version: 66.12
glider: 198
mission: 5
dive: 249
start: 9 3 114 19 21 4
data:
$ID,198
$MISSION,5
$DIVE,249
$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,-5023.6465
$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,37
$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
$GPS1,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.85
$_SM_ANGLEo,-17.1
$GPS2,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,172.3,353001,-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,-145.9,2677,2683,1770,1682,0.0,0.0,0,30,0.00,0.00,-12.57,0.000,16386,0.000,0.000,2677,2683,2473,2530,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2677,2683,2531,2417,17.7,0.0,1,61,0.90,2.03,-20.23,0.000,20740,0.069,0.143,2343,3784,3784,3841,3727,0,0,0,0,0,0,14.42,14.37,14.64
$GC,136,-0.60,-145.9,2344,3784,3841,3730,49.1,-34.9,22,143,0.17,1.90,0.00,0.000,3078,0.298,0.070,2387,2680,3784,3840,3729,0,0,0,0,0,0,14.18,14.41,28.83
$GC,441,-0.60,-145.9,2387,2681,3841,3730,105.6,-15.5,53,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2681,3784,3840,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,741,-0.60,-145.9,2387,2681,3841,3730,149.0,-14.2,83,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2681,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1041,-0.62,-145.9,2387,2680,3842,3729,188.4,-12.8,113,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2681,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.65,-145.9,2387,2680,3842,3731,225.4,-11.8,143,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2680,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1661,-0.69,-145.9,2387,2680,3842,3730,259.1,-9.9,169,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2681,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,-0.73,-145.9,2388,2681,3842,3730,288.2,-9.5,179,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2680,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2261,-0.78,-145.9,2387,2681,3841,3731,315.3,-8.9,189,2262,0.15,0.00,0.00,0.000,4102,0.135,0.000,2325,2681,3785,3840,3730,0,0,0,0,0,0,14.66,28.83,28.83
$GC,2563,-0.78,-145.9,2327,2681,3841,3731,349.8,-11.6,199,2567,0.00,2.00,0.00,0.000,260,0.000,0.119,2317,3795,3784,3840,3729,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2606,-0.78,-145.9,2318,3795,3841,3730,355.5,-12.8,208,2612,0.00,1.90,0.00,0.000,1030,0.000,0.070,2317,2687,3784,3840,3729,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2922,-0.78,-145.9,2318,2689,3841,3727,392.8,-11.7,221,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3784,3840,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.78,-145.9,2318,2687,3842,3730,427.5,-11.5,231,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2688,3784,3840,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.78,-145.9,2318,2689,3841,3730,461.9,-11.5,241,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2686,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,-0.78,-145.9,2318,2688,3841,3730,495.9,-11.3,251,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4122,-0.78,-145.9,2317,2687,3842,3729,529.9,-11.2,261,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3784,3840,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4422,-0.78,-145.9,2318,2689,3841,3730,563.7,-11.3,271,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4722,-0.78,-145.9,2317,2687,3841,3730,597.6,-11.2,281,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5022,-0.78,-145.9,2318,2688,3840,3731,631.5,-11.2,291,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.78,-145.9,2318,2688,3841,3732,664.8,-11.0,301,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3785,3840,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.78,-145.9,2318,2688,3841,3735,697.6,-10.8,311,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5922,-0.78,-145.9,2317,2687,3842,3732,730.1,-10.8,321,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6130,begin apogee
$GC,6134,-0.14,0.0,2315,3059,3842,3732,752.8,-10.8,328,6267,0.85,0.00,129.40,1.725,10246,0.257,0.000,2540,3059,3181,3276,3087,0,0,0,0,0,0,14.45,28.83,13.31
$STATE,6268,end apogee,CONTROL_FINISHED_OK
$STATE,6268,begin climb
$GC,6270,0.70,145.9,2541,3059,3273,3082,755.7,0.0,332,6405,0.93,1.45,124.55,1.701,10500,0.170,0.116,2810,3784,2581,2659,2504,0,0,0,0,0,0,13.91,13.45,12.89
$GC,6429,0.65,145.9,2811,3785,2652,2501,742.1,13.8,367,6436,0.00,1.35,0.00,0.000,1030,0.000,0.068,2816,3050,2575,2651,2500,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6736,0.63,145.9,2817,3050,2651,2498,701.0,13.4,378,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3050,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,0.61,145.9,2816,3050,2651,2497,660.9,13.3,388,7040,0.12,1.38,0.00,0.000,4356,0.297,0.112,2790,3812,2573,2650,2496,0,0,0,0,0,0,14.26,14.37,28.83
$GC,7090,0.58,145.9,2790,3812,2651,2497,653.3,13.7,399,7096,0.00,1.33,0.00,0.000,1030,0.000,0.071,2795,3044,2573,2650,2497,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7395,0.58,145.9,2796,3044,2651,2497,616.3,12.1,410,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3044,2573,2649,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7695,0.58,145.9,2796,3044,2651,2497,579.9,12.2,420,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3044,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,0.58,145.9,2796,3044,2651,2496,543.6,12.0,430,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3044,2573,2650,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,0.58,145.9,2796,3044,2651,2497,507.7,11.9,440,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3044,2573,2650,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8595,0.58,145.9,2796,3044,2651,2496,472.2,11.7,450,8600,0.00,1.35,0.00,0.000,260,0.000,0.117,2795,3784,2573,2650,2496,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8655,0.55,145.9,2796,3785,2651,2497,464.3,13.3,462,8660,0.08,1.25,0.00,0.000,5126,0.260,0.072,2779,3048,2573,2650,2496,0,0,0,0,0,0,14.47,14.69,28.83
$GC,8985,0.56,160.1,2780,3049,2651,2497,428.0,10.9,478,8997,0.00,0.00,11.50,1.351,8198,0.000,0.000,2779,3048,2531,2613,2449,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9285,0.57,172.2,2780,3049,2601,2443,395.0,11.0,488,9297,0.00,0.00,11.20,1.308,8198,0.000,0.000,2779,3048,2484,2565,2404,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9585,0.58,181.0,2780,3049,2553,2392,361.5,11.2,498,9589,0.00,0.00,2.80,0.724,8198,0.000,0.000,2779,3048,2447,2528,2366,0,0,0,0,0,0,28.83,28.83,13.79
$GC,9885,0.59,192.4,2780,3048,2562,2367,328.3,11.0,508,9903,0.00,0.00,17.30,1.232,8198,0.000,0.000,2779,3048,2400,2484,2317,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10186,0.62,204.7,2780,3049,2465,2307,294.9,11.0,518,10200,0.00,2.42,7.55,1.174,8708,0.000,0.075,2789,1643,2354,2434,2275,0,0,0,0,0,0,28.83,14.55,13.94
$GC,10240,0.69,236.5,2790,1644,2435,2276,289.3,9.9,529,10277,0.00,2.47,31.67,1.167,9222,0.000,0.102,2789,3047,2218,2292,2145,0,0,0,0,0,0,28.83,14.52,13.84
$GC,10575,0.73,246.2,2790,3048,2275,2131,252.2,11.1,546,10579,0.10,0.00,2.28,0.455,10246,0.162,0.000,2841,3047,2183,2257,2109,0,0,0,0,0,0,14.52,28.83,13.71
$GC,10875,0.73,246.2,2842,3048,2283,2110,214.2,12.1,574,10878,0.00,0.00,1.90,0.230,8198,0.000,0.000,2841,3047,2181,2259,2103,0,0,0,0,0,0,28.83,28.83,14.42
$GC,11175,0.74,263.0,2842,3048,2287,2105,179.4,10.7,604,11198,0.00,0.00,22.17,1.072,8710,0.000,0.000,2841,3047,2112,2190,2034,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11496,0.75,282.3,2841,3048,2169,2022,144.7,10.6,637,11517,0.00,2.47,16.45,1.047,8708,0.000,0.076,2848,1640,2028,2100,1956,0,0,0,0,0,0,28.83,14.42,13.95
$GC,11553,0.80,304.1,2850,1640,2091,1956,138.8,10.5,648,11578,0.00,2.50,19.55,1.021,9222,0.000,0.103,2849,3050,1939,2008,1871,0,0,0,0,0,0,28.83,14.38,13.87
$GC,11877,0.84,322.3,2849,3050,1994,1860,103.3,10.7,683,11898,0.00,2.40,15.57,1.005,8708,0.000,0.074,2857,1649,1864,1931,1798,0,0,0,0,0,0,28.83,14.33,13.89
$GC,11944,0.91,344.7,2858,1648,1921,1796,96.4,10.4,696,11960,0.00,2.50,10.07,0.419,9222,0.000,0.103,2857,3050,1783,1849,1717,0,0,0,0,0,0,28.83,14.36,14.07
$GC,12259,0.98,388.2,2858,3050,1874,1720,64.6,9.3,729,12290,0.12,2.47,25.83,0.363,10756,0.142,0.076,2928,1648,1608,1675,1541,0,0,0,0,0,0,14.40,14.34,14.12
$GC,12335,1.01,404.6,2929,1645,1697,1542,56.1,10.8,744,12352,0.00,2.50,11.73,0.327,9222,0.000,0.103,2928,3049,1538,1602,1475,0,0,0,0,0,0,28.83,14.33,14.10
$GC,12651,1.11,501.4,2929,3050,1626,1476,31.1,6.5,777,12712,0.00,2.50,54.97,0.279,8708,0.000,0.076,2937,1640,1141,1186,1097,0,0,0,0,0,0,28.83,14.29,14.15
$GC,12737,1.21,561.6,2937,1639,1197,1097,24.9,8.4,794,12778,0.15,2.53,33.62,0.257,11270,0.129,0.103,3000,3048,896,909,884,0,0,0,0,0,0,14.33,14.27,14.12
$FREEZE,8.07,-1.352,-1.437,2,4,0
$STATE,12891,end climb,FINISH_DEPTH_REACHED
$STATE,12891,begin subsurface finish
$FINISH1,8.1,1.021115,356
$GC,12895,0.25,356.2,3002,3049,922,885,8.1,10.5,814,12922,1.17,1.42,-22.20,0.000,20740,0.225,0.164,2674,3793,1736,1779,1694,0,0,0,0,0,0,14.19,14.28,14.55
$FINISH2,7.6
$STATE,12923,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12923,begin surface
$RAFOS_CLK,691
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.40
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3910304
$24V_AH,12.89,81.291
$10V_AH,12.79,0.000
$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,4.750,44.700,550.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10665.745,555.989,1682.892,133.650,0.000,1219.562,0.000,1231.510,1487.000,0.536,0.000
$DEVICE_MAMPS,298.350,164.475,1725.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12972.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.500,0.000,0.000,0.000
$MEM,231588
$DATA_FILE_SIZE,26725,819
$CAP_FILE_SIZE,136001,0
$CFSIZE,2097872896,2038431744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12893.02,0x2378b6,5,5
$SOUNDSPEED,1449.5
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0