version: 66.12
glider: 198
mission: 5
dive: 28
start: 7 30 114 2 54 4
data:
$ID,198
$MISSION,5
$DIVE,28
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-3357.7356
$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,2600
$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,2800
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,15
$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
$GPS1,300714,024254,7101.899,-14428.262,35,0.8,55,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-72.2
$GPS2,300714,025346,7101.901,-14428.229,4,0.8,24,22.3
$SPEED_LIMITS,0.170,0.235
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,342.5,64043,-21.9,-11.905,-26.85,1887
$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,-0.71,-145.9,204,2791,465,537,0.0,0.0,0,84,0.00,0.00,-62.95,0.000,16386,0.000,0.000,203,2791,2068,2112,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.71,-145.9,204,2792,2114,2025,3.2,-3.3,6,142,11.43,2.42,-33.60,0.000,18948,0.470,0.105,2362,1382,3782,3853,3712,0,0,0,0,0,0,14.13,14.31,14.54
$GC,306,-0.66,-145.9,2362,1382,3855,3715,51.8,-20.8,47,315,0.00,2.58,0.00,0.000,1030,0.000,0.120,2360,2808,3784,3853,3715,0,0,0,0,0,0,28.83,14.37,28.83
$GC,611,-0.63,-145.9,2361,2808,3855,3716,107.3,-16.9,78,614,0.15,0.00,0.00,0.000,2054,0.356,0.000,2390,2807,3785,3853,3717,0,0,0,0,0,0,14.36,28.83,28.83
$GC,911,-0.63,-145.9,2391,2804,3854,3717,149.2,-13.4,108,919,0.00,2.42,0.00,0.000,516,0.000,0.085,2390,1384,3784,3853,3716,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1048,-0.66,-145.9,2391,1384,3854,3724,166.0,-11.3,135,1057,0.00,2.53,0.00,0.000,1030,0.000,0.119,2387,2796,3784,3851,3718,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1354,-0.68,-145.9,2388,2795,3854,3717,199.7,-10.3,166,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2796,3785,3853,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1653,-0.72,-145.9,2388,2796,3853,3715,229.6,-9.9,196,1661,0.00,2.40,0.00,0.000,516,0.000,0.086,2387,1386,3783,3853,3714,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1730,-0.76,-145.9,2388,1386,3854,3715,236.9,-9.3,211,1739,0.00,2.55,0.00,0.000,1030,0.000,0.122,2387,2808,3783,3852,3715,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2045,-0.80,-145.9,2388,2809,3853,3714,267.8,-9.6,231,2053,0.15,2.40,0.00,0.000,4612,0.143,0.086,2328,1390,3781,3852,3711,0,0,0,0,0,0,14.61,14.59,28.83
$GC,2097,-0.80,-145.9,2328,1389,3853,3714,273.7,-11.7,241,2106,0.00,2.53,0.00,0.000,1030,0.000,0.120,2318,2808,3782,3851,3714,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2411,-0.80,-145.9,2319,2809,3852,3715,312.8,-12.5,253,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2808,3779,3845,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,-0.80,-145.9,2319,2808,3852,3714,350.4,-12.4,263,2718,0.00,2.40,0.00,0.000,516,0.000,0.086,2318,1384,3782,3850,3714,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2817,-0.80,-145.9,2319,1384,3851,3714,362.9,-11.8,284,2825,0.12,2.53,0.00,0.000,3078,0.331,0.120,2332,2808,3782,3850,3714,0,0,0,0,0,0,14.54,14.59,28.83
$GC,3135,-0.80,-145.9,2333,2806,3850,3710,399.3,-11.4,297,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2808,3782,3850,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3434,-0.80,-145.9,2333,2808,3851,3714,433.6,-11.4,307,3442,0.00,2.38,0.00,0.000,516,0.000,0.086,2338,1390,3782,3850,3714,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3501,-0.80,-145.9,2333,1390,3851,3714,441.0,-11.3,320,3509,0.00,2.50,0.00,0.000,1030,0.000,0.119,2323,2802,3782,3850,3714,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3829,-0.80,-145.9,2324,2802,3850,3715,479.0,-11.6,335,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2802,3782,3850,3714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4007,begin apogee
$GC,4010,-0.14,0.0,2323,3049,3851,3714,500.0,-11.5,341,4155,0.88,0.00,135.20,2.762,10246,0.294,0.000,2545,3049,3185,3263,3108,0,0,0,0,1,0,14.51,28.83,12.56
$STATE,4157,end apogee,CONTROL_FINISHED_OK
$STATE,4157,begin climb
$GC,4158,0.71,145.9,2546,3049,3281,3108,503.4,0.0,345,4302,0.98,1.48,128.93,1.533,10500,0.192,0.128,2818,3784,2582,2648,2516,0,0,0,0,0,0,13.63,13.52,13.05
$GC,4441,0.67,145.9,2818,3784,2641,2508,472.8,15.2,394,4449,0.00,1.33,0.00,0.000,1030,0.000,0.083,2823,3050,2572,2640,2504,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4769,0.64,145.9,2824,3050,2640,2508,427.6,13.7,409,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,3050,2573,2639,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5068,0.61,145.9,2824,3050,2641,2507,386.5,13.6,419,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,3050,2572,2639,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5368,0.58,145.9,2824,3049,2640,2506,346.1,13.4,429,5378,0.15,1.38,0.00,0.000,4356,0.304,0.132,2789,3785,2572,2639,2506,0,0,0,0,0,0,14.26,14.30,28.83
$GC,5417,0.56,145.9,2791,3785,2641,2506,339.6,13.0,438,5424,0.00,1.27,0.00,0.000,1030,0.000,0.085,2796,3050,2573,2640,2506,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5734,0.56,145.9,2797,3050,2641,2507,301.7,12.0,451,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,3050,2573,2640,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,0.56,147.7,2796,3050,2640,2506,265.7,11.8,461,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,3050,2572,2639,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6334,0.57,159.7,2796,3050,2641,2506,231.2,11.3,481,6351,0.00,0.00,11.40,1.385,8198,0.000,0.000,2796,3050,2528,2597,2459,0,0,0,0,0,0,28.83,28.83,13.95
$GC,6645,0.59,180.0,2797,3050,2591,2453,196.9,10.8,512,6671,0.00,0.00,18.45,1.278,8198,0.000,0.000,2796,3050,2442,2511,2373,0,0,0,0,0,0,28.83,28.83,13.96
$GC,6965,0.62,225.9,2796,3050,2504,2367,164.3,9.4,544,7015,0.00,2.50,40.20,1.089,8708,0.000,0.084,2806,1635,2254,2317,2191,0,0,0,0,0,0,28.83,14.24,13.87
$GC,7055,0.70,273.5,2807,1635,2312,2187,155.8,9.3,557,7106,0.00,2.55,42.55,1.030,9222,0.000,0.118,2806,3046,2063,2127,2000,0,0,0,0,0,0,28.83,14.26,13.75
$GC,7400,0.76,306.1,2807,3047,2108,1982,119.8,10.1,594,7435,0.12,2.50,28.05,1.040,10756,0.151,0.086,2862,1646,1928,1989,1867,0,0,0,0,0,0,14.40,14.23,13.86
$GC,7539,0.78,307.8,2864,1645,1975,1861,103.2,11.8,620,7547,0.00,2.55,0.00,0.000,1030,0.000,0.117,2863,3056,1916,1974,1859,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7851,0.79,314.4,2863,3056,1974,1854,63.7,11.5,652,7860,0.00,2.40,0.00,0.000,516,0.000,0.085,2870,1641,1913,1974,1853,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7929,0.85,350.6,2871,1641,1975,1854,55.5,9.9,667,7958,0.00,2.53,22.17,0.327,9222,0.000,0.119,2870,3052,1755,1814,1697,0,0,0,0,0,0,28.83,14.45,14.27
$GC,8263,0.92,412.6,2868,3053,1843,1706,23.9,8.5,702,8305,0.00,2.47,36.20,0.241,8708,0.000,0.085,2877,1642,1504,1562,1447,0,0,0,0,0,0,28.83,14.42,14.35
$GC,8330,1.03,482.4,2878,1643,1581,1448,18.1,8.1,711,8379,0.17,2.53,40.08,0.223,11270,0.127,0.119,2947,3053,1219,1260,1179,0,0,0,0,0,0,14.46,14.41,14.32
$GC,8683,1.23,660.3,2949,3054,1278,1179,8.2,2.2,749,8786,0.15,1.40,96.68,0.192,10500,0.152,0.135,3007,3784,498,460,536,0,0,0,0,0,0,14.47,14.34,14.33
$STATE,8789,end climb,SURFACE_DEPTH_REACHED
$STATE,8789,begin surface coast
$FINISH,0.9,1.014947
$STATE,8809,end surface coast,CONTROL_FINISHED_OK
$STATE,8809,begin surface
$SM_CCo,8892,0.00,0.000,0,0,499,659.12
$SM_GC,2.02,8.38,1.75,0.00,0.091,0.083,0.000,207,2794,499,-7.42,0.74,659.12,0,0,0,0,0,0,14.42,14.40,28.83
$RAFOS_CLK,315
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14432.35,300714,000754
$TT8_MAMPS,0.046438,0.046438
$HUMID,52.08
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,4007840
$TM_FREEKB,7612864
$24V_AH,12.56,9.798
$10V_AH,12.59,0.000
$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,22.675,58.700,599.900,0.000,0.000,0.000,0.000,411.575,0.000,0.000,26.319,0.000,6495.225,715.837,2255.545,77.354,0.000,1820.392,0.000,1141.997,1479.000,0.535,0.000
$DEVICE_MAMPS,469.710,143.055,2762.415,0.000,0.000,0.000,0.000,198.135,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8836.000,8887.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.634,13.284,0.000,0.000
$MEM,300216
$DATA_FILE_SIZE,26717,769
$CAP_FILE_SIZE,128471,0
$CFSIZE,2097872896,2087059456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9523.30,0x2378b6,7,5
$SOUNDSPEED,1449.4
$EKF,8964,4262.930664,-8668.289062,0.938133,-0.019671,-0.090708,-0.016582,0.000143,0.001353,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.027,38.67,1
$GPS,300714,052325,7103.032,-14428.059,15,0.9,35,22.4