version: 66.12
glider: 198
mission: 5
dive: 234
start: 9 1 114 12 32 59
data:
$ID,198
$MISSION,5
$DIVE,234
$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,-5021.1265
$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,30
$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
$GPS1,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.89
$_SM_ANGLEo,-18.3
$GPS2,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.7,50652,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-145.9,2669,2682,1804,1728,0.0,0.0,0,29,0.00,0.00,-12.10,0.000,16386,0.000,0.000,2668,2682,2508,2566,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2669,2683,2568,2450,18.7,0.0,1,60,0.88,2.50,-19.30,0.000,20996,0.073,0.107,2355,1270,3783,3838,3728,0,0,0,0,0,0,14.40,14.40,14.64
$GC,65,-0.57,-145.9,2355,1271,3836,3729,25.5,-24.1,8,71,0.22,2.53,0.00,0.000,3078,0.335,0.105,2396,2681,3784,3839,3729,0,0,0,0,0,0,14.16,14.34,28.83
$GC,370,-0.57,-145.9,2397,2681,3841,3731,88.8,-16.0,39,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2681,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,670,-0.57,-145.9,2397,2681,3840,3732,132.7,-13.8,69,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2681,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.60,-145.9,2397,2682,3840,3732,173.1,-13.0,99,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2681,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-0.63,-145.9,2397,2682,3840,3732,209.6,-11.4,129,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2681,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-0.67,-145.9,2397,2681,3841,3732,241.6,-10.8,159,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2681,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.72,-145.9,2397,2681,3841,3732,270.5,-9.3,175,1873,0.12,0.00,0.00,0.000,4102,0.151,0.000,2344,2681,3786,3840,3732,0,0,0,0,0,0,14.64,28.83,28.83
$GC,2170,-0.72,-145.9,2345,2682,3840,3732,305.1,-11.4,185,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2681,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2470,-0.72,-145.9,2345,2682,3840,3732,338.2,-10.9,195,2475,0.00,1.98,0.00,0.000,260,0.000,0.123,2336,3798,3783,3835,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2525,-0.72,-145.9,2337,3798,3841,3731,344.5,-11.6,206,2531,0.00,1.92,0.00,0.000,1030,0.000,0.073,2336,2675,3785,3839,3731,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2831,-0.72,-145.9,2337,2675,3840,3732,377.2,-10.7,217,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2675,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,-0.72,-145.9,2336,2675,3841,3731,409.1,-10.6,227,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2675,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.72,-145.9,2336,2676,3840,3732,440.7,-10.4,237,3435,0.00,2.00,0.00,0.000,260,0.000,0.124,2331,3789,3785,3839,3731,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3470,-0.72,-145.9,2331,3789,3841,3731,445.3,-11.8,245,3475,0.00,1.90,0.00,0.000,1030,0.000,0.074,2331,2676,3784,3838,3731,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3791,-0.72,-145.9,2331,2676,3841,3731,479.4,-10.6,259,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2676,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4090,-0.72,-145.9,2332,2677,3840,3732,511.2,-10.7,269,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4390,-0.72,-145.9,2331,2676,3841,3730,542.6,-10.4,279,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3785,3840,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.72,-145.9,2332,2677,3840,3733,573.8,-10.3,289,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4990,-0.72,-145.9,2332,2677,3840,3733,604.7,-10.3,299,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3785,3840,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5290,-0.72,-145.9,2331,2676,3841,3733,635.5,-10.2,309,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5590,-0.72,-145.9,2332,2677,3840,3734,666.1,-10.1,319,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5890,-0.72,-145.9,2331,2676,3841,3733,696.3,-10.0,329,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6190,-0.72,-145.9,2331,2676,3841,3733,726.8,-10.2,339,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6428,begin apogee
$GC,6433,-0.14,0.0,2329,3058,3840,3734,751.1,-10.1,347,6566,0.77,0.00,131.05,1.792,10246,0.254,0.000,2536,3057,3184,3285,3084,0,0,0,0,0,0,14.50,28.83,13.29
$STATE,6567,end apogee,CONTROL_FINISHED_OK
$STATE,6567,begin climb
$GC,6569,0.70,145.9,2537,3058,3277,3080,754.0,0.0,351,6702,0.95,0.00,126.97,1.779,10246,0.174,0.000,2806,3057,2583,2664,2503,0,0,0,0,0,0,13.90,28.83,12.84
$GC,7000,0.70,145.9,2806,3058,2654,2495,706.8,12.7,366,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3057,2574,2653,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,0.70,145.9,2806,3057,2654,2495,668.5,12.8,376,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3058,2573,2652,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,0.70,145.9,2806,3057,2652,2495,630.2,12.8,386,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3058,2573,2652,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,0.70,145.9,2807,3057,2653,2495,591.8,12.9,396,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3057,2574,2653,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,0.70,145.9,2807,3058,2653,2497,553.5,12.9,406,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3058,2573,2652,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8500,0.70,145.9,2806,3057,2654,2495,515.5,12.5,416,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3057,2573,2652,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8800,0.70,145.9,2806,3058,2654,2494,478.0,12.4,426,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3062,2572,2651,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9100,0.70,145.9,2806,3058,2653,2495,440.5,12.4,436,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3057,2573,2652,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9400,0.70,145.9,2806,3058,2654,2494,403.4,12.3,446,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3058,2573,2652,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9700,0.70,145.9,2807,3058,2654,2494,366.7,12.2,456,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3057,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10000,0.70,145.9,2806,3058,2653,2495,330.4,12.0,466,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3055,2573,2652,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10300,0.70,147.4,2807,3058,2653,2495,295.6,11.5,476,10305,0.00,2.40,0.00,0.000,516,0.000,0.076,2816,1639,2573,2652,2494,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10345,0.71,164.0,2816,1639,2654,2494,290.8,10.7,485,10366,0.00,2.47,14.93,1.268,9222,0.000,0.105,2815,3056,2512,2595,2430,0,0,0,0,0,0,28.83,14.65,14.03
$GC,10690,0.71,169.3,2816,3056,2586,2422,250.3,11.3,504,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3055,2503,2585,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10990,0.75,218.1,2817,3056,2586,2423,221.3,9.0,532,11041,0.00,0.00,46.72,1.194,8710,0.000,0.000,2816,3056,2286,2364,2208,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11340,0.78,260.2,2816,3056,2349,2198,187.2,9.4,568,11382,0.00,2.42,35.80,1.153,8708,0.000,0.076,2823,1648,2116,2192,2040,0,0,0,0,0,0,28.83,14.33,13.81
$GC,11452,0.85,296.2,2824,1647,2181,2036,176.6,9.7,590,11488,0.12,2.53,31.42,1.127,11270,0.147,0.106,2881,3053,1977,2048,1906,0,0,0,0,0,0,14.40,14.35,13.74
$GC,11792,0.85,296.2,2881,3053,2027,1888,130.3,13.2,628,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,3053,1957,2026,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12092,0.85,296.2,2882,3053,2025,1887,94.5,12.3,658,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,3053,1955,2024,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12398,0.88,345.5,2881,3054,2026,1886,60.8,9.0,688,12429,0.00,2.42,23.23,0.350,8708,0.000,0.077,2889,1648,1781,1852,1710,0,0,0,0,0,0,28.83,14.35,14.12
$GC,12455,0.97,413.5,2890,1648,1867,1710,56.4,8.0,699,12500,0.00,2.53,38.85,0.337,9222,0.000,0.107,2889,3052,1502,1561,1443,0,0,0,0,0,0,28.83,14.32,14.07
$GC,12799,1.11,519.8,2890,3051,1579,1443,34.0,6.0,738,12865,0.17,2.50,58.47,0.278,10756,0.120,0.080,2969,1650,1067,1106,1028,0,0,0,0,0,0,14.35,14.22,14.09
$GC,12939,1.16,524.1,2970,1649,1121,1033,19.4,11.4,766,12951,0.00,2.55,4.20,0.230,9222,0.000,0.106,2969,3056,1049,1084,1014,0,0,0,0,0,0,28.83,14.21,14.09
$FREEZE,8.98,-1.360,-1.447,2,19,0
$STATE,13058,end climb,FINISH_DEPTH_REACHED
$STATE,13058,begin subsurface finish
$FINISH1,9.0,1.021246,349
$GC,13062,0.24,349.4,2970,3058,1105,1015,9.0,7.3,779,13082,1.08,0.00,-17.90,0.000,20486,0.220,0.000,2675,3057,1763,1799,1727,0,0,0,0,0,0,14.16,28.83,14.50
$FINISH2,8.2
$STATE,13083,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13083,begin surface
$RAFOS_CLK,49
$RAFOS_FIX,7417.013672,-14347.504883,310814,080806,2,255,0.16
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.079394,0.079394
$HUMID,48.81
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3917024
$24V_AH,12.84,76.740
$10V_AH,12.95,0.000
$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,4.325,35.275,511.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10919.910,543.538,1610.788,119.222,0.000,1150.419,0.000,1174.701,1491.000,0.535,0.000
$DEVICE_MAMPS,335.070,124.695,1792.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13123.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.865,0.000,0.000,0.000
$MEM,239476
$DATA_FILE_SIZE,26757,781
$CAP_FILE_SIZE,125375,0
$CFSIZE,2097872896,2041315328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13059.91,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2