version: 66.12
glider: 198
mission: 5
dive: 136
start: 8 17 114 4 27 4
data:
$ID,198
$MISSION,5
$DIVE,136
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,215
$T_MISSION,250
$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,150
$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,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,-3481.0667
$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,38
$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
$GPS1,170814,041742,7247.889,-14414.202,36,0.8,56,22.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.5
$GPS2,170814,042639,7247.908,-14414.442,4,0.8,24,22.9
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.2,4572,-21.4,-11.628,-26.45,1932
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-145.9,194,2663,448,534,0.0,0.0,0,90,0.00,0.00,-71.95,0.000,16386,0.000,0.000,193,2663,2200,2235,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.70,-145.9,194,2663,2237,2165,3.4,-2.7,7,145,10.98,2.10,-35.35,0.000,18692,0.449,0.147,2347,3788,3784,3913,3655,0,0,0,0,0,0,14.12,14.33,14.59
$GC,370,-0.62,-145.9,2348,3789,3890,3692,78.7,-21.9,63,375,0.12,1.90,0.00,0.000,3078,0.308,0.072,2379,2678,3789,3888,3691,0,0,0,0,0,0,14.30,14.48,28.83
$GC,679,-0.62,-145.9,2379,2677,3890,3692,130.6,-16.3,95,685,0.00,2.03,0.00,0.000,260,0.000,0.122,2374,3783,3790,3888,3693,0,0,0,0,0,0,28.83,14.49,28.83
$GC,809,-0.62,-145.9,2375,3784,3889,3693,151.8,-15.8,121,815,0.00,1.88,0.00,0.000,1030,0.000,0.072,2374,2681,3790,3888,3692,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1119,-0.62,-145.9,2375,2682,3889,3693,193.8,-13.9,153,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3789,3888,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1419,-0.62,-145.9,2374,2682,3889,3693,232.0,-11.8,183,1425,0.00,2.03,0.00,0.000,260,0.000,0.126,2374,3787,3790,3888,3692,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1450,-0.62,-145.9,2375,3787,3887,3693,235.6,-12.3,189,1455,0.00,1.88,0.00,0.000,1030,0.000,0.074,2374,2686,3789,3887,3691,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1770,-0.64,-145.9,2375,2685,3888,3693,268.9,-10.1,210,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2686,3789,3887,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2070,-0.67,-145.9,2375,2686,3887,3693,299.9,-10.5,220,2075,0.00,2.00,0.00,0.000,260,0.000,0.127,2374,3780,3789,3886,3692,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2104,-0.67,-145.9,2375,3781,3887,3693,303.8,-11.2,227,2110,0.00,1.88,0.00,0.000,1030,0.000,0.074,2374,2679,3788,3886,3691,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2431,-0.70,-145.9,2374,2679,3887,3692,336.1,-9.8,242,2435,0.00,1.98,0.00,0.000,260,0.000,0.126,2374,3789,3790,3886,3694,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2500,-0.72,-145.9,2374,3789,3887,3693,343.5,-10.4,256,2505,0.00,1.88,0.00,0.000,1030,0.000,0.074,2374,2682,3788,3885,3692,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2821,-0.76,-145.9,2375,2682,3887,3692,374.2,-9.6,270,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3788,3885,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-0.79,-145.9,2375,2683,3886,3693,402.5,-9.4,280,3125,0.12,1.98,0.00,0.000,4356,0.155,0.124,2313,3787,3788,3885,3692,0,0,0,0,0,0,14.73,14.66,28.83
$GC,3194,-0.77,-145.9,2316,3788,3886,3692,412.2,-13.5,295,3200,0.00,1.88,0.00,0.000,1030,0.000,0.073,2316,2679,3788,3885,3692,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3510,-0.77,-145.9,2316,2679,3886,3693,451.5,-12.4,308,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3788,3885,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-0.77,-145.9,2316,2679,3886,3693,488.6,-12.3,318,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3788,3885,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.77,-145.9,2316,2679,3886,3693,525.8,-12.3,328,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2678,3789,3885,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.77,-145.9,2316,2679,3886,3694,562.0,-12.0,338,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3786,3880,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.77,-145.9,2317,2680,3885,3694,597.0,-11.7,348,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3789,3885,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5010,-0.77,-145.9,2316,2680,3886,3695,631.2,-11.5,358,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3789,3885,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5310,-0.77,-145.9,2313,2679,3885,3693,665.5,-11.3,368,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3789,3885,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5610,-0.77,-145.9,2316,2679,3886,3694,699.5,-11.5,378,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3789,3885,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5910,-0.77,-145.9,2316,2679,3886,3695,733.4,-11.3,388,5915,0.00,2.38,0.00,0.000,516,0.000,0.083,2315,1271,3789,3885,3694,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5954,-0.77,-145.9,2317,1271,3885,3695,738.4,-11.0,397,5960,0.10,2.47,0.00,0.000,3078,0.281,0.103,2345,2677,3789,3885,3694,0,0,0,0,0,0,14.60,14.71,28.83
$STATE,6088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6088,begin apogee
$GC,6092,-0.14,0.0,2344,3059,3885,3694,751.9,-9.9,404,6221,0.73,0.00,126.50,1.735,10246,0.261,0.000,2538,3059,3185,3263,3108,0,0,0,0,0,0,14.62,28.83,13.35
$STATE,6222,end apogee,CONTROL_FINISHED_OK
$STATE,6222,begin climb
$GC,6223,0.70,145.9,2539,3060,3262,3105,754.9,0.0,408,6351,0.93,0.00,123.22,1.722,10502,0.182,0.000,2806,3059,2590,2652,2528,0,0,0,0,0,0,13.93,28.83,13.01
$GC,6661,0.70,145.9,2807,3059,2642,2518,705.8,13.0,443,6666,0.00,1.35,0.00,0.000,260,0.000,0.119,2806,3781,2579,2641,2518,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6721,0.66,145.9,2807,3781,2642,2518,697.3,14.3,455,6726,0.00,1.27,0.00,0.000,1030,0.000,0.075,2811,3050,2579,2641,2518,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7052,0.64,145.9,2811,3050,2642,2518,652.9,13.5,471,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3050,2579,2641,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,0.61,145.9,2812,3051,2640,2518,612.9,13.4,481,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3050,2579,2641,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,0.61,145.9,2812,3050,2642,2517,572.4,13.4,491,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3050,2578,2641,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7951,0.59,145.9,2812,3050,2643,2517,532.2,13.4,501,7956,0.00,1.33,0.00,0.000,260,0.000,0.119,2811,3781,2579,2641,2517,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8005,0.55,145.9,2812,3782,2641,2518,524.1,15.0,512,8012,0.15,1.25,0.00,0.000,5126,0.257,0.075,2774,3046,2578,2641,2516,0,0,0,0,0,0,14.52,14.67,28.83
$GC,8312,0.55,150.5,2775,3046,2642,2517,489.1,11.4,523,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3050,2579,2641,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8611,0.56,164.1,2776,3046,2642,2518,456.0,10.9,533,8627,0.00,0.00,15.45,1.454,8198,0.000,0.000,2775,3046,2515,2582,2449,0,0,0,0,0,0,28.83,28.83,14.02
$GC,8911,0.57,170.6,2775,3046,2574,2443,422.0,11.3,543,8914,0.00,0.00,2.45,0.737,8198,0.000,0.000,2774,3045,2490,2556,2425,0,0,0,0,0,0,28.83,28.83,13.66
$GC,9211,0.57,175.3,2775,3046,2582,2426,387.9,11.4,553,9222,0.00,0.00,9.93,1.408,8198,0.000,0.000,2774,3045,2469,2539,2399,0,0,0,0,0,0,28.83,28.83,14.03
$GC,9511,0.57,179.5,2775,3045,2530,2394,353.7,11.4,563,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3045,2465,2536,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9811,0.60,191.9,2775,3046,2529,2394,320.5,11.0,573,9827,0.00,0.00,14.82,1.308,8198,0.000,0.000,2774,3046,2401,2468,2335,0,0,0,0,0,0,28.83,28.83,14.05
$GC,10112,0.64,205.9,2776,3046,2458,2330,287.5,10.9,583,10125,0.00,0.00,12.15,1.288,8198,0.000,0.000,2775,3045,2346,2411,2282,0,0,0,0,0,0,28.83,28.83,14.04
$GC,10412,0.68,222.0,2776,3045,2401,2276,254.2,10.8,593,10428,0.12,0.00,14.68,1.239,10246,0.146,0.000,2831,3045,2281,2344,2218,0,0,0,0,0,0,14.64,28.83,14.02
$GC,10711,0.68,222.0,2832,3046,2332,2212,214.5,12.5,619,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,3045,2270,2331,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11011,0.69,237.4,2833,3046,2331,2211,180.2,10.8,649,11026,0.00,0.00,13.43,1.178,8198,0.000,0.000,2831,3045,2218,2281,2156,0,0,0,0,0,0,28.83,28.83,14.04
$GC,11321,0.72,271.0,2832,3045,2271,2149,148.5,9.8,680,11353,0.00,0.00,30.02,1.069,8198,0.000,0.000,2831,3045,2078,2139,2018,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11652,0.76,294.9,2832,3046,2126,2009,113.5,10.4,713,11673,0.00,0.00,19.95,1.057,8710,0.000,0.000,2831,3045,1982,2042,1923,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11972,0.82,322.5,2832,3046,2027,1912,82.0,10.2,746,11992,0.00,2.42,12.60,0.428,8708,0.000,0.079,2836,1645,1877,1939,1815,0,0,0,0,0,0,28.83,14.47,14.25
$GC,12043,0.92,376.2,2838,1646,1948,1816,75.6,8.8,760,12078,0.15,2.47,29.33,0.410,11270,0.134,0.107,2902,3047,1652,1705,1600,0,0,0,0,0,0,14.52,14.47,14.21
$GC,12383,1.00,454.8,2903,3048,1714,1601,37.6,7.4,798,12427,0.00,0.00,42.85,0.301,8198,0.000,0.000,2902,3047,1331,1376,1287,0,0,0,0,0,0,28.83,28.83,14.31
$FREEZE,8.75,1.680,-1.434,2,1,0
$FREEZE,8.11,1.704,-1.432,2,1,0
$FREEZE,7.56,1.704,-1.432,2,1,0
$GC,12743,1.20,628.7,2903,3047,1384,1287,15.1,2.4,832,12839,0.20,0.00,89.38,0.223,11014,0.121,0.000,2988,3047,623,586,660,0,0,0,0,0,0,14.52,28.83,14.28
$FREEZE,6.06,1.697,-1.431,2,1,0
$FREEZE,4.73,1.697,-1.430,2,1,0
$FREEZE,3.43,1.699,-1.429,2,1,0
$FREEZE,2.27,1.705,-1.428,2,1,0
$FREEZE,1.27,1.668,-1.426,2,1,0
$STATE,12882,end climb,SURFACE_DEPTH_REACHED
$STATE,12882,begin surface coast
$FREEZE,1.48,1.600,-1.432,2,1,0
$FINISH,1.5,1.021039
$STATE,12892,end surface coast,CONTROL_FINISHED_OK
$STATE,12892,begin surface
$SM_CCo,12907,17.38,0.199,0,0,497,659.12
$SM_GC,1.86,8.52,0.62,17.38,0.109,0.082,0.199,201,2681,497,-7.39,1.10,659.12,0,0,0,0,0,0,14.45,14.44,14.31
$RAFOS_CLK,17
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7214.16,-14411.70,170814,042012
$TT8_MAMPS,0.077896,0.077896
$HUMID,49.52
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3960928
$24V_AH,13.01,47.546
$10V_AH,12.84,0.000
$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,22.125,39.625,556.750,17.375,0.000,0.000,0.000,314.600,0.000,0.000,25.881,0.000,10578.348,668.275,2098.667,129.140,0.000,1658.836,0.000,1273.573,1495.000,0.535,0.000
$DEVICE_MAMPS,449.055,146.880,1735.020,198.900,0.000,0.000,0.000,171.360,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.328,0.000,0.000,0.000
$MEM,293656
$DATA_FILE_SIZE,30039,855
$CAP_FILE_SIZE,142319,0
$CFSIZE,2097872896,2060484608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13693.70,0x2378b6,7,5
$SOUNDSPEED,1450.1
$GPS,170814,080354,7249.380,-14411.277,25,0.9,45,22.9