version: 66.12
glider: 198
mission: 5
dive: 7
start: 7 28 114 2 59 40
data:
$ID,198
$MISSION,5
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,90
$T_MISSION,115
$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,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3329.8855
$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,2630
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$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,2600
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,280714,025054,7053.774,-14432.135,30,0.8,50,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.8
$GPS2,280714,025922,7053.817,-14432.229,6,0.8,26,22.3
$SPEED_LIMITS,0.159,0.231
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,43.8,1392,-20.4,-11.111,-25.69,2022
$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,17,-0.86,-145.9,208,2589,488,554,0.0,0.0,0,84,0.00,0.00,-63.38,0.000,16386,0.000,0.000,206,2588,2136,2185,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.86,-145.9,207,2588,2185,2088,4.1,-5.2,6,141,11.50,2.28,-30.73,0.000,18692,0.475,0.169,2335,3780,3784,3852,3716,0,0,0,0,0,0,14.10,14.26,14.53
$GC,365,-0.76,-145.9,2336,3781,3852,3720,74.3,-21.1,59,376,0.15,2.08,0.00,0.000,3078,0.336,0.090,2370,2606,3785,3852,3719,0,0,0,0,0,0,14.24,14.40,28.83
$GC,671,-0.74,-145.9,2371,2605,3853,3719,124.2,-15.7,90,679,0.00,2.15,0.00,0.000,260,0.000,0.145,2363,3786,3783,3848,3719,0,0,0,0,0,0,28.83,14.42,28.83
$GC,903,-0.72,-145.9,2364,3786,3848,3719,162.6,-15.6,136,911,0.15,2.05,0.00,0.000,3078,0.324,0.093,2394,2589,3786,3852,3720,0,0,0,0,0,0,14.36,14.50,28.83
$GC,1215,-0.72,-145.9,2395,2588,3853,3719,198.0,-10.6,168,1224,0.00,2.45,0.00,0.000,516,0.000,0.112,2393,1183,3785,3851,3720,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1253,-0.75,-145.9,2395,1184,3852,3721,202.0,-10.4,175,1262,0.00,2.58,0.00,0.000,1030,0.000,0.135,2390,2601,3785,3851,3720,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1559,-0.78,-145.9,2391,2602,3848,3720,233.1,-9.7,206,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2601,3785,3851,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.81,-145.9,2391,2601,3852,3720,261.9,-9.4,228,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2601,3785,3851,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2158,-0.84,-145.9,2393,2602,3852,3727,289.9,-9.2,238,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2601,3785,3851,3719,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2277,begin apogee
$GC,2280,-0.17,0.0,2387,2803,3852,3715,300.6,-9.0,242,2420,0.68,0.00,130.15,2.723,10246,0.277,0.000,2566,2802,3186,3259,3113,0,0,0,0,1,0,14.47,28.83,12.71
$STATE,2422,end apogee,CONTROL_FINISHED_OK
$STATE,2422,begin climb
$GC,2423,0.86,145.9,2567,2802,3275,3109,304.2,0.0,246,2584,1.17,2.72,137.68,2.806,10756,0.189,0.103,2906,1387,2597,2665,2529,0,0,0,0,1,0,13.72,13.33,12.38
$GC,2608,0.78,145.9,2906,1388,2672,2533,292.1,13.8,275,2617,0.00,2.78,1.33,0.232,9222,0.000,0.126,2906,2805,2592,2660,2525,0,0,0,0,0,0,28.83,13.54,13.50
$GC,2920,0.68,145.9,2906,2804,2676,2525,242.8,15.8,289,2931,0.22,1.83,1.25,0.262,12548,0.317,0.135,2857,3784,2594,2669,2520,0,0,0,0,0,0,13.98,14.04,14.02
$GC,3155,0.58,145.9,2857,3789,2679,2521,207.6,14.1,335,3163,0.15,1.77,0.00,0.000,5126,0.320,0.088,2833,2794,2599,2678,2521,0,0,0,0,0,0,14.10,14.23,28.83
$GC,3468,0.61,195.6,2827,2794,2679,2520,175.4,8.6,367,3524,0.00,1.95,48.28,1.239,8452,0.000,0.142,2827,3784,2379,2444,2314,0,0,0,0,0,0,28.83,14.02,13.68
$GC,3663,0.56,195.6,2827,3784,2435,2308,153.6,11.8,401,3672,0.00,1.73,0.00,0.000,1030,0.000,0.091,2834,2797,2371,2434,2308,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3976,0.62,241.4,2836,2802,2434,2309,124.7,8.8,433,4025,0.00,2.53,40.92,1.121,8708,0.000,0.106,2836,1393,2192,2251,2133,0,0,0,0,0,0,28.83,14.07,13.72
$GC,4074,0.66,274.6,2839,1394,2245,2131,116.2,9.4,450,4110,0.00,2.62,23.65,1.100,9222,0.000,0.129,2839,2799,2065,2127,2004,0,0,0,0,1,0,28.83,14.12,13.54
$GC,4404,0.68,296.9,2840,2799,2142,2005,82.2,10.0,485,4426,0.00,1.88,13.88,0.410,8452,0.000,0.144,2839,3781,1978,2046,1911,0,0,0,0,0,0,28.83,14.19,14.07
$GC,4600,0.68,296.9,2839,3783,2060,1913,59.5,11.1,523,4608,0.00,1.75,2.22,0.206,9222,0.000,0.091,2845,2796,1976,2044,1909,0,0,0,0,0,0,28.83,14.29,14.18
$GC,4913,0.83,401.6,2846,2798,2067,1910,36.9,5.8,555,4981,0.12,1.95,61.30,0.280,10500,0.160,0.146,2900,3793,1549,1602,1496,0,0,0,0,0,0,14.37,14.21,14.13
$GC,5044,0.83,401.6,2901,3792,1625,1496,22.7,13.5,578,5054,0.00,1.73,0.00,0.000,1030,0.000,0.092,2908,2797,1556,1616,1496,0,0,0,0,0,0,28.83,14.30,28.83
$FREEZE,13.99,2.996,-1.435,0,1,0
$STATE,5319,end climb,NO_VERTICAL_VELOCITY
$STATE,5319,begin surface
$SM_CCo,5323,145.40,0.206,0,0,500,659.12
$SM_GC,1.87,8.27,0.32,0.00,0.111,0.123,0.000,208,2605,501,-7.53,1.02,658.63,0,0,0,0,0,0,14.40,14.42,28.83
$RAFOS_CLK,134
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,280714,011338
$TT8_MAMPS,0.046438,0.046438
$HUMID,50.70
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.10
$XPDR_PINGS,1
$SC_FREEKB,4017248
$TM_FREEKB,7867264
$24V_AH,12.38,3.236
$10V_AH,12.65,0.000
$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,22.425,39.500,460.650,145.400,0.000,0.000,0.000,315.550,0.250,0.000,27.159,0.000,3643.291,710.330,1762.602,56.538,0.000,1567.928,0.000,902.607,1498.000,0.535,0.000
$DEVICE_MAMPS,475.065,170.595,2806.020,205.785,0.000,0.000,0.000,188.955,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5336.000,5361.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.713,13.756,0.000,0.000
$MEM,311196
$DATA_FILE_SIZE,20085,606
$CAP_FILE_SIZE,97381,0
$CFSIZE,2097872896,2092204032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,6095.77,0x2378b6,7,5
$SOUNDSPEED,1445.0
$EKF,5721,4253.997070,-8670.629883,13.991566,0.000263,-0.011337,0.003170,0.000055,0.000511,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.043,211.48,1
$GPS,280714,043458,7053.883,-14430.851,3,0.9,24,22.3