version: 66.12
glider: 198
mission: 5
dive: 8
start: 7 28 114 4 43 21
data:
$ID,198
$MISSION,5
$DIVE,8
$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,-3331.1404
$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,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,13
$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,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
$GPS1,280714,043458,7053.883,-14430.851,3,0.9,24,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.3
$GPS2,280714,044303,7053.935,-14430.864,6,1.0,26,22.3
$SPEED_LIMITS,0.159,0.231
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,43.5,538,-30.8,-11.111,-35.00,1002
$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,-1.12,-72.3,209,2605,462,537,0.0,0.0,0,84,0.00,0.00,-63.10,0.000,16386,0.000,0.000,208,2606,2094,2143,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.20,-139.8,209,2606,2145,2046,3.7,-4.2,6,135,10.95,2.28,-32.12,0.000,18692,0.479,0.166,2226,3795,3758,3879,3638,0,0,0,0,0,0,14.12,14.29,14.54
$GC,359,-1.13,-139.8,2225,3795,3882,3639,86.2,-27.8,58,368,0.17,2.08,0.00,0.000,3078,0.393,0.090,2258,2587,3760,3882,3639,0,0,0,0,0,0,14.25,14.42,28.83
$GC,672,-1.13,-139.8,2259,2587,3891,3639,157.7,-21.5,90,680,0.00,2.20,0.00,0.000,260,0.000,0.145,2250,3787,3760,3882,3639,0,0,0,0,0,0,28.83,14.45,28.83
$GC,904,-1.13,-139.8,2252,3788,3883,3639,207.7,-20.2,136,913,0.00,2.05,0.00,0.000,1030,0.000,0.093,2251,2590,3762,3882,3642,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1237,-1.16,-139.8,2258,2590,3883,3639,265.3,-16.8,164,1246,0.00,2.20,0.00,0.000,260,0.000,0.145,2241,3790,3760,3882,3639,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,1424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1424,begin apogee
$GC,1429,-0.17,0.0,2243,3002,3883,3639,300.7,-18.9,201,1561,1.35,0.00,124.30,1.235,10246,0.339,0.000,2567,3003,3183,3280,3087,0,0,0,0,0,0,14.40,28.83,13.50
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1563,begin climb
$GC,1564,1.20,139.8,2568,3001,3268,3078,305.4,0.0,205,1700,1.52,2.58,119.03,1.133,10756,0.195,0.099,3014,1587,2602,2664,2540,0,0,0,0,0,0,13.95,13.81,13.42
$GC,1724,1.16,139.8,3014,1587,2655,2531,287.5,19.5,230,1733,0.00,2.65,0.00,0.000,1030,0.000,0.125,3014,3002,2591,2654,2529,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2032,1.08,139.8,3015,3009,2653,2522,220.6,21.1,253,2040,0.15,1.48,0.00,0.000,4356,0.376,0.135,2984,3787,2583,2649,2517,0,0,0,0,0,0,14.17,14.25,28.83
$GC,2264,1.00,139.8,2985,3787,2652,2516,174.1,17.3,299,2272,0.12,1.38,0.00,0.000,5126,0.363,0.091,2959,3005,2585,2651,2520,0,0,0,0,0,0,14.23,14.40,28.83
$GC,2576,0.98,146.4,2961,3004,2653,2521,136.1,10.4,331,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,3004,2586,2651,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2876,0.99,179.9,2962,3005,2657,2521,110.3,7.7,361,2919,0.00,2.55,34.92,1.055,8708,0.000,0.101,2971,1594,2443,2510,2376,0,0,0,0,0,0,28.83,14.28,13.88
$GC,3003,1.00,189.0,2972,1594,2491,2364,98.4,10.2,384,3014,0.00,2.58,2.35,0.195,9222,0.000,0.129,2971,3002,2413,2481,2346,0,0,0,0,0,0,28.83,14.31,14.29
$GC,3309,1.02,206.4,2972,3000,2498,2347,65.5,9.3,415,3325,0.00,1.50,12.15,0.300,8452,0.000,0.142,2971,3784,2345,2416,2274,0,0,0,0,0,0,28.83,14.39,14.24
$GC,3455,1.04,249.3,2973,3785,2472,2280,51.5,6.7,443,3489,0.00,1.38,26.98,0.317,9222,0.000,0.096,2977,3004,2172,2244,2100,0,0,0,0,0,0,28.83,14.47,14.23
$GC,3793,1.10,299.5,2978,3004,2286,2100,31.1,6.0,479,3829,0.00,1.52,29.98,0.256,8452,0.000,0.145,2977,3789,1964,2030,1898,0,0,0,0,0,0,28.83,14.36,14.28
$GC,3893,1.10,299.5,2975,3788,2061,1898,21.8,11.3,497,3901,0.00,1.40,2.42,0.197,9222,0.000,0.094,2983,3001,1965,2033,1897,0,0,0,0,0,0,28.83,14.44,14.40
$GC,4206,1.26,404.1,2984,3002,2068,1898,15.2,0.4,529,4273,0.12,1.48,58.50,0.210,10500,0.155,0.142,3034,3786,1536,1593,1480,0,0,0,0,0,0,14.50,14.38,14.32
$FREEZE,11.84,3.520,-1.407,0,1,0
$STATE,4436,end climb,NO_VERTICAL_VELOCITY
$STATE,4436,begin surface
$SM_CCo,4439,141.50,0.194,0,0,497,658.88
$SM_GC,1.84,8.65,2.15,0.00,0.110,0.098,0.000,209,2592,506,-7.51,0.48,656.91,0,0,0,0,0,0,14.40,14.38,28.83
$RAFOS_CLK,289
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14427.74,280714,025401
$TT8_MAMPS,0.046438,0.046438
$HUMID,51.61
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,4016800
$TM_FREEKB,7860032
$24V_AH,13.42,3.427
$10V_AH,12.80,0.000
$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,23.050,34.825,410.625,141.500,0.000,0.000,0.000,300.950,0.000,0.000,27.338,0.000,2843.678,643.109,1644.515,51.671,0.000,1439.317,0.000,853.110,0.000,0.535,0.000
$DEVICE_MAMPS,478.890,166.005,1235.475,194.310,0.000,0.000,0.000,193.545,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4451.000,4478.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.739,13.729,0.000,0.000
$MEM,310660
$DATA_FILE_SIZE,20052,572
$CAP_FILE_SIZE,86365,0
$CFSIZE,2097872896,2091974656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6220.60,0x2378b6,7,5
$SOUNDSPEED,1444.9
$EKF,4749,4253.885742,-8669.913086,11.834374,0.012102,-0.003851,-0.006655,0.000030,0.000284,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.062,185.56,1
$GPS,280714,060227,7053.730,-14429.962,3,1.1,24,22.3