version: 66.12
glider: 198
mission: 5
dive: 242
start: 9 2 114 17 45 9
data:
$ID,198
$MISSION,5
$DIVE,242
$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,-5022.3872
$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,35
$R_STBD_OVSHOOT,16
$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
$GPS1,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.46
$_SM_ANGLEo,-18.9
$GPS2,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.0,22370,-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,15,-0.70,-145.9,2674,2676,1783,1714,0.0,0.0,0,29,0.00,0.00,-12.40,0.000,16386,0.000,0.000,2673,2676,2480,2538,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2675,2677,2540,2424,17.5,0.0,1,60,0.88,2.45,-20.08,0.000,20996,0.070,0.104,2357,1270,3783,3837,3730,0,0,0,0,0,0,14.40,14.40,14.65
$GC,101,-0.62,-145.9,2358,1271,3837,3733,38.1,-31.6,15,106,0.17,2.53,0.00,0.000,3078,0.327,0.103,2384,2689,3784,3837,3732,0,0,0,0,0,0,14.21,14.39,28.83
$GC,410,-0.62,-145.9,2385,2690,3838,3734,99.5,-16.3,47,415,0.00,2.42,0.00,0.000,516,0.000,0.082,2384,1276,3784,3837,3732,0,0,0,0,0,0,28.83,14.43,28.83
$GC,445,-0.62,-145.9,2385,1276,3838,3733,104.7,-15.1,54,452,0.00,2.50,0.00,0.000,1030,0.000,0.103,2375,2681,3784,3837,3732,0,0,0,0,0,0,28.83,14.40,28.83
$GC,750,-0.62,-145.9,2375,2682,3838,3733,151.0,-15.2,85,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1050,-0.62,-145.9,2375,2681,3838,3733,193.5,-13.5,115,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1351,-0.64,-145.9,2375,2682,3838,3733,230.6,-11.3,145,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1651,-0.67,-145.9,2375,2683,3838,3733,262.8,-10.4,167,1655,0.00,2.00,0.00,0.000,260,0.000,0.123,2374,3793,3785,3837,3733,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1715,-0.70,-145.9,2374,3794,3838,3732,270.1,-10.5,180,1720,0.00,1.90,0.00,0.000,1030,0.000,0.070,2374,2680,3784,3836,3732,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2042,-0.74,-145.9,2375,2681,3837,3733,302.4,-9.9,195,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.78,-145.9,2374,2680,3838,3733,331.5,-9.4,205,2342,0.12,0.00,0.00,0.000,4102,0.151,0.000,2323,2680,3784,3837,3732,0,0,0,0,0,0,14.66,28.83,28.83
$GC,2641,-0.78,-145.9,2324,2680,3838,3732,366.2,-11.5,215,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.78,-145.9,2324,2681,3837,3732,400.6,-11.4,225,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3241,-0.78,-145.9,2324,2680,3837,3732,434.4,-11.2,235,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-0.78,-145.9,2324,2680,3837,3732,467.7,-11.0,245,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3841,-0.78,-145.9,2324,2681,3838,3731,500.5,-10.9,255,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4141,-0.78,-145.9,2324,2681,3837,3733,533.4,-11.0,265,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4440,-0.78,-145.9,2325,2681,3845,3734,565.9,-10.8,275,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4741,-0.78,-145.9,2324,2680,3838,3734,597.4,-10.5,285,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,-0.78,-145.9,2324,2680,3838,3733,628.9,-10.4,295,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-0.78,-145.9,2324,2681,3838,3734,660.0,-10.4,305,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-0.78,-145.9,2324,2680,3838,3734,691.1,-10.3,315,5646,0.00,1.98,0.00,0.000,260,0.000,0.119,2315,3787,3784,3836,3733,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5691,-0.78,-145.9,2316,3787,3837,3734,696.8,-11.3,325,5696,0.00,1.88,0.00,0.000,1030,0.000,0.069,2315,2677,3785,3837,3734,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6002,-0.78,-145.9,2316,2678,3837,3734,730.5,-10.8,337,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2678,3785,3837,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6209,begin apogee
$GC,6213,-0.14,0.0,2313,3052,3838,3734,753.2,-10.8,344,6401,0.85,0.00,184.93,1.457,10246,0.261,0.000,2537,3052,3187,3293,3082,0,0,0,0,0,0,14.47,28.83,13.32
$STATE,6402,end apogee,CONTROL_FINISHED_OK
$STATE,6402,begin climb
$GC,6404,0.70,145.9,2538,3052,3289,3077,757.6,0.0,350,6538,0.93,1.50,126.72,1.724,10500,0.173,0.114,2805,3789,2585,2671,2499,0,0,0,0,0,0,13.83,13.38,12.79
$GC,6577,0.66,145.9,2806,3786,2659,2490,742.9,14.1,387,6583,0.00,1.35,0.00,0.000,1030,0.000,0.068,2810,3055,2574,2659,2489,0,0,0,0,0,0,28.83,13.62,28.83
$GC,6904,0.66,145.9,2811,3055,2658,2489,700.6,12.9,402,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3054,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7202,0.66,145.9,2810,3055,2659,2487,662.0,12.8,412,7208,0.00,1.35,0.00,0.000,260,0.000,0.116,2809,3783,2572,2657,2487,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7293,0.62,145.9,2811,3783,2659,2487,649.1,14.6,430,7298,0.00,1.27,0.00,0.000,1030,0.000,0.071,2815,3044,2572,2658,2487,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7624,0.59,145.9,2816,3045,2658,2488,605.7,13.1,446,7625,0.12,0.00,0.00,0.000,4102,0.294,0.000,2789,3044,2572,2657,2487,0,0,0,0,0,0,14.39,28.83,28.83
$GC,7923,0.60,147.8,2789,3044,2658,2487,570.5,11.5,456,7928,0.00,1.38,0.00,0.000,260,0.000,0.118,2788,3788,2572,2657,2487,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7983,0.57,147.8,2789,3789,2659,2487,562.7,13.4,468,7988,0.00,1.25,0.00,0.000,1030,0.000,0.072,2794,3054,2572,2657,2487,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8313,0.57,147.8,2795,3054,2659,2487,523.7,11.8,484,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3054,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8612,0.57,147.8,2795,3054,2665,2488,488.4,11.9,494,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,3054,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8912,0.57,147.8,2795,3054,2658,2485,453.0,11.9,504,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3054,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9212,0.57,147.8,2794,3054,2659,2487,417.7,11.7,514,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3054,2571,2657,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9513,0.57,147.8,2795,3054,2658,2488,382.9,11.7,524,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3054,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9813,0.58,152.6,2795,3055,2658,2488,348.7,11.4,534,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3054,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10113,0.58,160.9,2794,3054,2659,2487,315.1,11.2,544,10126,0.00,0.00,12.12,1.258,8198,0.000,0.000,2794,3053,2529,2617,2442,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10413,0.59,178.3,2795,3054,2604,2431,281.8,10.7,554,10430,0.00,0.00,15.52,1.220,8198,0.000,0.000,2794,3054,2459,2550,2369,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10713,0.61,202.8,2794,3054,2532,2356,250.3,10.3,564,10735,0.00,0.00,21.58,1.186,8198,0.000,0.000,2794,3054,2358,2445,2271,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11013,0.68,266.2,2794,3054,2424,2256,222.0,8.3,592,11073,0.00,0.00,54.67,1.141,8198,0.000,0.000,2794,3053,2090,2172,2009,0,0,0,0,0,0,28.83,28.83,13.76
$GC,11373,0.75,303.9,2795,3054,2158,1999,187.8,9.6,628,11414,0.12,2.47,32.47,1.129,10756,0.145,0.076,2861,1644,1936,2010,1862,0,0,0,0,0,0,14.49,14.25,13.79
$GC,11464,0.78,303.9,2861,1644,2000,1860,176.6,12.3,646,11469,0.00,2.53,0.00,0.000,1030,0.000,0.103,2861,3054,1929,1998,1860,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11774,0.78,303.9,2862,3055,1996,1855,136.1,12.6,678,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,3054,1923,1996,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12074,0.78,303.9,2861,3054,1997,1852,98.5,11.9,708,12079,0.00,2.42,0.00,0.000,516,0.000,0.076,2870,1638,1924,1996,1852,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12129,0.82,314.2,2871,1639,1996,1853,92.5,11.1,719,12136,0.00,2.53,2.50,0.223,9222,0.000,0.104,2870,3054,1904,1977,1831,0,0,0,0,0,0,28.83,14.43,14.33
$GC,12435,0.89,371.1,2871,3055,2000,1835,61.3,8.6,750,12469,0.00,0.00,32.17,0.353,8198,0.000,0.000,2871,3054,1674,1741,1607,0,0,0,0,0,0,28.83,28.83,14.16
$GC,12765,1.05,512.6,2871,3054,1766,1608,40.9,4.1,783,12847,0.15,0.00,79.40,0.292,10502,0.132,0.000,2941,3054,1096,1134,1059,0,0,0,0,0,0,14.43,28.83,14.13
$FREEZE,8.72,-1.357,-1.439,2,7,0
$GC,13144,1.19,618.5,2941,3054,1156,1056,10.9,6.0,827,13183,0.00,0.00,36.92,0.210,8706,0.000,0.000,2940,3054,824,840,808,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13183,end climb,FINISH_DEPTH_REACHED
$STATE,13183,begin subsurface finish
$FINISH1,8.7,1.021141,355
$GC,13188,0.25,354.8,2941,3054,845,808,8.7,6.2,834,13220,0.93,2.45,-23.52,0.000,20996,0.204,0.099,2677,1638,1742,1777,1708,0,0,0,0,0,0,14.18,14.33,14.56
$FINISH2,8.0
$STATE,13220,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13220,begin surface
$RAFOS_CLK,340
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.68
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3913440
$24V_AH,12.79,79.141
$10V_AH,12.72,0.000
$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,4.275,40.750,599.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10869.302,619.412,1722.800,127.175,0.000,1283.847,0.000,1262.093,1491.000,0.535,0.000
$DEVICE_MAMPS,326.655,123.165,1723.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13272.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.907,0.000,0.000,0.000
$MEM,235224
$DATA_FILE_SIZE,30018,840
$CAP_FILE_SIZE,134018,0
$CFSIZE,2097872896,2039840768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13186.14,0x2378b6,5,5
$SOUNDSPEED,1449.7
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7