version: 66.12
glider: 198
mission: 5
dive: 312
start: 9 13 114 16 31 56
data:
$ID,198
$MISSION,5
$DIVE,312
$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,-5434.9043
$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,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
$GPS1,130914,160733,7343.136,-14335.355,0,4255.0,0,23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.68
$_SM_ANGLEo,-18.1
$GPS2,130914,160733,7343.136,-14335.355,0,4255.0,0,23.3
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7400.000,-14100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,45.2,85234,-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,-145.9,2677,2682,1654,1570,0.0,0.0,0,30,0.00,0.00,-12.38,0.000,16386,0.000,0.000,2677,2682,2073,2121,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2683,2125,2026,7.8,0.0,1,75,0.93,2.00,-36.72,0.000,20740,0.073,0.138,2346,3787,3782,3836,3728,0,0,0,0,0,0,14.32,14.23,14.61
$GC,285,-0.63,-145.9,2341,3788,3838,3731,79.3,-22.6,52,291,0.10,1.92,0.00,0.000,3078,0.278,0.069,2378,2674,3783,3836,3731,0,0,0,0,0,0,14.11,14.37,28.83
$GC,590,-0.63,-145.9,2378,2675,3838,3731,128.4,-14.7,83,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2675,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-0.63,-145.9,2378,2675,3838,3731,170.5,-13.5,113,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2675,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1190,-0.66,-145.9,2379,2676,3837,3732,209.7,-12.7,143,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2675,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1491,-0.69,-145.9,2379,2675,3837,3732,244.6,-11.2,173,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2675,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1792,-0.73,-145.9,2379,2675,3837,3732,275.4,-10.1,187,1797,0.00,2.03,0.00,0.000,260,0.000,0.122,2374,3789,3783,3835,3731,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1937,-0.76,-145.9,2371,3790,3839,3733,290.7,-10.9,216,1943,0.00,1.88,0.00,0.000,1030,0.000,0.071,2374,2679,3784,3837,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2243,-0.80,-145.9,2374,2679,3838,3731,319.5,-9.3,227,2245,0.12,0.00,0.00,0.000,4102,0.147,0.000,2323,2679,3783,3837,3730,0,0,0,0,0,0,14.58,28.83,28.83
$GC,2542,-0.80,-145.9,2323,2680,3837,3731,354.0,-11.4,237,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2679,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,-0.80,-145.9,2323,2679,3838,3731,387.9,-11.2,247,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2679,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,-0.80,-145.9,2323,2679,3838,3731,421.6,-11.2,257,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2679,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3442,-0.80,-145.9,2324,2680,3837,3732,454.5,-10.9,267,3447,0.00,2.00,0.00,0.000,260,0.000,0.119,2317,3787,3784,3837,3731,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3486,-0.80,-145.9,2320,3788,3834,3731,459.7,-12.1,276,3492,0.00,1.90,0.00,0.000,1030,0.000,0.069,2317,2680,3783,3836,3731,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3803,-0.80,-145.9,2318,2678,3837,3731,494.4,-11.0,289,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4102,-0.80,-145.9,2317,2680,3838,3731,526.7,-10.7,299,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4402,-0.80,-145.9,2318,2681,3837,3732,558.8,-10.7,309,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4702,-0.80,-145.9,2318,2681,3837,3733,591.2,-10.8,319,4706,0.00,2.00,0.00,0.000,260,0.000,0.117,2304,3792,3784,3837,3732,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4751,-0.80,-145.9,2310,3792,3838,3732,597.2,-11.7,329,4756,0.00,1.90,0.00,0.000,1030,0.000,0.068,2308,2680,3784,3837,3732,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5063,-0.80,-145.9,2309,2681,3837,3733,632.3,-11.3,341,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-0.80,-145.9,2309,2681,3837,3733,666.6,-11.4,351,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5662,-0.80,-145.9,2309,2681,3837,3733,700.3,-11.2,361,5666,0.00,2.00,0.00,0.000,260,0.000,0.119,2304,3786,3785,3837,3733,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5736,-0.80,-145.9,2305,3789,3837,3733,709.2,-11.9,376,5741,0.00,1.90,0.00,0.000,1030,0.000,0.068,2304,2678,3784,3837,3732,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6053,-0.80,-145.9,2304,2678,3838,3733,744.6,-11.1,389,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6109,begin apogee
$GC,6114,-0.14,0.0,2305,3057,3838,3733,751.3,-11.1,391,6247,0.90,0.00,130.10,1.715,10246,0.261,0.000,2539,3057,3185,3276,3095,0,0,0,0,0,0,14.28,28.83,13.26
$STATE,6248,end apogee,CONTROL_FINISHED_OK
$STATE,6248,begin climb
$GC,6250,0.70,145.9,2540,3057,3269,3088,754.1,0.0,395,6383,0.93,0.00,126.85,1.691,10502,0.171,0.000,2808,3056,2583,2658,2509,0,0,0,0,0,0,13.88,28.83,12.82
$GC,6682,0.70,145.9,2809,3057,2649,2501,706.9,12.7,420,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2574,2647,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6981,0.70,145.9,2809,3057,2649,2500,669.0,12.6,430,6986,0.00,1.35,0.00,0.000,260,0.000,0.117,2808,3781,2573,2647,2500,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7072,0.66,145.9,2809,3782,2648,2501,656.4,14.3,448,7076,0.00,1.25,0.00,0.000,1030,0.000,0.071,2817,3061,2573,2647,2500,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7403,0.66,145.9,2814,3065,2648,2501,613.6,13.0,464,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3062,2573,2647,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7701,0.66,145.9,2814,3062,2648,2501,574.4,13.0,474,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3061,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8001,0.66,145.9,2814,3062,2648,2501,535.6,12.9,484,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3060,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8302,0.66,145.9,2814,3061,2648,2500,497.4,12.6,494,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3061,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8601,0.66,145.9,2814,3061,2648,2501,459.9,12.5,504,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3061,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8901,0.66,145.9,2813,3062,2648,2500,422.7,12.4,514,8906,0.00,1.35,0.00,0.000,260,0.000,0.116,2813,3790,2574,2649,2500,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8962,0.62,145.9,2813,3790,2648,2500,414.5,13.5,526,8966,0.00,1.27,0.00,0.000,1030,0.000,0.070,2818,3045,2573,2647,2500,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9293,0.62,145.9,2819,3044,2649,2500,373.5,12.3,542,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,3045,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9592,0.62,145.9,2820,3046,2648,2501,337.3,11.9,552,9593,0.12,0.00,0.00,0.000,4102,0.291,0.000,2792,3045,2573,2647,2500,0,0,0,0,0,0,14.37,28.83,28.83
$GC,9892,0.64,171.1,2792,3045,2649,2500,305.8,10.3,562,9917,0.00,1.33,20.88,1.216,8452,0.000,0.112,2792,3789,2481,2558,2405,0,0,0,0,0,0,28.83,14.52,14.00
$GC,9956,0.64,171.1,2792,3789,2552,2398,298.5,12.4,575,9961,0.00,1.25,0.00,0.000,1030,0.000,0.071,2797,3057,2474,2551,2398,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10283,0.65,193.6,2798,3057,2550,2399,263.6,10.4,590,10307,0.00,2.40,19.42,1.163,8708,0.000,0.073,2806,1646,2389,2466,2313,0,0,0,0,0,0,28.83,14.49,13.94
$GC,10383,0.71,230.7,2809,1646,2455,2310,253.4,9.7,610,10422,0.00,2.53,32.38,1.118,9222,0.000,0.102,2807,3057,2238,2308,2168,0,0,0,0,0,0,28.83,14.44,13.82
$GC,10722,0.76,258.8,2807,3057,2295,2155,216.3,10.1,649,10747,0.00,0.00,23.83,1.086,8198,0.000,0.000,2807,3057,2131,2203,2059,0,0,0,0,0,0,28.83,28.83,13.85
$GC,11044,0.83,292.4,2808,3058,2185,2043,184.4,9.8,681,11075,0.15,0.00,29.20,1.050,10246,0.128,0.000,2871,3057,1994,2062,1927,0,0,0,0,0,0,14.51,28.83,13.85
$GC,11372,0.83,292.4,2872,3058,2040,1909,141.4,12.8,714,11377,0.00,2.42,0.00,0.000,516,0.000,0.076,2879,1646,1974,2040,1909,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11422,0.85,295.7,2879,1646,2041,1910,135.5,11.5,724,11427,0.00,2.50,0.00,0.000,1030,0.000,0.103,2878,3049,1974,2039,1910,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11732,0.85,295.7,2879,3049,2040,1915,97.2,12.1,756,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,3049,1973,2038,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12032,0.89,348.0,2879,3050,2039,1908,67.3,8.8,786,12063,0.00,0.00,27.20,0.371,8198,0.000,0.000,2878,3049,1771,1835,1707,0,0,0,0,0,0,28.83,28.83,14.07
$GC,12364,1.04,493.2,2879,3049,1853,1707,47.3,3.9,819,12453,0.12,2.47,81.82,0.313,10756,0.141,0.076,2946,1659,1178,1214,1143,0,0,0,0,0,0,14.37,14.22,14.05
$GC,12558,1.12,528.7,2946,1658,1230,1144,30.0,9.7,858,12584,0.00,2.53,21.33,0.263,9222,0.000,0.103,2945,3049,1029,1054,1005,0,0,0,0,0,0,28.83,14.18,14.03
$FREEZE,8.90,-1.329,-1.429,2,4,0
$FREEZE,8.23,-1.329,-1.429,2,4,0
$FREEZE,7.53,-1.328,-1.428,2,4,0
$FREEZE,6.86,-1.327,-1.428,2,4,0
$FREEZE,6.19,-1.326,-1.427,2,4,0
$FREEZE,5.44,-1.327,-1.427,2,4,0
$STATE,12867,end climb,FINISH_DEPTH_REACHED
$STATE,12867,begin subsurface finish
$FINISH1,5.4,1.020993,363
$GC,12872,0.25,362.5,2946,3049,1074,1006,5.4,6.9,892,12898,0.95,2.45,-20.95,0.000,20996,0.199,0.093,2675,1642,1709,1750,1668,0,0,0,0,0,0,14.09,14.23,14.48
$FINISH2,5.4
$STATE,12899,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12899,begin surface
$RAFOS_CLK,36
$RAFOS_FIX,7343.136230,-14335.355469,130914,161633,4,255,0.11
$IRIDIUM_FIX,7257.42,-14347.65,130914,052658
$TT8_MAMPS,0.079394,0.079394
$HUMID,49.52
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3882048
$24V_AH,12.82,101.346
$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,4.325,47.225,513.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10506.490,537.836,1816.792,158.894,0.000,1252.194,0.000,1341.433,1499.000,0.535,0.000
$DEVICE_MAMPS,291.465,137.700,1715.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.437,0.000,0.000,0.000
$MEM,197088
$DATA_FILE_SIZE,30055,897
$CAP_FILE_SIZE,135472,0
$CFSIZE,2097872896,2026110976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12869.46,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,130914,160733,7343.136,-14335.355,0,4255.0,0,23.3