version: 66.12
glider: 198
mission: 5
dive: 53
start: 8 2 114 20 13 50
data:
$ID,198
$MISSION,5
$DIVE,53
$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,-3389.5876
$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,16
$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
$GPS1,020814,200218,7136.755,-14411.215,35,0.9,55,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.8
$GPS2,020814,201332,7136.678,-14411.456,6,0.8,26,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,108.7,1517,-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,-77.4,204,2678,467,507,0.0,0.0,0,70,0.00,0.00,-48.42,0.000,16386,0.000,0.000,204,2681,1714,1746,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.96,-144.8,205,2680,1746,1683,4.0,-4.9,5,133,10.75,2.50,-39.65,0.000,19204,0.461,0.112,2269,1266,3780,3834,3727,0,0,0,0,0,0,14.09,14.30,14.50
$GC,357,-0.96,-144.8,2270,1266,3836,3732,70.9,-21.8,59,365,0.00,2.55,0.00,0.000,1030,0.000,0.113,2264,2686,3782,3834,3731,0,0,0,0,0,0,28.83,14.34,28.83
$MODEM_MSG,CACST,6,1,20140802201529.672314,3,177,04,0118,0150,100,00,00,03,05,-1,-01,-01,1,3,0,0,150,-1.7,0.6,-100,2.4,-01,0.8,31,900,0025*3C
$GC,670,-0.96,-144.8,2265,2687,3835,3732,140.8,-21.5,91,679,0.00,2.38,0.00,0.000,516,0.000,0.086,2265,1270,3783,3834,3733,0,0,0,0,0,0,28.83,14.40,28.83
$GC,903,-0.99,-144.8,2265,1269,3835,3732,185.8,-18.5,137,911,0.00,2.53,0.00,0.000,1030,0.000,0.118,2264,2681,3783,3834,3732,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1215,-1.01,-144.8,2265,2682,3835,3732,239.4,-16.5,169,1223,0.00,2.40,0.00,0.000,516,0.000,0.088,2264,1271,3785,3834,3736,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1308,-1.05,-144.8,2265,1271,3835,3731,253.7,-15.2,187,1316,0.00,2.50,0.00,0.000,1030,0.000,0.119,2264,2682,3779,3829,3730,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1641,-1.09,-144.8,2265,2682,3835,3729,305.3,-15.4,203,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2682,3781,3834,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1940,-1.12,-144.8,2264,2682,3835,3729,351.2,-15.5,213,1943,0.12,0.00,0.00,0.000,4102,0.162,0.000,2215,2682,3781,3834,3728,0,0,0,0,0,0,14.61,28.83,28.83
$GC,2240,-1.12,-144.8,2216,2682,3835,3728,404.1,-17.7,223,2248,0.00,2.40,0.00,0.000,516,0.000,0.088,2215,1263,3780,3834,3727,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2282,-1.12,-144.8,2217,1264,3834,3728,411.3,-16.8,231,2290,0.00,2.50,0.00,0.000,1030,0.000,0.114,2207,2682,3782,3838,3727,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2604,-1.12,-144.8,2208,2683,3835,3728,468.0,-17.5,245,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2682,3780,3834,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2904,-1.12,-144.8,2204,2680,3836,3728,520.4,-17.4,255,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2682,3780,3834,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-1.12,-144.8,2208,2682,3835,3726,572.4,-17.3,265,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2682,3780,3834,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-1.12,-144.8,2208,2683,3832,3735,623.6,-17.1,275,3512,0.00,2.38,0.00,0.000,516,0.000,0.087,2207,1267,3778,3834,3722,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3545,-1.12,-144.8,2208,1267,3835,3725,630.5,-16.1,283,3554,0.12,2.47,0.00,0.000,3078,0.367,0.111,2223,2681,3779,3834,3725,0,0,0,0,0,0,14.51,14.62,28.83
$GC,3868,-1.12,-144.8,2221,2682,3834,3726,682.5,-16.1,297,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2681,3779,3834,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-1.12,-144.8,2220,2681,3835,3725,730.8,-16.0,307,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2681,3777,3829,3725,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4317,begin apogee
$GC,4320,-0.14,0.0,2218,3059,3835,3725,754.7,-16.0,312,4451,1.27,0.00,125.95,1.809,10246,0.324,0.000,2536,3057,3185,3285,3085,0,0,0,0,0,0,14.54,28.83,13.24
$STATE,4453,end apogee,CONTROL_FINISHED_OK
$STATE,4453,begin climb
$GC,4454,0.96,144.8,2537,3058,3280,3079,758.6,0.0,316,4591,1.23,1.45,123.05,1.777,10500,0.185,0.122,2889,3785,2588,2672,2504,0,0,0,0,0,0,13.87,13.64,13.04
$GC,4719,0.96,144.8,2889,3786,2662,2499,720.3,19.9,362,4729,0.00,1.33,0.00,0.000,1030,0.000,0.080,2894,3047,2579,2660,2499,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5033,0.96,144.8,2894,3047,2661,2498,663.2,18.2,374,5042,0.00,1.38,0.00,0.000,260,0.000,0.126,2894,3780,2579,2660,2498,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5236,0.94,144.8,2894,3781,2660,2498,622.7,20.1,414,5246,0.00,1.27,0.00,0.000,1030,0.000,0.082,2900,3048,2578,2659,2498,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5551,0.94,144.8,2901,3049,2658,2499,564.0,18.7,426,5561,0.00,1.38,0.00,0.000,260,0.000,0.126,2900,3787,2578,2659,2498,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5780,0.91,144.8,2900,3787,2660,2498,516.8,20.9,471,5788,0.00,1.27,0.00,0.000,1030,0.000,0.082,2905,3048,2578,2658,2498,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6098,0.91,144.8,2907,3049,2659,2499,457.1,18.7,484,6105,0.00,1.35,0.00,0.000,260,0.000,0.126,2905,3781,2578,2659,2498,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6329,0.88,144.8,2906,3784,2659,2498,409.4,21.0,530,6339,0.12,1.25,0.00,0.000,5126,0.317,0.083,2879,3051,2577,2658,2496,0,0,0,0,0,0,14.44,14.58,28.83
$GC,6643,0.88,144.8,2880,3051,2659,2498,354.8,17.2,542,6652,0.00,1.35,0.00,0.000,260,0.000,0.127,2879,3787,2576,2658,2495,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6821,0.88,144.8,2880,3787,2654,2498,321.2,18.4,577,6831,0.00,1.25,0.00,0.000,1030,0.000,0.083,2885,3060,2577,2657,2498,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7127,0.88,144.8,2885,3060,2660,2498,268.7,17.1,588,7134,0.00,1.33,0.00,0.000,260,0.000,0.125,2885,3785,2575,2653,2498,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7248,0.88,144.8,2889,3789,2659,2498,246.7,17.6,612,7256,0.00,1.25,0.00,0.000,1030,0.000,0.083,2890,3050,2578,2658,2498,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7560,0.88,144.8,2891,3049,2660,2498,196.8,15.3,644,7568,0.00,1.35,0.00,0.000,260,0.000,0.128,2891,3788,2577,2658,2497,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7637,0.88,144.8,2891,3788,2659,2498,184.6,15.5,659,7646,0.00,1.25,0.00,0.000,1030,0.000,0.084,2896,3058,2578,2658,2498,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7942,0.88,151.7,2901,3059,2659,2498,148.5,10.9,690,7953,0.00,1.30,1.35,0.236,8452,0.000,0.123,2896,3790,2569,2655,2483,0,0,0,0,0,0,28.83,14.55,14.51
$GC,8037,0.89,159.4,2897,3791,2666,2487,137.5,10.9,708,8059,0.00,1.27,10.95,1.148,9222,0.000,0.083,2902,3049,2530,2616,2444,0,0,0,0,0,0,28.83,14.59,14.07
$GC,8363,0.93,186.0,2902,3051,2612,2442,104.6,9.0,742,8392,0.00,1.40,23.08,1.051,8452,0.000,0.129,2902,3786,2422,2509,2335,0,0,0,0,0,0,28.83,14.38,14.00
$GC,8455,0.93,186.0,2902,3786,2498,2330,94.5,12.1,758,8467,0.00,1.27,0.00,0.000,1030,0.000,0.083,2908,3052,2413,2497,2330,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8761,0.98,201.3,2908,3052,2498,2330,63.7,10.1,789,8778,0.00,2.40,6.25,0.355,8708,0.000,0.081,2918,1635,2370,2461,2280,0,0,0,0,0,0,28.83,14.48,14.29
$GC,8812,1.06,237.0,2919,1636,2474,2281,59.5,8.0,798,8842,0.00,2.53,20.30,0.353,9222,0.000,0.116,2918,3051,2222,2307,2138,0,0,0,0,0,0,28.83,14.45,14.29
$GC,9146,1.16,305.4,2919,3052,2320,2139,35.8,4.8,833,9191,0.12,2.47,37.25,0.281,10756,0.148,0.085,2981,1645,1942,2022,1863,0,0,0,0,0,0,14.52,14.42,14.31
$GC,9371,1.23,336.4,2982,1645,2033,1862,15.1,8.5,875,9399,0.00,2.53,17.00,0.220,9222,0.000,0.119,2981,3060,1813,1888,1739,0,0,0,0,0,0,28.83,14.42,14.38
$FREEZE,12.38,1.760,-1.499,0,1,0
$STATE,9652,end climb,NO_VERTICAL_VELOCITY
$STATE,9652,begin surface
$SM_CCo,9655,171.98,0.210,0,0,499,658.88
$SM_GC,2.10,8.48,0.65,0.00,0.112,0.086,0.000,207,2678,497,-7.39,0.96,659.61,0,0,0,0,0,0,14.47,14.48,28.83
$RAFOS_CLK,629
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14410.35,020814,170208
$TT8_MAMPS,0.04494,0.04494
$HUMID,51.96
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3996640
$TM_FREEKB,7143392
$24V_AH,13.04,18.869
$10V_AH,12.76,0.000
$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,22.225,59.550,365.175,171.975,0.000,0.000,0.000,415.700,0.000,0.000,27.223,0.000,7380.783,680.392,2541.266,104.185,0.000,1900.725,0.000,1336.521,578.000,0.536,0.000
$DEVICE_MAMPS,460.530,130.050,1809.225,210.375,0.000,0.000,0.000,202.725,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9676.000,9735.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.657,13.338,0.000,0.000
$MEM,288272
$DATA_FILE_SIZE,30008,905
$CAP_FILE_SIZE,138161,0
$CFSIZE,2097872896,2079490048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10964.78,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,10107,4296.139648,-8648.391602,12.377001,0.009364,-0.015635,0.004805,0.000169,0.001699,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.023,284.16,1
$GPS,020814,230214,7136.173,-14408.797,15,0.9,36,22.6