version: 66.12
glider: 198
mission: 5
dive: 414
start: 10 1 114 15 7 34
data:
$ID,198
$MISSION,5
$DIVE,414
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,658.87579
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-6583.5835
$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,36
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,1
$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
$GPS1,011014,145812,7155.160,-14733.076,41,0.7,62,21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-69.2
$GPS2,011014,150705,7155.188,-14733.219,5,0.8,26,21.4
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,a
$TGT_LATLONG,7153.000,-14730.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,134.0,4457,-18.2,-11.111,-23.77,2426
$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,19,-0.63,-175.1,196,2684,460,525,0.0,0.0,0,82,0.00,0.00,-61.38,0.000,16386,0.000,0.000,194,2683,1919,1935,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.63,-175.1,195,2684,1936,1905,3.4,-1.7,6,162,11.45,2.03,-59.12,0.000,18692,0.441,0.135,2366,3793,3900,3952,3848,0,0,0,0,0,0,13.88,14.20,14.54
$GC,389,-0.58,-175.1,2367,3794,3953,3853,67.5,-18.8,67,395,0.12,1.90,0.00,0.000,3078,0.297,0.066,2396,2673,3901,3951,3852,0,0,0,0,0,0,13.97,14.31,28.83
$GC,694,-0.58,-175.1,2396,2674,3955,3853,111.8,-13.9,98,699,0.00,2.05,0.00,0.000,260,0.000,0.116,2387,3790,3903,3954,3852,0,0,0,0,0,0,28.83,14.19,28.83
$GC,829,-0.58,-175.1,2387,3790,3955,3852,131.0,-14.3,125,835,0.00,1.88,0.00,0.000,1030,0.000,0.067,2387,2684,3902,3952,3852,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1134,-0.58,-175.1,2388,2683,3955,3852,169.0,-11.5,156,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2683,3903,3954,3852,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1437,-0.14,0.0,2388,3056,3955,3852,200.9,-10.0,186,1655,0.57,0.00,208.65,1.037,10246,0.244,0.000,2536,3056,3180,3275,3086,0,0,0,0,0,0,14.08,28.83,13.47
$STATE,1656,end apogee,CONTROL_FINISHED_OK
$STATE,1656,begin climb
$GC,1658,0.63,175.1,2537,3056,3275,3085,209.8,0.0,208,1812,0.88,1.42,145.30,1.074,10500,0.187,0.116,2785,3783,2463,2540,2386,0,0,0,0,0,0,13.90,13.68,13.21
$GC,2037,0.66,217.8,2786,3783,2531,2376,182.2,9.3,284,2078,0.00,1.27,35.55,1.069,9222,0.000,0.070,2789,3060,2291,2366,2217,0,0,0,0,0,0,28.83,14.17,13.53
$GC,2377,0.74,308.5,2790,3060,2357,2208,154.8,7.3,322,2465,0.12,2.47,79.18,1.026,10756,0.142,0.079,2859,1650,1920,1987,1853,0,0,0,0,0,0,14.35,14.16,13.64
$GC,2505,0.75,319.8,2860,1650,1978,1851,141.4,10.6,347,2515,0.00,2.53,4.68,0.986,9222,0.000,0.100,2859,3050,1889,1960,1818,0,0,0,0,0,0,28.83,14.16,13.57
$GC,2822,0.75,319.8,2859,3051,1965,1820,103.7,11.6,380,2827,0.00,2.45,1.42,0.243,8708,0.000,0.075,2867,1645,1881,1953,1810,0,0,0,0,0,0,28.83,14.28,14.08
$GC,2847,0.77,348.3,2867,1645,1965,1811,100.8,9.9,385,2884,0.00,2.53,31.02,1.011,9222,0.000,0.101,2866,3050,1762,1828,1696,0,0,0,0,0,0,28.83,14.28,13.77
$GC,3193,0.78,360.3,2863,3050,1813,1685,61.5,10.6,422,3204,0.00,2.45,4.18,0.300,8708,0.000,0.078,2875,1648,1724,1796,1652,0,0,0,0,0,0,28.83,14.22,13.93
$GC,3281,0.84,408.0,2875,1647,1813,1651,53.3,9.1,439,3316,0.00,2.55,30.10,0.340,9222,0.000,0.100,2875,3049,1523,1586,1461,0,0,0,0,0,0,28.83,14.14,13.98
$GC,3614,0.91,467.3,2876,3049,1608,1460,23.9,8.6,476,3655,0.00,2.45,35.50,0.256,8708,0.000,0.076,2883,1641,1282,1342,1223,0,0,0,0,0,0,28.83,14.16,14.02
$GC,3711,1.06,575.0,2880,1641,1356,1224,16.7,6.5,492,3777,0.15,2.58,60.17,0.226,11270,0.140,0.101,2936,3060,840,848,833,0,0,0,0,0,0,14.15,14.11,14.03
$FREEZE,8.81,1.393,-1.508,2,1,0
$FREEZE,8.06,1.395,-1.507,2,1,0
$FREEZE,7.08,1.396,-1.506,2,1,0
$FREEZE,6.07,1.394,-1.505,2,1,0
$FREEZE,5.09,1.394,-1.505,2,1,0
$FREEZE,4.14,1.392,-1.504,2,1,0
$FREEZE,3.21,1.392,-1.503,2,1,0
$FREEZE,2.33,1.390,-1.502,2,1,0
$FREEZE,1.59,1.389,-1.502,2,1,0
$STATE,3883,end climb,SURFACE_DEPTH_REACHED
$STATE,3883,begin surface coast
$FREEZE,1.62,1.272,-1.493,2,1,0
$FREEZE,1.55,1.384,-1.216,2,1,0
$FINISH,1.6,1.017919
$STATE,3906,end surface coast,CONTROL_FINISHED_OK
$STATE,3906,begin surface
$SM_CCo,3923,47.12,0.187,0,0,500,658.88
$SM_GC,2.46,8.45,0.65,47.12,0.103,0.073,0.187,200,2678,500,-7.38,1.05,658.88,0,0,0,0,0,0,14.33,14.33,14.12
$RAFOS_CLK,60
$RAFOS_FIX,7256.729004,-14417.802734,230914,161619,2,255,3.09
$IRIDIUM_FIX,7118.99,-14743.46,011014,094533
$TT8_MAMPS,0.080892,0.080892
$HUMID,48.62
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,3.10
$XPDR_PINGS,0
$SC_FREEKB,3836352
$24V_AH,13.21,137.077
$10V_AH,12.51,0.000
$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,21.750,31.900,635.750,47.125,0.000,0.000,0.000,297.400,0.000,0.000,27.407,0.000,2231.002,684.049,1394.252,192.830,0.000,1462.159,0.000,773.433,1496.000,0.535,0.000
$DEVICE_MAMPS,441.405,134.640,1074.060,186.660,0.000,0.000,0.000,180.540,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3968.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,40.198,0.000,0.000,0.000
$MEM,145264
$DATA_FILE_SIZE,16775,518
$CAP_FILE_SIZE,79510,0
$CFSIZE,2097872896,2006515712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,18796.36,0x2378b6,7,5
$SOUNDSPEED,1443.4
$GPS,011014,161446,7154.826,-14733.573,4,0.8,24,21.4