version: 66.12
glider: 198
mission: 5
dive: 260
start: 9 5 114 11 16 15
data:
$ID,198
$MISSION,5
$DIVE,260
$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,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,-14220.536,181,99.0,181,24.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.29
$_SM_ANGLEo,-16.9
$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,17,-0.70,-145.9,2675,2678,1813,1713,0.0,0.0,0,30,0.00,0.00,-12.30,0.000,16386,0.000,0.000,2674,2678,2527,2586,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2675,2679,2587,2470,19.1,0.0,1,53,0.90,0.00,-18.70,0.000,20998,0.070,0.000,2350,2678,3785,3842,3728,0,0,0,0,0,0,14.35,28.83,14.63
$GC,350,-0.67,-145.9,2351,2678,3844,3731,94.2,-18.7,35,354,0.00,2.40,0.00,0.000,516,0.000,0.083,2350,1273,3787,3843,3731,0,0,0,0,0,0,28.83,14.42,28.83
$GC,409,-0.67,-145.9,2351,1273,3844,3731,104.3,-16.4,47,414,0.00,2.53,0.00,0.000,1030,0.000,0.106,2348,2681,3787,3842,3732,0,0,0,0,0,0,28.83,14.39,28.83
$GC,719,-0.67,-145.9,2348,2682,3844,3732,156.5,-16.2,79,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2681,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.67,-145.9,2349,2681,3843,3732,202.6,-14.8,109,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2681,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1319,-0.67,-145.9,2348,2680,3844,3732,244.0,-12.5,139,1324,0.00,2.42,0.00,0.000,516,0.000,0.087,2347,1265,3786,3842,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1359,-0.67,-145.9,2348,1265,3844,3732,248.8,-11.6,147,1364,0.00,2.53,0.00,0.000,1030,0.000,0.109,2347,2681,3787,3843,3731,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1680,-0.67,-145.9,2348,2680,3844,3731,286.2,-11.4,160,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1979,-0.67,-145.9,2348,2681,3844,3732,318.8,-10.8,170,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2279,-0.69,-145.9,2348,2682,3843,3732,350.4,-10.4,180,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2681,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,-0.72,-145.9,2348,2682,3843,3732,380.9,-10.2,190,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2879,-0.74,-145.9,2348,2682,3844,3726,411.3,-10.1,200,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3179,-0.77,-145.9,2348,2681,3844,3731,441.1,-9.9,210,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2681,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3479,-0.80,-145.9,2348,2682,3843,3733,470.7,-9.8,220,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3779,-0.83,-145.9,2354,2681,3844,3732,500.3,-9.9,230,3784,0.00,2.03,0.00,0.000,260,0.000,0.124,2347,3792,3786,3842,3731,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3859,-0.83,-145.9,2345,3790,3844,3731,508.8,-11.1,246,3864,0.00,1.92,0.00,0.000,1030,0.000,0.072,2347,2680,3787,3843,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4170,-0.86,-145.9,2348,2681,3844,3731,538.9,-9.7,258,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.89,-145.9,2348,2681,3844,3732,566.9,-9.3,268,4474,0.15,2.00,0.00,0.000,4356,0.141,0.119,2283,3787,3787,3844,3731,0,0,0,0,0,0,14.62,14.51,28.83
$GC,4544,-0.85,-145.9,2283,3789,3843,3732,576.7,-13.7,283,4550,0.08,1.90,0.00,0.000,3078,0.290,0.072,2301,2682,3787,3843,3731,0,0,0,0,0,0,14.33,14.60,28.83
$GC,4861,-0.85,-145.9,2302,2683,3843,3733,613.6,-11.6,296,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2682,3791,3850,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5159,-0.85,-145.9,2303,2683,3843,3734,648.2,-11.6,306,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2682,3788,3843,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5460,-0.85,-145.9,2302,2682,3847,3734,683.2,-11.6,316,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2682,3788,3843,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5759,-0.85,-145.9,2302,2682,3844,3733,718.4,-11.7,326,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2682,3788,3843,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6058,begin apogee
$GC,6062,-0.14,0.0,2301,3059,3844,3734,753.1,-11.6,336,6196,0.90,0.00,131.07,1.710,10246,0.264,0.000,2537,3053,3185,3299,3071,0,0,0,0,0,0,14.38,28.83,13.30
$STATE,6197,end apogee,CONTROL_FINISHED_OK
$STATE,6197,begin climb
$GC,6199,0.70,145.9,2538,3054,3290,3066,756.5,0.0,340,6334,0.93,1.42,125.00,1.701,10500,0.173,0.116,2807,3784,2580,2677,2484,0,0,0,0,0,0,13.89,13.45,12.86
$GC,6374,0.66,145.9,2807,3785,2668,2480,741.5,14.2,378,6379,0.00,1.35,0.00,0.000,1030,0.000,0.072,2812,3051,2573,2668,2479,0,0,0,0,0,0,28.83,13.68,28.83
$GC,6695,0.64,145.9,2813,3051,2666,2479,699.4,13.1,392,6700,0.00,1.40,0.00,0.000,260,0.000,0.119,2811,3787,2571,2665,2478,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6750,0.59,145.9,2812,3786,2674,2478,691.5,14.5,403,6756,0.10,1.30,0.00,0.000,5126,0.259,0.075,2790,3048,2571,2665,2478,0,0,0,0,0,0,14.09,14.28,28.83
$GC,7056,0.59,145.9,2790,3047,2665,2478,654.6,12.0,414,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3047,2571,2665,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7354,0.59,145.9,2791,3048,2665,2479,618.7,11.9,424,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3047,2571,2664,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,0.59,145.9,2791,3047,2665,2479,583.1,11.9,434,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,3047,2571,2664,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7954,0.59,145.9,2791,3047,2665,2480,547.1,12.0,444,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,3047,2571,2664,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8254,0.59,145.9,2791,3048,2665,2479,511.6,11.8,454,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3047,2571,2664,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,0.59,145.9,2791,3048,2666,2479,476.4,11.7,464,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3047,2571,2664,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,0.59,147.5,2791,3048,2665,2480,441.6,11.5,474,8860,0.00,1.38,0.00,0.000,260,0.000,0.121,2790,3792,2571,2664,2478,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8915,0.57,147.5,2791,3792,2665,2479,433.9,13.3,486,8920,0.00,1.27,0.00,0.000,1030,0.000,0.076,2795,3047,2571,2664,2478,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9246,0.57,147.8,2796,3048,2664,2479,395.3,11.6,502,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,3047,2571,2664,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9545,0.57,151.6,2796,3047,2665,2478,361.0,11.4,512,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3047,2571,2664,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9845,0.58,165.4,2796,3047,2666,2477,327.8,10.9,522,9865,0.00,1.33,15.93,1.244,8452,0.000,0.116,2795,3790,2503,2601,2406,0,0,0,0,0,0,28.83,14.61,14.05
$GC,9884,0.58,165.4,2796,3788,2593,2401,323.2,12.3,530,9890,0.00,1.27,0.00,0.000,1030,0.000,0.074,2801,3046,2493,2588,2399,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10206,0.59,172.1,2802,3047,2591,2400,286.7,11.3,544,10208,0.00,0.00,1.12,0.251,8198,0.000,0.000,2800,3046,2483,2581,2386,0,0,0,0,0,0,28.83,28.83,14.49
$GC,10505,0.60,191.5,2801,3044,2596,2393,254.1,10.6,554,10536,0.00,2.45,22.20,1.147,8708,0.000,0.080,2809,1644,2394,2492,2297,0,0,0,0,0,0,28.83,14.54,14.01
$GC,10561,0.64,204.3,2811,1644,2485,2297,248.2,10.9,565,10578,0.00,2.50,10.60,1.126,9222,0.000,0.106,2809,3054,2349,2444,2254,0,0,0,0,0,0,28.83,14.49,13.95
$GC,10877,0.67,243.3,2810,3054,2432,2247,214.7,9.6,598,10917,0.00,0.00,34.88,1.079,8198,0.000,0.000,2810,3054,2183,2275,2091,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11217,0.73,285.1,2811,3056,2263,2084,180.8,9.4,632,11258,0.00,2.53,36.03,1.038,8708,0.000,0.079,2820,1644,2015,2102,1928,0,0,0,0,0,0,28.83,14.34,13.82
$GC,11303,0.81,326.5,2821,1645,2089,1925,172.6,9.4,649,11344,0.00,2.53,36.08,1.014,9222,0.000,0.105,2820,3047,1852,1933,1772,0,0,0,0,0,0,28.83,14.32,13.76
$GC,11649,0.88,347.7,2820,3047,1910,1753,135.8,10.5,688,11671,0.15,2.50,17.12,1.008,10756,0.132,0.082,2892,1645,1761,1839,1684,0,0,0,0,0,0,14.45,14.36,13.88
$GC,11717,0.90,347.7,2893,1645,1827,1682,127.0,13.4,701,11723,0.00,2.53,0.00,0.000,1030,0.000,0.106,2892,3052,1753,1825,1682,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12021,0.90,347.7,2893,3052,1825,1676,85.2,13.0,732,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,3052,1749,1823,1676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12321,0.96,403.1,2893,3052,1822,1673,51.9,8.7,762,12353,0.00,1.42,27.52,0.327,8452,0.000,0.129,2892,3793,1542,1616,1469,0,0,0,0,0,0,28.83,14.33,14.14
$GC,12497,1.05,487.2,2894,3794,1633,1473,40.6,7.2,797,12554,0.00,1.30,49.10,0.291,9222,0.000,0.076,2897,3049,1201,1263,1139,0,0,0,0,0,0,28.83,14.37,14.11
$GC,12853,1.24,617.9,2895,3050,1279,1140,17.5,4.7,838,12934,0.25,2.50,71.55,0.222,10756,0.110,0.085,2999,1649,666,666,666,0,0,0,0,0,0,14.35,14.26,14.18
$FREEZE,8.55,-1.388,-1.447,2,15,0
$STATE,12953,end climb,FINISH_DEPTH_REACHED
$STATE,12953,begin subsurface finish
$FINISH1,8.6,1.021251,349
$GC,12960,0.24,349.1,3000,3049,674,666,8.6,10.1,858,12994,1.17,2.45,-28.12,0.000,20996,0.224,0.101,2674,1644,1764,1811,1718,0,0,0,0,0,0,14.16,14.30,14.53
$FINISH2,8.2
$STATE,12995,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12995,begin surface
$RAFOS_CLK,675
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.042693,0.042693
$HUMID,48.81
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3905344
$24V_AH,12.86,84.503
$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,4.625,56.350,578.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10623.630,586.013,1770.078,138.314,0.000,1294.622,0.000,1288.255,1488.000,0.535,0.000
$DEVICE_MAMPS,289.935,128.520,1709.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13042.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.530,0.000,0.000,0.000
$MEM,225956
$DATA_FILE_SIZE,30045,865
$CAP_FILE_SIZE,137700,0
$CFSIZE,2097872896,2036301824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,030914,083844,7438.946,-14220.536,181,99.0,181,24.0