2079752192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,12658.86,0x2378b6,7,5
$SOUNDSPEED,1450.8
$EKF,10276,4296.793457,-8650.416016,11.646286,-0.017130,0.018223,-0.005538,0.000172,0.001724,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.047,262.64,1
$GPS,020814,200218,7136.755,-14411.215,35,0.9,55,22.6