version: 66.12
glider: 198
mission: 5
dive: 10
start: 7 28 114 8 11 29
data:
$ID,198
$MISSION,5
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$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,110
$T_MISSION,145
$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,-3333.6543
$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,30
$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
$GPS1,280714,080224,7054.054,-14429.739,26,0.8,46,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.6
$GPS2,280714,081111,7054.039,-14429.712,5,0.8,25,22.3
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,338.7,11042,-20.0,-10.909,-25.39,2059
$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,-0.85,-145.9,213,2587,470,541,0.0,0.0,0,80,0.00,0.00,-58.88,0.000,16386,0.000,0.000,213,2588,1958,1997,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.85,-145.9,213,2588,1998,1921,3.6,-4.1,6,141,11.48,2.30,-37.97,0.000,18692,0.475,0.172,2340,3782,3785,3854,3717,0,0,0,0,0,0,14.09,14.23,14.50
$GC,365,-0.75,-145.9,2341,3783,3856,3715,73.9,-22.2,60,373,0.20,2.05,0.00,0.000,3078,0.345,0.089,2382,2588,3785,3855,3716,0,0,0,0,0,0,14.22,14.35,28.83
$GC,678,-0.73,-145.9,2382,2587,3856,3716,124.4,-15.2,92,685,0.00,2.22,0.00,0.000,260,0.000,0.143,2374,3790,3785,3855,3715,0,0,0,0,0,0,28.83,14.36,28.83
$GC,909,-0.70,-145.9,2374,3790,3855,3715,161.4,-14.9,138,919,0.00,2.05,0.00,0.000,1030,0.000,0.090,2374,2599,3785,3855,3715,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1223,-0.70,-145.9,2375,2597,3856,3713,199.9,-11.5,170,1232,0.00,2.20,0.00,0.000,260,0.000,0.147,2374,3790,3784,3854,3715,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1296,-0.70,-145.9,2374,3790,3856,3715,209.0,-12.4,184,1304,0.00,2.05,0.00,0.000,1030,0.000,0.090,2374,2585,3784,3854,3715,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1608,-0.70,-145.9,2375,2587,3854,3715,243.2,-10.8,216,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2584,3784,3854,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1919,-0.70,-145.9,2373,2588,3850,3716,275.6,-10.3,231,1927,0.00,2.20,0.00,0.000,260,0.000,0.147,2374,3789,3784,3853,3715,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1971,-0.70,-145.9,2375,3789,3854,3715,281.5,-11.3,241,1980,0.00,2.05,0.00,0.000,1030,0.000,0.090,2374,2608,3783,3852,3715,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2284,-0.70,-145.9,2374,2608,3852,3711,312.7,-9.8,253,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2608,3783,3852,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2584,-0.70,-145.9,2375,2608,3853,3716,341.6,-9.6,263,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2608,3783,3852,3714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2793,begin apogee
$GC,2796,-0.17,0.0,2375,3006,3853,3716,361.8,-9.6,270,2937,0.75,0.00,128.73,2.568,10246,0.288,0.000,2567,3005,3188,3270,3106,0,0,0,0,1,0,14.49,28.83,12.75
$STATE,2939,end apogee,CONTROL_FINISHED_OK
$STATE,2939,begin climb
$GC,2940,0.85,145.9,2568,3005,3282,3106,365.2,0.0,274,3087,1.15,1.58,131.07,1.388,10500,0.190,0.136,2891,3784,2580,2648,2512,0,0,0,0,0,0,13.72,13.67,13.25
$GC,3310,0.72,145.9,2892,3785,2636,2503,314.7,18.6,337,3319,0.12,1.40,0.00,0.000,5126,0.314,0.090,2867,3007,2569,2636,2502,0,0,0,0,0,0,14.02,14.17,28.83
$GC,3628,0.63,145.9,2867,3007,2636,2501,265.5,15.2,350,3637,0.15,1.48,0.00,0.000,4356,0.352,0.140,2836,3784,2568,2635,2502,0,0,0,0,0,0,14.22,14.29,28.83
$GC,3862,0.55,145.9,2837,3784,2636,2502,230.7,14.5,396,3869,0.10,1.38,0.00,0.000,5126,0.335,0.091,2806,3003,2568,2635,2502,0,0,0,0,0,0,14.28,14.42,28.83
$GC,4174,0.54,161.3,2807,3003,2637,2502,195.9,10.1,428,4196,0.00,1.45,13.20,1.178,8452,0.000,0.138,2806,3787,2515,2587,2443,0,0,0,0,0,0,28.83,14.33,13.88
$GC,4420,0.52,181.4,2806,3788,2579,2438,169.0,9.9,476,4443,0.00,1.40,17.60,1.222,9222,0.000,0.093,2812,2998,2444,2518,2371,0,0,0,0,0,0,28.83,14.42,13.83
$GC,4746,0.59,243.2,2812,2999,2497,2357,140.7,7.8,510,4810,0.00,1.55,56.75,1.183,8452,0.000,0.142,2811,3786,2182,2250,2115,0,0,0,0,0,0,28.83,14.09,13.71
$GC,4919,0.60,251.9,2812,3786,2234,2098,123.6,10.5,541,4928,0.00,1.40,0.00,0.000,1030,0.000,0.093,2818,3004,2163,2229,2098,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5224,0.65,290.2,2818,3005,2233,2097,94.4,9.0,572,5260,0.00,0.00,25.25,0.391,8198,0.000,0.000,2817,3004,2010,2087,1934,0,0,0,0,0,0,28.83,28.83,14.14
$GC,5554,0.70,331.3,2825,3000,2111,1934,63.9,8.9,605,5587,0.12,2.55,25.60,0.348,10756,0.160,0.105,2875,1585,1840,1908,1772,0,0,0,0,0,0,14.45,14.38,14.23
$GC,5611,0.70,331.3,2875,1585,1932,1773,57.8,11.3,613,5619,0.00,2.60,2.65,0.224,9222,0.000,0.131,2874,3005,1833,1898,1768,0,0,0,0,0,0,28.83,14.37,14.30
$GC,5924,0.76,378.5,2872,3006,1940,1769,28.9,8.6,645,5958,0.00,0.00,29.08,0.250,8198,0.000,0.000,2875,3005,1642,1704,1580,0,0,0,0,0,0,28.83,28.83,14.33
$GC,6254,1.09,596.7,2875,3006,1733,1587,12.0,0.0,678,6385,0.30,2.58,122.35,0.201,10756,0.118,0.101,2997,1585,752,722,783,0,0,0,0,0,0,14.50,14.32,14.28
$GC,6454,1.25,692.9,2998,1585,743,783,3.3,6.1,711,6485,0.12,2.60,23.95,0.181,11266,0.158,0.133,3044,2998,590,553,627,0,0,0,0,0,0,14.40,14.35,28.83
$STATE,6485,end climb,SURFACE_DEPTH_REACHED
$STATE,6485,begin surface coast
$FINISH,0.6,1.011277
$STATE,6513,end surface coast,CONTROL_FINISHED_OK
$STATE,6513,begin surface
$SM_CCo,6535,9.30,0.190,0,0,537,649.06
$SM_GC,3.60,8.75,0.70,9.30,0.115,0.093,0.190,203,2589,537,-7.53,0.79,649.06,0,0,0,0,0,0,14.40,14.41,14.32
$RAFOS_CLK,409
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,280714,060656
$TT8_MAMPS,0.043442,0.043442
$HUMID,51.81
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,4015904
$TM_FREEKB,7839616
$24V_AH,12.75,4.029
$10V_AH,12.61,0.000
$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,23.250,40.525,576.225,9.300,0.000,0.000,0.000,324.925,0.000,0.000,26.987,0.000,4329.393,625.819,2056.986,62.874,0.000,1644.748,0.000,1066.460,721.000,0.535,0.000
$DEVICE_MAMPS,475.065,172.125,2568.105,190.485,0.000,0.000,0.000,191.250,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6532.000,6531.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.722,13.888,0.000,0.000
$MEM,309876
$DATA_FILE_SIZE,23338,721
$CAP_FILE_SIZE,111230,0
$CFSIZE,2097872896,2091483136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,7139.11,0x2378b6,7,5
$INTR,1,4926.90,0x213684,1,24
$SOUNDSPEED,1447.1
$EKF,6613,4254.697266,-8669.672852,0.611163,0.000632,-0.000748,-0.004655,0.000071,0.000665,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.092,190.55,1
$GPS,280714,100139,7054.374,-14429.857,10,0.8,31,22.3