version: 66.12
glider: 198
mission: 5
dive: 336
start: 9 17 114 8 29 54
data:
$ID,198
$MISSION,5
$DIVE,336
$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,-5802.3716
$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,38
$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
$GPS1,170914,011422,7357.010,-14133.164,4,0.8,24,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.40
$_SM_ANGLEo,-14.4
$GPS2,170914,011422,7357.010,-14133.164,4,0.8,24,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,192.9,132171,-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,15,begin dive
$GC,17,-0.70,-145.9,2678,2686,1813,1729,0.0,0.0,0,30,0.00,0.00,-11.65,0.000,16386,0.000,0.000,2677,2686,2497,2551,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2686,2552,2444,19.2,0.0,1,57,0.90,2.03,-19.02,0.000,20740,0.068,0.135,2341,3794,3782,3836,3729,0,0,0,0,0,0,14.32,14.29,14.61
$GC,281,-0.65,-145.9,2342,3796,3837,3732,89.2,-22.6,51,287,0.15,1.90,0.00,0.000,3078,0.304,0.067,2372,2675,3784,3836,3732,0,0,0,0,0,0,14.04,14.33,28.83
$GC,591,-0.65,-145.9,2374,2675,3837,3733,143.8,-16.5,83,596,0.00,2.03,0.00,0.000,260,0.000,0.121,2373,3786,3784,3836,3732,0,0,0,0,0,0,28.83,14.29,28.83
$GC,711,-0.65,-145.9,2373,3787,3838,3732,163.3,-15.7,107,716,0.00,1.90,0.00,0.000,1030,0.000,0.069,2373,2690,3782,3833,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1022,-0.67,-145.9,2373,2690,3837,3732,203.3,-12.0,139,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2689,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1322,-0.70,-145.9,2373,2690,3837,3732,238.5,-10.8,169,1326,0.00,2.00,0.00,0.000,260,0.000,0.122,2373,3786,3784,3836,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1387,-0.73,-145.9,2374,3787,3837,3733,246.0,-11.4,182,1393,0.00,1.88,0.00,0.000,1030,0.000,0.070,2373,2678,3784,3836,3732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1703,-0.77,-145.9,2374,2677,3838,3732,277.9,-10.0,196,1708,0.00,2.38,0.00,0.000,516,0.000,0.079,2373,1276,3784,3836,3732,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1748,-0.82,-145.9,2373,1276,3837,3732,282.6,-10.0,205,1753,0.15,2.50,0.00,0.000,5126,0.137,0.105,2313,2680,3784,3836,3732,0,0,0,0,0,0,14.52,14.42,28.83
$GC,2065,-0.82,-145.9,2314,2681,3838,3732,322.1,-12.3,218,2070,0.00,2.00,0.00,0.000,260,0.000,0.117,2305,3790,3784,3836,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2159,-0.82,-145.9,2306,3791,3837,3733,335.0,-13.4,237,2164,0.00,1.90,0.00,0.000,1030,0.000,0.069,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2486,-0.82,-145.9,2306,2682,3837,3733,375.1,-12.2,252,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2784,-0.82,-145.9,2306,2683,3836,3733,410.8,-11.8,262,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3085,-0.82,-145.9,2306,2682,3836,3732,446.1,-11.9,272,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-0.82,-145.9,2306,2683,3838,3733,481.6,-11.8,282,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3685,-0.82,-145.9,2306,2682,3837,3732,516.8,-11.8,292,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3985,-0.82,-145.9,2306,2683,3837,3733,551.4,-11.4,302,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4285,-0.82,-145.9,2306,2683,3837,3734,585.2,-11.2,312,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4585,-0.82,-145.9,2306,2682,3836,3733,618.1,-11.0,322,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4885,-0.82,-145.9,2307,2683,3837,3733,651.0,-10.9,332,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5185,-0.82,-145.9,2306,2683,3837,3734,683.8,-10.9,342,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5485,-0.82,-145.9,2306,2682,3838,3733,716.8,-10.9,352,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5785,-0.82,-145.9,2307,2683,3837,3734,749.5,-10.9,362,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5812,begin apogee
$GC,5818,-0.14,0.0,2305,3052,3837,3733,752.8,-11.0,363,5950,0.90,0.00,130.38,1.733,10246,0.259,0.000,2540,3052,3185,3287,3084,0,0,0,0,0,0,14.25,28.83,13.24
$STATE,5952,end apogee,CONTROL_FINISHED_OK
$STATE,5952,begin climb
$GC,5954,0.70,145.9,2541,3053,3281,3078,755.5,0.0,367,6086,0.90,0.00,126.85,1.714,10502,0.164,0.000,2805,3052,2587,2670,2505,0,0,0,0,0,0,13.85,28.83,12.78
$GC,6385,0.70,145.9,2806,3052,2660,2497,709.3,12.4,392,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2578,2660,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6684,0.70,145.9,2805,3052,2661,2496,672.2,12.3,402,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3052,2577,2659,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,0.70,145.9,2805,3053,2660,2496,635.5,12.2,412,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3052,2577,2660,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7284,0.70,145.9,2804,3052,2661,2496,598.8,12.3,422,7289,0.00,1.35,0.00,0.000,260,0.000,0.116,2805,3787,2575,2655,2495,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7324,0.67,145.9,2805,3787,2661,2496,593.6,13.5,430,7329,0.00,1.27,0.00,0.000,1030,0.000,0.071,2810,3047,2577,2660,2495,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7646,0.67,145.9,2811,3047,2660,2496,553.7,12.4,444,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2577,2659,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,0.67,145.9,2811,3047,2660,2496,516.6,12.4,454,7949,0.00,1.38,0.00,0.000,260,0.000,0.116,2810,3786,2577,2659,2496,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7980,0.63,145.9,2811,3787,2660,2496,511.8,13.6,461,7984,0.00,1.25,0.00,0.000,1030,0.000,0.071,2816,3051,2577,2659,2495,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8306,0.63,145.9,2816,3051,2660,2496,470.6,12.6,476,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3051,2577,2659,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8605,0.63,145.9,2817,3051,2660,2496,432.8,12.6,486,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2577,2659,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8904,0.63,145.9,2816,3051,2661,2495,394.9,12.6,496,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3050,2577,2659,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9204,0.63,145.9,2816,3051,2661,2496,357.8,12.3,506,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2577,2659,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9505,0.63,150.7,2816,3051,2660,2496,323.1,11.4,516,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3051,2577,2659,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9805,0.64,161.8,2817,3051,2661,2496,289.5,11.0,526,9820,0.00,0.00,13.93,1.239,8454,0.000,0.000,2816,3051,2526,2611,2442,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10136,0.64,163.0,2816,3051,2597,2430,251.7,11.6,542,10141,0.00,1.35,0.00,0.000,260,0.000,0.116,2815,3780,2513,2596,2430,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10222,0.63,176.7,2817,3781,2597,2430,242.4,10.9,559,10239,0.00,1.25,13.45,1.184,9222,0.000,0.071,2821,3051,2465,2552,2379,0,0,0,0,0,0,28.83,14.54,13.95
$GC,10537,0.66,220.1,2822,3052,2534,2367,213.8,9.3,592,10581,0.00,2.45,37.55,1.119,8708,0.000,0.073,2830,1648,2278,2356,2201,0,0,0,0,0,0,28.83,14.34,13.89
$GC,10631,0.71,249.6,2832,1648,2348,2199,204.1,10.1,611,10662,0.00,2.50,25.30,1.112,9222,0.000,0.102,2830,3048,2166,2243,2090,0,0,0,0,0,0,28.83,14.33,13.74
$GC,10967,0.76,282.1,2831,3046,2227,2076,168.1,9.9,648,11003,0.00,2.47,28.85,1.084,8708,0.000,0.075,2836,1646,2026,2098,1954,0,0,0,0,0,0,28.83,14.28,13.81
$GC,11024,0.83,326.9,2837,1646,2093,1951,162.8,9.2,658,11069,0.00,2.53,39.38,1.052,9222,0.000,0.102,2836,3056,1849,1915,1784,0,0,0,0,0,0,28.83,14.30,13.70
$GC,11368,0.89,344.0,2837,3056,1897,1768,125.7,10.7,697,11389,0.12,2.42,14.48,1.066,10756,0.141,0.075,2901,1648,1774,1837,1711,0,0,0,0,0,0,14.32,14.39,13.82
$GC,11449,0.89,344.0,2901,1649,1828,1709,115.3,13.0,713,11454,0.00,2.53,0.00,0.000,1030,0.000,0.102,2901,3051,1767,1826,1709,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11759,0.89,344.0,2902,3052,1826,1706,73.0,12.7,745,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,3052,1765,1825,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12060,1.02,489.5,2900,3052,1827,1702,48.2,3.9,775,12145,0.00,2.47,77.50,0.321,8708,0.000,0.074,2909,1654,1192,1239,1145,0,0,0,0,0,0,28.83,14.25,14.01
$GC,12286,1.16,565.4,2910,1654,1255,1145,32.9,7.6,820,12337,0.17,2.53,43.72,0.274,11270,0.116,0.103,2982,3049,879,895,864,0,0,0,0,0,0,14.31,14.23,14.04
$FREEZE,7.95,-1.424,-1.452,2,3,0
$STATE,12530,end climb,FINISH_DEPTH_REACHED
$STATE,12532,begin subsurface finish
$FINISH1,8.0,1.021341,344
$GC,12537,0.24,344.4,2983,3049,912,865,8.0,10.2,850,12565,1.10,0.00,-23.98,0.000,20742,0.213,0.000,2676,3050,1782,1823,1742,0,0,0,0,0,0,14.07,28.83,14.47
$FINISH2,8.1
$STATE,12565,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12565,begin surface
$RAFOS_CLK,7
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.080143,0.080143
$HUMID,50.03
$INTERNAL_PRESSURE,8.66168
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3871296
$24V_AH,12.78,108.492
$10V_AH,12.71,0.000
$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,4.400,50.850,551.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10234.784,550.577,1726.293,167.200,0.000,1246.176,0.000,1279.120,1499.000,0.535,0.000
$DEVICE_MAMPS,304.470,134.640,1732.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12615.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.730,0.000,0.000,0.000
$MEM,184772
$DATA_FILE_SIZE,30031,854
$CAP_FILE_SIZE,132268,0
$CFSIZE,2097872896,2021588992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12533.75,0x2378b6,5,5
$SOUNDSPEED,1448.6
$GPS,170914,011422,7357.010,-14133.164,4,0.8,24,24.1