version: 66.12
glider: 198
mission: 5
dive: 338
start: 9 17 114 15 38 0
data:
$ID,198
$MISSION,5
$DIVE,338
$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,33
$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
$GPS1,170914,011422,7357.010,-14133.164,4,0.8,24,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.43
$_SM_ANGLEo,-16.4
$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,-145.9,2675,2680,1829,1742,0.0,0.0,0,30,0.00,0.00,-11.68,0.000,16386,0.000,0.000,2674,2680,2483,2536,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2676,2681,2538,2432,17.9,0.0,1,62,0.90,2.05,-20.17,0.000,20740,0.070,0.142,2345,3790,3785,3839,3732,0,0,0,0,0,0,14.32,14.28,14.60
$GC,258,-0.65,-145.9,2345,3790,3840,3734,79.8,-20.5,46,264,0.15,1.90,0.00,0.000,3078,0.299,0.071,2376,2671,3786,3839,3734,0,0,0,0,0,0,14.10,14.40,28.83
$GC,561,-0.65,-145.9,2376,2667,3840,3734,128.1,-15.3,77,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2667,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-0.65,-145.9,2377,2668,3840,3735,171.8,-13.9,107,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2667,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1162,-0.67,-145.9,2376,2667,3841,3734,211.1,-12.3,137,1166,0.00,2.05,0.00,0.000,260,0.000,0.122,2374,3787,3786,3839,3734,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1216,-0.67,-145.9,2375,3788,3840,3735,218.2,-12.7,148,1223,0.00,1.92,0.00,0.000,1030,0.000,0.072,2374,2676,3786,3839,3734,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1546,-0.70,-145.9,2375,2677,3840,3735,253.2,-10.4,179,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,-0.75,-145.9,2375,2677,3840,3735,282.7,-9.6,189,1850,0.00,2.05,0.00,0.000,260,0.000,0.124,2373,3793,3786,3839,3734,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1946,-0.78,-145.9,2374,3793,3841,3734,293.0,-10.7,209,1951,0.00,1.90,0.00,0.000,1030,0.000,0.073,2374,2677,3786,3839,3733,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2267,-0.83,-145.9,2375,2677,3840,3734,324.0,-9.6,223,2269,0.17,0.00,0.00,0.000,4102,0.124,0.000,2309,2676,3786,3839,3733,0,0,0,0,0,0,14.42,28.83,28.83
$GC,2566,-0.83,-145.9,2309,2677,3840,3734,361.4,-12.5,233,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2865,-0.83,-145.9,2305,2676,3840,3733,397.6,-12.1,243,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3166,-0.83,-145.9,2309,2677,3840,3734,433.6,-12.0,253,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3466,-0.83,-145.9,2308,2676,3841,3734,469.2,-11.7,263,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,-0.83,-145.9,2309,2676,3841,3733,504.1,-11.5,273,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4066,-0.83,-145.9,2309,2677,3840,3734,538.7,-11.4,283,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4366,-0.83,-145.9,2309,2676,3841,3734,572.8,-11.4,293,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-0.83,-145.9,2310,2677,3840,3735,606.6,-11.3,303,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4966,-0.83,-145.9,2309,2676,3841,3734,639.9,-11.2,313,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5266,-0.83,-145.9,2309,2677,3840,3735,673.0,-11.1,323,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5566,-0.83,-145.9,2310,2677,3840,3736,705.7,-10.8,333,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3787,3839,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5866,-0.83,-145.9,2308,2676,3841,3735,738.1,-10.8,343,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3787,3839,3735,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5983,begin apogee
$GC,5989,-0.14,0.0,2306,3057,3840,3736,751.1,-10.9,347,6123,0.90,0.00,132.05,1.727,10246,0.258,0.000,2540,3055,3186,3287,3086,0,0,0,0,0,0,14.25,28.83,13.21
$STATE,6124,end apogee,CONTROL_FINISHED_OK
$STATE,6124,begin climb
$GC,6126,0.70,145.9,2541,3057,3281,3078,754.1,0.0,351,6257,0.90,0.00,127.88,1.718,10502,0.167,0.000,2804,3055,2591,2674,2509,0,0,0,0,0,0,13.87,28.83,12.79
$GC,6556,0.70,145.9,2803,3056,2657,2494,709.5,12.0,376,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3054,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6856,0.70,145.9,2804,3056,2657,2494,673.4,12.0,386,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2574,2655,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7156,0.70,145.9,2804,3053,2657,2494,637.7,11.8,396,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7456,0.70,145.9,2805,3057,2657,2494,602.0,11.9,406,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7756,0.70,145.9,2805,3057,2656,2494,566.4,11.9,416,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3056,2574,2655,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,0.70,145.9,2804,3056,2657,2493,530.8,11.9,426,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2574,2655,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8356,0.70,145.9,2804,3057,2656,2494,495.3,11.9,436,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,0.70,145.9,2804,3056,2657,2493,459.5,12.0,446,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2576,2656,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8956,0.70,145.9,2804,3057,2657,2494,424.1,11.7,456,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2572,2651,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9256,0.70,146.8,2804,3056,2657,2493,389.0,11.6,466,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3055,2573,2653,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9556,0.70,147.6,2804,3056,2657,2493,354.3,11.6,476,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3056,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9856,0.70,154.1,2804,3056,2658,2493,320.3,11.3,486,9860,0.00,0.00,1.85,0.228,8710,0.000,0.000,2802,3056,2556,2640,2472,0,0,0,0,0,0,28.83,28.83,14.34
$GC,10187,0.71,169.8,2804,3057,2669,2477,284.4,10.8,502,10211,0.00,2.47,20.27,1.219,8708,0.000,0.074,2813,1641,2486,2573,2399,0,0,0,0,0,0,28.83,14.53,13.97
$GC,10273,0.75,190.2,2814,1640,2562,2396,275.4,10.5,519,10297,0.00,2.50,17.88,1.203,9222,0.000,0.101,2814,3053,2404,2488,2320,0,0,0,0,0,0,28.83,14.45,13.87
$GC,10597,0.77,216.8,2814,3054,2473,2311,238.4,10.2,541,10621,0.00,0.00,22.95,1.163,8198,0.000,0.000,2813,3053,2300,2381,2220,0,0,0,0,0,0,28.83,28.83,13.87
$GC,10918,0.82,260.6,2814,3053,2361,2206,205.6,9.3,573,10962,0.12,2.45,37.75,1.112,10756,0.141,0.075,2884,1641,2115,2191,2039,0,0,0,0,0,0,14.49,14.34,13.81
$GC,10987,0.82,260.6,2885,1641,2183,2037,196.9,13.2,587,10993,0.12,2.53,0.00,0.000,5126,0.270,0.100,2857,3053,2108,2181,2035,0,0,0,0,0,0,14.19,14.31,28.83
$GC,11299,0.83,273.6,2858,3054,2177,2031,159.9,10.9,619,11309,0.00,0.00,5.50,1.053,8710,0.000,0.000,2857,3053,2074,2151,1997,0,0,0,0,0,0,28.83,28.83,13.81
$GC,11609,0.84,290.1,2857,3054,2163,1998,127.0,10.8,651,11639,0.00,2.45,20.70,1.061,8708,0.000,0.075,2867,1653,1994,2068,1920,0,0,0,0,0,0,28.83,14.42,13.87
$GC,11680,0.89,316.6,2868,1653,2062,1919,119.5,10.2,665,11710,0.00,2.50,24.42,1.034,9222,0.000,0.101,2867,3049,1890,1962,1819,0,0,0,0,0,0,28.83,14.33,13.79
$GC,12009,0.94,346.4,2868,3050,1944,1806,83.2,10.0,701,12030,0.00,2.47,13.32,0.396,8708,0.000,0.076,2875,1643,1780,1856,1705,0,0,0,0,0,0,28.83,14.25,13.99
$GC,12092,1.02,402.5,2877,1644,1872,1705,75.6,8.6,717,12132,0.12,2.53,33.08,0.392,11270,0.144,0.102,2932,3050,1548,1612,1485,0,0,0,0,0,0,14.32,14.26,13.99
$GC,12430,1.12,512.2,2932,3050,1634,1485,42.2,5.8,755,12496,0.00,1.40,62.22,0.303,8452,0.000,0.116,2932,3787,1098,1141,1055,0,0,0,0,0,0,28.83,14.22,14.04
$GC,12671,1.22,565.7,2933,3787,1159,1057,19.4,8.8,803,12707,0.10,1.30,31.12,0.231,11270,0.092,0.072,2991,3044,878,909,848,0,0,0,0,0,0,14.27,14.30,14.10
$FREEZE,7.83,-1.424,-1.453,2,5,0
$STATE,12780,end climb,FINISH_DEPTH_REACHED
$STATE,12780,begin subsurface finish
$FINISH1,7.8,1.021354,344
$GC,12785,0.24,343.7,2993,3045,927,848,7.8,11.5,818,12817,1.15,2.40,-25.23,0.000,20996,0.216,0.094,2674,1645,1784,1825,1744,0,0,0,0,0,0,14.09,14.26,14.51
$FINISH2,6.7
$STATE,12818,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12818,begin surface
$RAFOS_CLK,749
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.96
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3870400
$24V_AH,12.79,109.059
$10V_AH,12.70,0.000
$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,4.650,39.500,551.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10541.333,554.426,1682.859,161.102,0.000,1212.052,0.000,1237.690,1491.000,0.537,0.000
$DEVICE_MAMPS,299.115,141.525,1726.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12868.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.806,0.000,0.000,0.000
$MEM,183752
$DATA_FILE_SIZE,26691,824
$CAP_FILE_SIZE,130143,0
$CFSIZE,2097872896,2021228544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12781.92,0x2378b6,5,5
$SOUNDSPEED,1448.3
$GPS,170914,011422,7357.010,-14133.164,4,0.8,24,24.1