version: 66.12
glider: 198
mission: 5
dive: 257
start: 9 5 114 0 32 41
data:
$ID,198
$MISSION,5
$DIVE,257
$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,-5390.1587
$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,36
$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
$GPS1,030914,083844,7438.946,-14220.536,181,99.0,181,24.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.22
$_SM_ANGLEo,-18.4
$GPS2,030914,083844,7438.946,-14220.536,181,99.0,181,24.0
$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,-145.9,2675,2673,1798,1718,0.0,0.0,0,30,0.00,0.00,-12.82,0.000,16386,0.000,0.000,2674,2672,2426,2485,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2674,2672,2489,2369,14.2,0.0,1,59,0.90,0.00,-23.20,0.000,20998,0.071,0.000,2350,2672,3782,3837,3728,0,0,0,0,0,0,14.39,28.83,14.64
$GC,359,-0.67,-145.9,2350,2673,3839,3732,94.2,-18.6,35,364,0.00,2.40,0.00,0.000,516,0.000,0.084,2350,1269,3784,3837,3731,0,0,0,0,0,0,28.83,14.43,28.83
$GC,418,-0.67,-145.9,2351,1269,3838,3732,104.9,-16.6,47,423,0.00,2.53,0.00,0.000,1030,0.000,0.107,2347,2680,3784,3837,3732,0,0,0,0,0,0,28.83,14.39,28.83
$GC,728,-0.67,-145.9,2348,2681,3838,3733,157.3,-16.5,79,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2680,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1028,-0.67,-145.9,2348,2681,3838,3733,203.9,-15.2,109,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1328,-0.67,-145.9,2349,2681,3838,3733,244.7,-12.9,139,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1649,-0.67,-145.9,2348,2681,3838,3733,283.6,-11.9,153,1651,0.10,0.00,0.00,0.000,2054,0.345,0.000,2366,2680,3787,3843,3732,0,0,0,0,0,0,14.40,28.83,28.83
$GC,1950,-0.70,-145.9,2368,2680,3839,3732,315.3,-10.3,163,1954,0.00,1.98,0.00,0.000,260,0.000,0.125,2361,3789,3784,3837,3732,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2009,-0.72,-145.9,2362,3790,3838,3732,322.0,-11.0,175,2014,0.00,1.85,0.00,0.000,1030,0.000,0.076,2361,2680,3784,3837,3732,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2340,-0.76,-145.9,2362,2681,3838,3733,355.0,-10.0,191,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.79,-145.9,2362,2682,3838,3733,384.4,-9.8,201,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2939,-0.83,-145.9,2361,2680,3839,3732,413.6,-9.6,211,2945,0.12,2.03,0.00,0.000,4356,0.154,0.126,2305,3789,3784,3837,3732,0,0,0,0,0,0,14.68,14.57,28.83
$GC,3009,-0.81,-145.9,2306,3790,3838,3732,422.6,-13.0,225,3014,0.00,1.90,0.00,0.000,1030,0.000,0.075,2305,2679,3784,3837,3732,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3331,-0.81,-145.9,2306,2680,3838,3732,462.0,-12.3,239,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2679,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.81,-145.9,2306,2680,3838,3733,498.4,-12.1,249,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-0.81,-145.9,2305,2679,3839,3732,534.4,-11.9,259,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4229,-0.81,-145.9,2305,2679,3839,3733,569.5,-11.5,269,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4529,-0.81,-145.9,2306,2680,3838,3734,604.3,-11.5,279,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.81,-145.9,2305,2679,3839,3732,639.1,-11.6,289,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5129,-0.81,-145.9,2305,2679,3839,3733,673.0,-11.2,299,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5429,-0.81,-145.9,2306,2679,3838,3734,706.6,-11.2,309,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5729,-0.81,-145.9,2305,2679,3839,3733,740.0,-11.1,319,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5817,begin apogee
$GC,5822,-0.14,0.0,2302,3061,3838,3734,750.0,-11.2,322,5955,0.90,0.00,130.43,1.701,10246,0.264,0.000,2539,3060,3185,3290,3080,0,0,0,0,0,0,14.44,28.83,13.29
$STATE,5956,end apogee,CONTROL_FINISHED_OK
$STATE,5956,begin climb
$GC,5958,0.70,145.9,2540,3061,3285,3073,752.7,0.0,326,6093,0.93,1.45,124.47,1.695,10500,0.173,0.119,2808,3783,2580,2668,2493,0,0,0,0,0,0,13.92,13.47,12.88
$GC,6128,0.65,145.9,2809,3783,2661,2488,737.5,14.0,363,6133,0.00,1.35,0.00,0.000,1030,0.000,0.073,2813,3049,2574,2660,2488,0,0,0,0,0,0,28.83,13.68,28.83
$GC,6455,0.63,145.9,2814,3050,2660,2487,693.5,13.4,378,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3050,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6753,0.61,145.9,2813,3050,2660,2487,653.3,13.4,388,6758,0.00,1.38,0.00,0.000,260,0.000,0.120,2813,3783,2572,2657,2487,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6823,0.57,145.9,2814,3783,2660,2488,642.9,15.1,402,6828,0.15,1.27,0.00,0.000,5126,0.258,0.076,2778,3046,2573,2659,2487,0,0,0,0,0,0,14.26,14.47,28.83
$GC,7144,0.57,149.1,2779,3047,2659,2488,606.0,11.5,416,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,3045,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7443,0.58,156.6,2778,3046,2659,2487,572.2,11.2,426,7447,0.00,0.00,3.08,0.908,8198,0.000,0.000,2778,3046,2546,2635,2458,0,0,0,0,0,0,28.83,28.83,13.71
$GC,7743,0.58,162.6,2778,3047,2661,2469,538.2,11.3,436,7757,0.00,0.00,12.75,1.457,8198,0.000,0.000,2778,3046,2522,2613,2431,0,0,0,0,0,0,28.83,28.83,13.90
$GC,8044,0.58,165.8,2783,3046,2599,2420,503.8,11.5,446,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,3046,2509,2598,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8343,0.59,173.5,2778,3046,2599,2421,470.1,11.2,456,8348,0.00,0.00,3.97,1.105,8198,0.000,0.000,2778,3046,2477,2568,2387,0,0,0,0,0,0,28.83,28.83,13.78
$GC,8644,0.59,182.5,2779,3047,2597,2396,436.5,11.1,466,8660,0.00,0.00,15.40,1.349,8198,0.000,0.000,2777,3046,2443,2536,2350,0,0,0,0,0,0,28.83,28.83,13.94
$GC,8943,0.60,188.2,2778,3046,2519,2338,402.1,11.3,476,8945,0.00,0.00,0.93,0.269,8198,0.000,0.000,2777,3046,2418,2507,2329,0,0,0,0,0,0,28.83,28.83,14.47
$GC,9243,0.60,196.2,2779,3046,2525,2329,368.3,11.2,486,9257,0.00,0.00,12.35,1.272,8198,0.000,0.000,2778,3045,2385,2476,2294,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9545,0.63,199.8,2778,3045,2459,2284,334.0,11.4,496,9550,0.00,2.38,0.00,0.000,516,0.000,0.079,2788,1635,2371,2458,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9574,0.68,221.3,2789,1635,2459,2285,330.6,10.5,502,9605,0.00,2.50,21.80,1.219,9222,0.000,0.107,2788,3048,2275,2359,2191,0,0,0,0,0,0,28.83,14.54,13.93
$GC,9904,0.71,221.3,2789,3047,2352,2185,291.1,11.9,518,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3047,2268,2351,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10205,0.74,225.4,2788,3048,2351,2185,256.7,11.4,528,10210,0.12,2.38,0.00,0.000,2564,0.142,0.080,2853,1646,2267,2350,2185,0,0,0,0,0,0,14.64,14.57,28.83
$GC,10259,0.74,225.4,2850,1646,2351,2185,249.9,12.4,539,10266,0.00,2.50,0.00,0.000,1030,0.000,0.106,2849,3058,2267,2350,2185,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10564,0.74,225.4,2850,3058,2351,2185,211.8,11.8,570,10569,0.00,1.33,0.00,0.000,260,0.000,0.119,2849,3784,2267,2349,2185,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10641,0.71,225.4,2850,3785,2350,2185,202.5,12.3,585,10647,0.10,1.25,0.00,0.000,5126,0.261,0.076,2825,3052,2266,2349,2184,0,0,0,0,0,0,14.39,14.61,28.83
$GC,10946,0.75,271.1,2825,3052,2350,2184,172.9,9.2,616,10996,0.00,2.40,43.95,1.043,8708,0.000,0.079,2835,1648,2069,2151,1988,0,0,0,0,0,0,28.83,14.35,13.93
$GC,11031,0.82,309.7,2835,1648,2142,1986,164.4,9.6,632,11072,0.00,2.53,33.90,1.023,9222,0.000,0.107,2835,3051,1913,1989,1838,0,0,0,0,0,0,28.83,14.33,13.81
$GC,11376,0.86,324.5,2836,3051,1975,1827,126.7,10.8,671,11392,0.00,2.42,11.30,1.028,8708,0.000,0.080,2842,1647,1857,1932,1782,0,0,0,0,0,0,28.83,14.41,13.88
$GC,11422,0.93,346.0,2843,1647,1923,1780,122.1,10.5,680,11449,0.15,2.53,19.90,0.989,11270,0.128,0.107,2908,3050,1768,1837,1699,0,0,0,0,0,0,14.46,14.38,13.85
$GC,11747,0.93,346.0,2909,3051,1822,1687,75.0,13.9,715,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,3050,1754,1821,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12047,1.05,477.6,2908,3051,1821,1686,45.8,4.6,745,12119,0.00,0.00,68.55,0.321,8198,0.000,0.000,2909,3050,1242,1295,1190,0,0,0,0,0,0,28.83,28.83,14.11
$GC,12422,1.20,594.8,2908,3050,1314,1190,18.2,5.4,782,12493,0.20,2.45,64.78,0.231,10756,0.118,0.079,2998,1648,760,760,760,0,0,0,0,0,0,14.38,14.26,14.13
$FREEZE,8.50,-1.357,-1.446,2,12,0
$STATE,12533,end climb,FINISH_DEPTH_REACHED
$STATE,12533,begin subsurface finish
$FINISH1,8.5,1.021236,350
$GC,12540,0.24,349.9,2998,3052,771,760,8.5,10.9,804,12573,1.17,2.45,-26.05,0.000,20996,0.223,0.102,2674,1648,1762,1802,1722,0,0,0,0,0,0,14.13,14.26,14.49
$FINISH2,8.2
$STATE,12573,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12574,begin surface
$RAFOS_CLK,16
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.077896,0.077896
$HUMID,48.74
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3906720
$24V_AH,12.88,83.656
$10V_AH,12.81,0.000
$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,4.850,50.475,567.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10297.783,592.716,1665.141,137.056,0.000,1249.057,0.000,1210.953,1494.000,0.537,0.000
$DEVICE_MAMPS,345.015,126.225,1701.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12625.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.210,0.000,0.000,0.000
$MEM,227508
$DATA_FILE_SIZE,26721,811
$CAP_FILE_SIZE,132539,0
$CFSIZE,2097872896,2036891648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12118.10,0x213684,1,24
$SOUNDSPEED,1449.7
$GPS,030914,083844,7438.946,-14220.536,181,99.0,181,24.0