version: 66.12
glider: 198
mission: 5
dive: 243
start: 9 2 114 21 28 6
data:
$ID,198
$MISSION,5
$DIVE,243
$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,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
$GPS1,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.44
$_SM_ANGLEo,-16.8
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-145.9,2676,2684,1785,1713,0.0,0.0,0,30,0.00,0.00,-12.50,0.000,16386,0.000,0.000,2676,2683,2483,2543,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2677,2684,2544,2426,17.5,0.0,1,61,0.90,2.05,-20.17,0.000,20740,0.070,0.145,2343,3789,3784,3837,3731,0,0,0,0,0,0,14.39,14.33,14.63
$GC,286,-0.64,-145.9,2343,3790,3838,3734,86.6,-21.5,52,292,0.12,1.92,0.00,0.000,3078,0.286,0.070,2375,2671,3785,3837,3733,0,0,0,0,0,0,14.20,14.40,28.83
$GC,591,-0.64,-145.9,2376,2672,3838,3734,136.7,-15.6,83,596,0.00,2.05,0.00,0.000,260,0.000,0.122,2374,3780,3785,3837,3733,0,0,0,0,0,0,28.83,14.38,28.83
$GC,692,-0.64,-145.9,2374,3781,3838,3734,152.4,-15.5,103,696,0.00,1.85,0.00,0.000,1030,0.000,0.071,2374,2679,3785,3837,3733,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1001,-0.64,-145.9,2375,2679,3838,3733,195.0,-13.6,135,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-0.66,-145.9,2375,2679,3838,3734,233.5,-12.4,165,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1601,-0.69,-145.9,2374,2678,3838,3733,266.5,-10.6,185,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-0.73,-145.9,2375,2679,3838,3731,296.6,-9.9,195,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-0.77,-145.9,2375,2679,3838,3734,325.5,-9.5,205,2206,0.00,2.00,0.00,0.000,260,0.000,0.125,2374,3788,3785,3837,3733,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2313,-0.80,-145.9,2374,3789,3838,3733,336.3,-9.7,227,2317,0.12,1.85,0.00,0.000,5126,0.149,0.072,2322,2678,3785,3837,3733,0,0,0,0,0,0,14.64,14.67,28.83
$GC,2623,-0.80,-145.9,2322,2678,3838,3733,372.6,-11.7,239,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2678,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.80,-145.9,2322,2678,3838,3733,407.1,-11.5,249,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.80,-145.9,2322,2678,3838,3733,441.1,-11.2,259,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2678,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.80,-145.9,2322,2678,3838,3732,475.0,-11.3,269,3527,0.00,2.38,0.00,0.000,516,0.000,0.082,2322,1269,3784,3837,3732,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3587,-0.80,-145.9,2322,1270,3838,3733,482.3,-11.1,282,3593,0.00,2.47,0.00,0.000,1030,0.000,0.105,2317,2681,3785,3837,3733,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3913,-0.80,-145.9,2318,2682,3838,3734,519.1,-11.4,297,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2682,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-0.80,-145.9,2319,2682,3838,3733,552.8,-11.2,307,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.80,-145.9,2319,2682,3838,3734,586.1,-11.1,317,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4812,-0.80,-145.9,2319,2682,3838,3734,619.2,-11.0,327,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-0.80,-145.9,2318,2682,3839,3734,651.7,-10.8,337,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5412,-0.80,-145.9,2318,2682,3839,3733,684.3,-10.8,347,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3785,3837,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5712,-0.80,-145.9,2318,2682,3840,3733,716.9,-10.9,357,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6012,-0.80,-145.9,2318,2681,3839,3733,749.7,-10.9,367,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6040,begin apogee
$GC,6045,-0.14,0.0,2315,3060,3839,3734,753.1,-10.9,368,6236,0.85,0.00,188.12,1.466,10246,0.269,0.000,2537,3060,3186,3291,3082,0,0,0,0,0,0,14.47,28.83,13.31
$STATE,6237,end apogee,CONTROL_FINISHED_OK
$STATE,6237,begin climb
$GC,6239,0.70,145.9,2538,3060,3287,3077,757.6,0.0,374,6375,0.93,1.42,126.88,1.736,10500,0.172,0.111,2805,3788,2581,2668,2495,0,0,0,0,0,0,13.83,13.37,12.78
$GC,6420,0.66,145.9,2806,3789,2658,2489,742.0,13.7,413,6425,0.00,1.35,0.00,0.000,1030,0.000,0.069,2810,3054,2573,2658,2488,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6736,0.66,145.9,2811,3054,2658,2493,701.1,13.0,426,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3054,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,0.66,145.9,2811,3054,2657,2488,662.4,13.0,436,7040,0.00,1.35,0.00,0.000,260,0.000,0.116,2810,3783,2571,2657,2486,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7110,0.62,145.9,2810,3786,2657,2488,651.5,15.2,451,7115,0.00,1.25,0.00,0.000,1030,0.000,0.071,2815,3051,2572,2657,2487,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7426,0.59,145.9,2816,3051,2657,2487,610.1,13.1,464,7428,0.15,0.00,0.00,0.000,4102,0.280,0.000,2782,3051,2571,2656,2486,0,0,0,0,0,0,14.38,28.83,28.83
$GC,7725,0.60,150.8,2783,3052,2656,2488,575.7,11.4,474,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3051,2571,2656,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8025,0.60,155.7,2783,3051,2657,2487,541.7,11.4,484,8031,0.00,1.38,2.20,0.438,8452,0.000,0.118,2782,3787,2551,2640,2463,0,0,0,0,0,0,28.83,14.61,13.67
$GC,8075,0.60,155.7,2782,3787,2661,2471,535.6,12.4,494,8081,0.00,1.25,1.75,0.214,9222,0.000,0.072,2787,3051,2550,2640,2461,0,0,0,0,0,0,28.83,14.66,14.50
$GC,8386,0.60,155.8,2788,3051,2666,2470,499.6,11.6,506,8389,0.00,0.00,1.80,0.228,8198,0.000,0.000,2787,3051,2551,2642,2461,0,0,0,0,0,0,28.83,28.83,14.51
$GC,8685,0.60,156.1,2789,3052,2666,2469,464.9,11.6,516,8689,0.00,0.00,2.28,0.484,8198,0.000,0.000,2787,3051,2548,2638,2458,0,0,0,0,0,0,28.83,28.83,13.73
$GC,8986,0.60,157.7,2788,3051,2665,2465,430.1,11.5,526,8990,0.00,0.00,2.90,0.793,8198,0.000,0.000,2787,3051,2542,2633,2451,0,0,0,0,0,0,28.83,28.83,13.78
$GC,9285,0.60,161.8,2789,3052,2661,2460,395.9,11.4,536,9291,0.00,0.00,4.32,1.109,8454,0.000,0.000,2787,3051,2528,2620,2436,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9617,0.61,164.7,2788,3051,2650,2447,358.2,11.5,552,9622,0.00,0.00,4.45,1.096,8198,0.000,0.000,2787,3051,2515,2608,2423,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9916,0.62,179.2,2788,3051,2640,2428,324.8,10.9,562,9937,0.00,0.00,20.42,1.252,8198,0.000,0.000,2787,3051,2455,2548,2362,0,0,0,0,0,0,28.83,28.83,13.88
$GC,10216,0.62,190.6,2788,3051,2528,2350,291.5,11.0,572,10220,0.00,0.00,3.65,0.930,8198,0.000,0.000,2783,3051,2407,2498,2317,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10516,0.63,200.4,2788,3051,2530,2319,258.7,11.1,582,10533,0.00,0.00,16.35,1.187,8198,0.000,0.000,2788,3051,2366,2458,2275,0,0,0,0,0,0,28.83,28.83,13.87
$GC,10816,0.69,239.8,2788,3051,2439,2265,228.2,9.5,606,10856,0.00,0.00,34.20,1.140,8710,0.000,0.000,2788,3052,2196,2281,2111,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11155,0.77,295.6,2789,3052,2270,2107,196.1,8.7,643,11212,0.15,2.47,48.17,1.096,10756,0.126,0.076,2862,1646,1970,2046,1894,0,0,0,0,0,0,14.52,14.25,13.76
$GC,11277,0.80,295.6,2863,1649,2033,1893,181.2,12.7,667,11282,0.00,2.53,0.00,0.000,1030,0.000,0.103,2862,3056,1962,2032,1893,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11587,0.80,295.6,2864,3057,2032,1888,139.9,12.5,699,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,3056,1959,2031,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11886,0.80,295.6,2863,3056,2032,1884,103.8,11.6,729,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,3056,1955,2026,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12187,0.85,346.1,2863,3057,2031,1883,72.4,8.9,759,12212,0.00,0.00,23.73,0.378,8198,0.000,0.000,2863,3056,1774,1844,1705,0,0,0,0,0,0,28.83,28.83,14.14
$GC,12508,1.03,514.8,2864,3056,1871,1707,48.6,2.7,791,12608,0.17,0.00,93.38,0.320,10246,0.119,0.000,2939,3056,1089,1126,1053,0,0,0,0,0,0,14.45,28.83,14.09
$GC,12907,1.16,617.3,2939,3056,1142,1053,14.3,6.2,831,12968,0.00,2.45,55.67,0.216,8708,0.000,0.075,2945,1645,667,664,671,0,0,0,0,0,0,28.83,14.30,14.15
$FREEZE,8.65,-1.351,-1.440,2,8,0
$STATE,12983,end climb,FINISH_DEPTH_REACHED
$STATE,12983,begin subsurface finish
$FINISH1,8.7,1.021154,354
$GC,12989,0.25,354.2,2945,3054,673,672,8.7,8.1,846,13023,0.93,2.42,-27.30,0.000,20996,0.197,0.095,2678,1646,1744,1782,1707,0,0,0,0,0,0,14.19,14.31,14.54
$FINISH2,8.1
$STATE,13024,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13024,begin surface
$RAFOS_CLK,252
$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,49.05
$INTERNAL_PRESSURE,8.63238
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3912992
$24V_AH,12.78,79.444
$10V_AH,12.65,0.000
$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,4.325,39.650,630.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10628.911,646.763,1737.306,127.953,0.000,1323.109,0.000,1274.317,1421.000,0.535,0.000
$DEVICE_MAMPS,286.110,144.585,1735.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13075.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.613,0.000,0.000,0.000
$MEM,234736
$DATA_FILE_SIZE,30102,853
$CAP_FILE_SIZE,133102,0
$CFSIZE,2097872896,2039644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7