version: 66.12
glider: 198
mission: 5
dive: 259
start: 9 5 114 7 39 8
data:
$ID,198
$MISSION,5
$DIVE,259
$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,34
$R_STBD_OVSHOOT,18
$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,14.76
$_SM_ANGLEo,-17.2
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-145.9,2673,2688,1800,1721,0.0,0.0,0,29,0.00,0.00,-12.20,0.000,16386,0.000,0.000,2673,2692,2462,2519,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2674,2691,2520,2407,16.7,0.0,1,60,0.88,2.03,-20.75,0.000,20740,0.073,0.145,2355,3783,3784,3838,3730,0,0,0,0,0,0,14.39,14.33,14.64
$GC,285,-0.65,-145.9,2349,3783,3839,3732,85.4,-21.6,52,291,0.10,1.90,0.00,0.000,3078,0.275,0.073,2375,2680,3785,3838,3732,0,0,0,0,0,0,14.19,14.42,28.83
$GC,590,-0.65,-145.9,2376,2681,3837,3733,134.3,-14.6,83,595,0.00,2.05,0.00,0.000,260,0.000,0.125,2373,3809,3785,3838,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,790,-0.65,-145.9,2374,3810,3839,3733,165.2,-15.4,123,795,0.00,1.95,0.00,0.000,1030,0.000,0.074,2373,2679,3786,3841,3732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1100,-0.65,-145.9,2374,2679,3839,3733,207.6,-13.4,155,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-0.67,-145.9,2373,2679,3839,3733,243.8,-10.9,185,1409,0.00,2.42,0.00,0.000,516,0.000,0.086,2373,1266,3785,3838,3732,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1454,-0.71,-145.9,2375,1267,3838,3733,249.2,-10.0,195,1459,0.00,2.55,0.00,0.000,1030,0.000,0.110,2373,2682,3784,3837,3732,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1766,-0.74,-145.9,2374,2682,3838,3732,280.8,-10.0,207,1770,0.00,1.98,0.00,0.000,260,0.000,0.125,2373,3788,3785,3838,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1850,-0.77,-145.9,2374,3789,3838,3733,289.8,-10.2,224,1856,0.00,1.92,0.00,0.000,1030,0.000,0.074,2373,2674,3784,3837,3732,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2156,-0.81,-145.9,2374,2675,3839,3732,318.4,-9.2,235,2158,0.15,0.00,0.00,0.000,4102,0.134,0.000,2316,2675,3785,3839,3731,0,0,0,0,0,0,14.47,28.83,28.83
$GC,2455,-0.81,-145.9,2317,2674,3837,3731,353.4,-11.8,245,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2674,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,-0.81,-145.9,2317,2675,3839,3731,388.2,-11.4,255,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2674,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-0.81,-145.9,2317,2675,3838,3732,422.5,-11.4,265,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.81,-145.9,2317,2675,3839,3731,456.3,-11.3,275,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3655,-0.81,-145.9,2317,2675,3839,3732,489.8,-11.2,285,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-0.81,-145.9,2317,2675,3838,3732,523.8,-11.2,295,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4255,-0.81,-145.9,2317,2675,3839,3732,557.3,-11.1,305,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4555,-0.81,-145.9,2317,2675,3838,3733,590.6,-11.0,315,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4855,-0.81,-145.9,2317,2675,3839,3733,623.5,-11.0,325,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2674,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,-0.81,-145.9,2317,2676,3839,3733,656.0,-10.8,335,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,-0.81,-145.9,2317,2675,3838,3734,688.3,-10.7,345,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5755,-0.81,-145.9,2317,2675,3839,3733,719.9,-10.5,355,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2674,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6053,begin apogee
$GC,6058,-0.14,0.0,2314,3056,3839,3733,751.4,-10.5,365,6192,0.85,0.00,131.60,1.704,10246,0.262,0.000,2538,3056,3186,3292,3081,0,0,0,0,0,0,14.44,28.83,13.30
$STATE,6193,end apogee,CONTROL_FINISHED_OK
$STATE,6193,begin climb
$GC,6195,0.70,145.9,2539,3056,3286,3073,754.1,0.0,369,6327,0.95,0.00,126.35,1.703,10246,0.171,0.000,2810,3056,2583,2671,2496,0,0,0,0,0,0,13.91,28.83,12.87
$GC,6625,0.70,145.9,2810,3056,2661,2487,705.6,13.0,384,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3057,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6925,0.70,145.9,2811,3056,2660,2487,666.5,13.0,394,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3057,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7225,0.70,145.9,2810,3057,2660,2486,628.1,12.7,404,7230,0.00,1.35,0.00,0.000,260,0.000,0.120,2809,3784,2573,2659,2487,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7275,0.66,145.9,2811,3784,2660,2487,621.2,13.9,414,7280,0.00,1.27,0.00,0.000,1030,0.000,0.075,2815,3048,2572,2659,2486,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7586,0.64,145.9,2815,3049,2660,2488,580.9,13.0,426,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3048,2572,2659,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7885,0.61,145.9,2816,3049,2659,2487,542.2,12.9,436,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3048,2572,2659,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,0.59,145.9,2815,3048,2660,2486,504.0,12.7,446,8190,0.15,1.35,0.00,0.000,4356,0.293,0.119,2782,3784,2572,2659,2486,0,0,0,0,0,0,14.45,14.50,28.83
$GC,8229,0.59,145.9,2783,3785,2659,2487,498.3,12.5,455,8235,0.00,1.25,0.00,0.000,1030,0.000,0.076,2786,3051,2572,2659,2486,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8546,0.60,154.8,2787,3052,2659,2488,463.0,11.2,468,8549,0.00,0.00,2.00,0.226,8198,0.000,0.000,2786,3051,2553,2642,2465,0,0,0,0,0,0,28.83,28.83,12.45
$GC,8845,0.60,161.5,2788,3052,2666,2473,429.0,11.3,478,8859,0.00,0.00,13.00,1.349,8198,0.000,0.000,2786,3050,2526,2617,2436,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9145,0.61,165.1,2788,3052,2602,2425,394.6,11.4,488,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,3051,2512,2601,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9445,0.61,166.8,2787,3052,2603,2425,359.9,11.5,498,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,3051,2512,2601,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9745,0.62,178.9,2787,3051,2602,2425,326.3,11.0,508,9761,0.00,0.00,15.57,1.232,8198,0.000,0.000,2786,3050,2455,2547,2363,0,0,0,0,0,0,28.83,28.83,14.01
$GC,10045,0.63,194.2,2787,3052,2529,2352,293.5,10.8,518,10059,0.00,0.00,13.07,1.193,8198,0.000,0.000,2786,3051,2393,2482,2305,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10346,0.66,214.1,2787,3052,2467,2294,261.4,10.6,528,10370,0.00,2.45,17.48,1.154,8708,0.000,0.081,2796,1646,2304,2389,2220,0,0,0,0,0,0,28.83,14.49,13.97
$GC,10400,0.73,251.4,2795,1647,2382,2218,255.8,9.6,539,10437,0.10,2.50,32.55,1.113,11270,0.164,0.106,2841,3052,2161,2244,2079,0,0,0,0,0,0,14.51,14.47,13.82
$GC,10735,0.73,251.4,2841,3052,2223,2059,213.6,12.0,574,10740,0.00,2.42,0.00,0.000,516,0.000,0.080,2848,1647,2140,2222,2059,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10775,0.76,254.3,2849,1646,2223,2059,209.0,11.5,582,10780,0.00,2.55,0.00,0.000,1030,0.000,0.106,2848,3059,2140,2222,2059,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11085,0.76,254.3,2849,3059,2223,2058,172.2,11.7,614,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,3059,2139,2221,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11385,0.78,281.0,2849,3059,2222,2057,139.4,10.2,644,11416,0.00,0.00,24.90,1.017,8710,0.000,0.000,2848,3059,2031,2113,1950,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11716,0.80,309.0,2849,3059,2101,1945,105.2,10.1,680,11747,0.00,2.45,25.12,0.981,8708,0.000,0.079,2854,1649,1915,1993,1838,0,0,0,0,0,0,28.83,14.35,13.89
$GC,11812,0.87,348.5,2854,1649,1983,1837,95.9,9.5,699,11835,0.00,2.53,18.25,0.441,9222,0.000,0.108,2854,3049,1767,1837,1697,0,0,0,0,0,0,28.83,14.32,14.03
$GC,12141,0.95,397.6,2855,3050,1863,1699,62.8,9.0,734,12176,0.12,2.45,29.20,0.352,10756,0.148,0.081,2927,1651,1566,1636,1497,0,0,0,0,0,0,14.40,14.31,14.10
$GC,12202,0.95,397.6,2928,1651,1657,1497,55.8,11.7,746,12213,0.12,2.53,1.88,0.221,13318,0.273,0.108,2901,3048,1566,1637,1496,0,0,0,0,0,0,14.19,14.30,14.20
$GC,12511,1.07,503.3,2901,3048,1655,1496,35.0,6.0,778,12577,0.00,2.45,59.47,0.278,8708,0.000,0.081,2910,1652,1134,1183,1085,0,0,0,0,0,0,28.83,14.29,14.14
$GC,12697,1.26,632.8,2911,1657,1199,1086,22.3,4.7,815,12774,0.25,2.53,70.35,0.236,11270,0.110,0.109,3001,3049,604,603,605,0,0,0,0,0,0,14.35,14.29,14.12
$FREEZE,8.97,-1.386,-1.446,2,14,0
$STATE,12830,end climb,FINISH_DEPTH_REACHED
$STATE,12830,begin subsurface finish
$FINISH1,9.0,1.021239,350
$GC,12835,0.24,349.7,3001,3050,611,606,9.0,11.3,836,12871,1.15,1.40,-28.73,0.000,20740,0.213,0.169,2674,3785,1762,1812,1712,0,0,0,0,0,0,14.12,14.23,14.52
$FINISH2,8.8
$STATE,12871,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12871,begin surface
$RAFOS_CLK,770
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.50
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3905792
$24V_AH,12.45,84.210
$10V_AH,12.99,0.000
$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,4.825,50.900,580.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10505.594,624.284,1719.450,137.423,0.000,1291.060,0.000,1265.684,1494.000,0.535,0.000
$DEVICE_MAMPS,292.995,169.065,1703.655,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.254,0.000,0.000,0.000
$MEM,226488
$DATA_FILE_SIZE,29965,843
$CAP_FILE_SIZE,135275,0
$CFSIZE,2097872896,2036498432
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11822.79,0x234484,1,24
$INTR,1,12832.74,0x2378b6,5,5
$SOUNDSPEED,1448.1
$GPS,030914,083844,7438.946,-14220.536,181,99.0,181,24.0