version: 66.12
glider: 198
mission: 5
dive: 348
start: 9 19 114 4 31 59
data:
$ID,198
$MISSION,5
$DIVE,348
$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,-6169.3325
$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,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,-14133.164,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.23
$_SM_ANGLEo,-17.4
$GPS2,170914,011422,7357.010,-14133.164,181,99.0,181,24.1
$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,14,begin dive
$GC,17,-0.70,-145.9,2676,2685,1765,1681,0.0,0.0,0,30,0.00,0.00,-12.20,0.000,16386,0.000,0.000,2677,2686,2475,2531,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2677,2686,2534,2419,19.0,0.0,1,57,0.90,2.08,-19.33,0.000,20740,0.072,0.142,2347,3792,3783,3838,3729,0,0,0,0,0,0,14.36,14.29,14.60
$GC,82,-0.57,-145.9,2349,3792,3838,3733,33.7,-38.7,11,87,0.22,1.90,0.00,0.000,3078,0.308,0.070,2397,2678,3785,3838,3732,0,0,0,0,0,0,14.06,14.37,28.83
$GC,392,-0.57,-145.9,2401,2678,3839,3733,97.3,-15.7,43,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2681,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,692,-0.60,-145.9,2397,2676,3839,3733,139.2,-13.0,73,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,992,-0.63,-145.9,2397,2677,3840,3733,175.9,-11.2,103,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1292,-0.67,-145.9,2398,2677,3840,3733,209.2,-10.6,133,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1592,-0.72,-145.9,2398,2678,3839,3733,240.4,-9.9,163,1597,0.12,2.05,0.00,0.000,4356,0.148,0.120,2340,3793,3785,3838,3732,0,0,0,0,0,0,14.44,14.37,28.83
$GC,1692,-0.72,-145.9,2341,3794,3839,3733,253.4,-13.6,183,1697,0.00,1.92,0.00,0.000,1030,0.000,0.073,2341,2687,3785,3838,3733,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2014,-0.72,-145.9,2341,2687,3840,3733,291.1,-11.5,197,2018,0.00,2.42,0.00,0.000,516,0.000,0.083,2340,1276,3785,3838,3732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2074,-0.74,-145.9,2341,1276,3840,3732,297.9,-10.3,209,2079,0.00,2.53,0.00,0.000,1030,0.000,0.107,2334,2681,3785,3838,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2405,-0.74,-145.9,2334,2681,3840,3732,335.4,-11.2,225,2410,0.00,2.00,0.00,0.000,260,0.000,0.121,2326,3795,3785,3838,3732,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2455,-0.74,-145.9,2327,3795,3840,3732,341.6,-12.5,235,2460,0.00,1.92,0.00,0.000,1030,0.000,0.073,2326,2680,3785,3838,3732,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2767,-0.74,-145.9,2327,2680,3839,3733,376.7,-11.2,247,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2680,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3065,-0.74,-145.9,2327,2680,3840,3732,409.9,-11.1,257,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3365,-0.74,-145.9,2326,2681,3839,3732,443.1,-11.1,267,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3665,-0.74,-145.9,2327,2680,3839,3732,476.2,-11.1,277,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2680,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-0.74,-145.9,2327,2680,3840,3732,509.1,-10.9,287,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2680,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4265,-0.74,-145.9,2327,2680,3838,3733,541.5,-10.8,297,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4565,-0.74,-145.9,2327,2680,3840,3733,572.9,-10.5,307,4570,0.00,2.00,0.00,0.000,260,0.000,0.121,2318,3787,3785,3838,3733,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4610,-0.74,-145.9,2319,3788,3839,3734,578.0,-11.1,316,4615,0.12,1.88,0.00,0.000,3078,0.288,0.072,2345,2675,3785,3838,3733,0,0,0,0,0,0,14.22,14.51,28.83
$GC,4927,-0.78,-145.9,2345,2675,3839,3734,608.2,-9.5,329,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2675,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5225,-0.81,-145.9,2345,2675,3840,3733,636.6,-9.5,339,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2675,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5525,-0.85,-145.9,2345,2675,3840,3733,665.1,-9.5,349,5530,0.00,2.03,0.00,0.000,260,0.000,0.120,2336,3795,3785,3838,3733,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5626,-0.85,-145.9,2337,3795,3839,3734,675.5,-10.2,369,5631,0.00,1.88,0.00,0.000,1030,0.000,0.072,2336,2680,3785,3837,3733,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5948,-0.88,-145.9,2337,2680,3840,3733,707.0,-9.8,383,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2680,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6246,-0.91,-145.9,2337,2679,3840,3734,736.0,-9.6,393,6248,0.12,0.00,0.00,0.000,4102,0.147,0.000,2287,2680,3785,3838,3733,0,0,0,0,0,0,14.62,28.83,28.83
$STATE,6364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6364,begin apogee
$GC,6369,-0.14,0.0,2285,3059,3838,3734,750.1,-11.8,397,6558,0.98,0.00,186.00,1.439,10246,0.264,0.000,2535,3057,3187,3277,3098,0,0,0,0,0,0,14.20,28.83,13.25
$STATE,6559,end apogee,CONTROL_FINISHED_OK
$STATE,6559,begin climb
$GC,6561,0.70,145.9,2536,3058,3274,3093,755.0,0.0,403,6697,0.93,0.00,130.02,1.700,10502,0.168,0.000,2805,3057,2582,2654,2510,0,0,0,0,0,0,13.81,28.83,12.74
$GC,6996,0.70,145.9,2805,3058,2644,2501,709.3,12.4,423,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2571,2643,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7296,0.70,145.9,2806,3058,2643,2501,672.6,12.2,433,7301,0.00,1.35,0.00,0.000,260,0.000,0.119,2804,3783,2569,2638,2500,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7341,0.67,145.9,2805,3784,2643,2501,666.6,14.0,442,7346,0.00,1.27,0.00,0.000,1030,0.000,0.074,2810,3052,2571,2642,2500,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7657,0.67,145.9,2811,3055,2642,2501,627.4,12.4,455,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7956,0.67,145.9,2811,3054,2643,2501,590.0,12.5,465,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,0.67,145.9,2811,3053,2643,2500,552.8,12.3,475,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3054,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8556,0.67,145.9,2814,3053,2643,2500,515.8,12.3,485,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8856,0.67,145.9,2811,3054,2642,2500,478.7,12.4,495,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2570,2642,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,0.67,145.9,2811,3054,2642,2500,442.0,12.2,505,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9456,0.67,145.9,2810,3053,2643,2499,405.6,12.1,515,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2570,2642,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9756,0.67,145.9,2811,3053,2643,2500,369.1,12.3,525,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2570,2642,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10056,0.67,145.9,2811,3053,2643,2500,333.1,11.8,535,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3051,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10356,0.67,159.0,2810,3053,2643,2500,299.2,10.9,545,10361,0.00,0.00,4.28,1.045,8198,0.000,0.000,2809,3053,2538,2613,2464,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10656,0.68,169.4,2811,3054,2649,2465,265.8,11.1,555,10674,0.00,0.00,16.80,1.186,8198,0.000,0.000,2810,3053,2496,2574,2418,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10956,0.71,212.2,2811,3053,2564,2405,234.1,9.3,575,10997,0.00,0.00,37.47,1.134,8198,0.000,0.000,2810,3052,2312,2384,2241,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11298,0.78,278.8,2811,3053,2368,2230,202.0,8.1,609,11361,0.00,2.50,56.85,1.087,8708,0.000,0.077,2820,1650,2041,2105,1978,0,0,0,0,0,0,28.83,14.24,13.72
$GC,11427,0.86,315.8,2821,1651,2094,1980,190.2,9.7,635,11468,0.15,2.53,33.33,1.073,11270,0.132,0.105,2886,3047,1887,1946,1829,0,0,0,0,0,0,14.31,14.24,13.66
$GC,11766,0.86,315.8,2887,3048,1932,1816,142.7,13.3,673,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3047,1873,1930,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12066,0.86,315.8,2887,3048,1930,1815,103.9,12.2,703,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3047,1872,1930,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12367,0.88,339.1,2887,3047,1930,1812,71.7,10.4,733,12378,0.00,1.42,8.62,0.340,8452,0.000,0.118,2886,3799,1808,1871,1745,0,0,0,0,0,0,28.83,14.31,13.99
$GC,12403,0.89,354.3,2887,3797,1890,1746,67.7,10.8,740,12420,0.00,1.30,11.00,0.350,9222,0.000,0.074,2890,3054,1744,1807,1681,0,0,0,0,0,0,28.83,14.34,14.01
$GC,12724,1.03,498.1,2890,3053,1836,1681,45.1,4.0,773,12815,0.00,2.53,82.20,0.309,8708,0.000,0.079,2898,1640,1162,1205,1120,0,0,0,0,0,0,28.83,14.16,13.99
$GC,12891,1.18,568.1,2898,1640,1224,1120,34.4,7.9,806,12938,0.22,2.60,41.22,0.272,11270,0.115,0.106,2981,3049,871,876,867,0,0,0,0,0,0,14.20,14.14,13.95
$FREEZE,8.85,-1.433,-1.431,2,15,0
$STATE,13134,end climb,FINISH_DEPTH_REACHED
$STATE,13134,begin subsurface finish
$FINISH1,8.9,1.021022,361
$GC,13141,0.25,361.0,2982,3049,898,868,8.9,10.9,835,13168,1.10,2.47,-21.25,0.000,20996,0.207,0.095,2675,1638,1715,1756,1675,0,0,0,0,0,0,14.04,14.14,14.45
$FINISH2,8.6
$STATE,13169,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13169,begin surface
$RAFOS_CLK,52
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.079394,0.079394
$HUMID,48.89
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3865920
$24V_AH,12.74,112.093
$10V_AH,12.62,0.000
$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,4.875,45.200,607.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10775.125,628.784,1719.809,166.321,0.000,1291.469,0.000,1260.566,1495.000,0.535,0.000
$DEVICE_MAMPS,307.530,142.290,1699.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13218.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.446,0.000,0.000,0.000
$MEM,178688
$DATA_FILE_SIZE,30104,840
$CAP_FILE_SIZE,135332,0
$CFSIZE,2097872896,2019262464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13139.06,0x2378b6,5,5
$SOUNDSPEED,1449.2
$GPS,170914,011422,7357.010,-14133.164,181,99.0,181,24.1