version: 66.12
glider: 198
mission: 5
dive: 352
start: 9 19 114 19 5 0
data:
$ID,198
$MISSION,5
$DIVE,352
$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,35
$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
$GPS1,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.11
$_SM_ANGLEo,-16.9
$GPS2,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,188.6,80131,-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,-145.9,2675,2689,1760,1683,0.0,0.0,0,30,0.00,0.00,-12.00,0.000,16386,0.000,0.000,2675,2688,2438,2494,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2675,2688,2498,2384,18.1,0.0,1,62,0.90,2.05,-20.50,0.000,20740,0.073,0.146,2346,3787,3784,3837,3732,0,0,0,0,0,0,14.35,14.25,14.61
$GC,286,-0.65,-145.9,2347,3786,3839,3734,88.0,-20.1,52,293,0.08,1.95,0.00,0.000,3078,0.285,0.071,2366,2678,3786,3838,3734,0,0,0,0,0,0,14.06,14.33,28.83
$GC,591,-0.65,-145.9,2367,2676,3838,3735,138.5,-15.9,83,596,0.00,2.05,0.00,0.000,260,0.000,0.122,2360,3789,3786,3838,3734,0,0,0,0,0,0,28.83,14.33,28.83
$GC,791,-0.65,-145.9,2361,3789,3839,3734,171.4,-16.5,123,796,0.00,1.90,0.00,0.000,1030,0.000,0.072,2360,2676,3786,3838,3734,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1102,-0.65,-145.9,2362,2677,3839,3734,215.9,-13.6,155,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2673,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-0.68,-145.9,2362,2677,3839,3734,249.9,-9.9,185,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2676,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-0.71,-145.9,2362,2677,3839,3735,281.4,-10.1,196,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2012,-0.74,-145.9,2361,2676,3839,3734,311.9,-9.9,206,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2312,-0.78,-145.9,2362,2677,3845,3735,340.5,-9.5,216,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2612,-0.82,-145.9,2362,2676,3838,3734,368.3,-9.1,226,2613,0.12,0.00,0.00,0.000,4102,0.158,0.000,2311,2676,3785,3838,3733,0,0,0,0,0,0,14.51,28.83,28.83
$GC,2912,-0.82,-145.9,2311,2676,3839,3733,401.4,-11.2,236,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2676,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3212,-0.82,-145.9,2312,2677,3839,3734,435.6,-11.4,246,3217,0.00,2.03,0.00,0.000,260,0.000,0.122,2304,3790,3785,3838,3733,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3259,-0.82,-145.9,2305,3790,3839,3734,441.6,-12.5,254,3264,0.00,1.95,0.00,0.000,1030,0.000,0.072,2304,2675,3783,3838,3729,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3581,-0.82,-145.9,2306,2676,3840,3734,479.9,-12.0,268,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2675,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.82,-145.9,2304,2676,3839,3734,515.7,-11.8,278,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2675,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.82,-145.9,2305,2675,3839,3734,550.4,-11.5,288,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2675,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.82,-145.9,2305,2675,3840,3734,585.1,-11.6,298,4485,0.00,2.42,0.00,0.000,516,0.000,0.082,2304,1275,3785,3838,3733,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4530,-0.82,-145.9,2305,1273,3839,3734,590.7,-11.2,308,4535,0.00,2.53,0.00,0.000,1030,0.000,0.104,2304,2681,3786,3838,3734,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4841,-0.82,-145.9,2306,2681,3839,3732,626.1,-11.4,320,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2681,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.82,-145.9,2305,2682,3838,3735,660.2,-11.2,330,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2681,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5440,-0.82,-145.9,2305,2682,3839,3735,693.7,-11.1,340,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2682,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,-0.82,-145.9,2305,2681,3839,3735,726.5,-10.9,350,5745,0.00,2.42,0.00,0.000,516,0.000,0.080,2304,1273,3786,3838,3734,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5785,-0.82,-145.9,2305,1274,3839,3735,731.4,-11.2,359,5790,0.00,2.53,0.00,0.000,1030,0.000,0.104,2304,2691,3786,3838,3734,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,5978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5978,begin apogee
$GC,5983,-0.14,0.0,2306,3052,3839,3735,752.4,-10.7,368,6117,0.90,0.00,131.38,1.720,10246,0.265,0.000,2535,3051,3183,3282,3085,0,0,0,0,0,0,14.16,28.83,13.19
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6121,0.70,145.9,2536,3052,3277,3079,755.1,0.0,372,6256,0.93,0.00,126.93,1.704,10502,0.169,0.000,2804,3051,2582,2663,2501,0,0,0,0,0,0,13.84,28.83,12.77
$GC,6550,0.70,145.9,2805,3051,2654,2495,708.5,12.6,412,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3052,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,0.70,145.9,2805,3051,2654,2494,671.2,12.4,422,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3051,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,0.70,145.9,2805,3052,2654,2494,633.8,12.6,432,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3051,2573,2653,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,0.70,145.9,2805,3052,2654,2494,596.5,12.5,442,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3051,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7750,0.70,145.9,2805,3052,2654,2494,559.5,12.4,452,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3052,2573,2653,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,0.70,145.9,2805,3052,2654,2494,522.7,12.2,462,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3052,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,0.70,145.9,2805,3052,2654,2494,486.0,12.2,472,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3051,2573,2653,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8650,0.70,145.9,2805,3051,2653,2494,449.6,12.1,482,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3051,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8950,0.70,145.9,2805,3052,2654,2494,413.9,11.9,492,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3052,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9250,0.70,145.9,2805,3052,2654,2493,378.4,11.8,502,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3052,2573,2653,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9550,0.70,145.9,2805,3052,2653,2494,343.2,11.7,512,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3051,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9850,0.70,152.1,2805,3052,2653,2494,308.3,11.3,522,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3051,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10150,0.72,174.0,2805,3052,2654,2494,276.4,10.5,532,10175,0.00,0.00,23.85,1.187,8198,0.000,0.000,2804,3051,2475,2559,2391,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10450,0.74,205.2,2805,3052,2543,2378,242.8,10.0,546,10481,0.00,0.00,26.85,1.147,8198,0.000,0.000,2804,3052,2340,2420,2261,0,0,0,0,0,0,28.83,28.83,13.89
$GC,10782,0.81,274.5,2805,3052,2410,2253,212.1,7.9,579,10851,0.12,2.53,59.95,1.088,10756,0.148,0.078,2875,1641,2055,2127,1984,0,0,0,0,0,0,14.46,14.20,13.77
$GC,10873,0.81,274.5,2876,1642,2121,1982,201.7,11.9,597,10878,0.00,2.55,0.00,0.000,1030,0.000,0.102,2875,3056,2051,2121,1982,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11183,0.81,274.5,2876,3057,2116,1975,161.2,12.9,629,11188,0.00,2.45,0.00,0.000,516,0.000,0.078,2885,1640,2045,2115,1975,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11217,0.81,274.5,2885,1641,2116,1975,156.9,11.9,636,11224,0.12,2.53,0.00,0.000,5126,0.261,0.103,2857,3049,2045,2116,1974,0,0,0,0,0,0,14.19,14.33,28.83
$GC,11524,0.82,282.4,2858,3049,2116,1973,121.8,11.2,667,11526,0.00,0.00,0.90,0.266,8198,0.000,0.000,2857,3049,2033,2106,1961,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11825,0.86,309.4,2859,3050,2116,1963,89.7,10.2,697,11845,0.00,2.50,15.60,0.416,8708,0.000,0.078,2868,1641,1924,1999,1850,0,0,0,0,0,0,28.83,14.38,14.03
$GC,11891,0.94,364.9,2868,1641,2029,1851,83.6,8.7,710,11930,0.00,2.53,32.10,0.413,9222,0.000,0.103,2868,3049,1699,1763,1636,0,0,0,0,0,0,28.83,14.28,14.01
$GC,12235,1.05,445.4,2868,3048,1784,1642,55.5,7.3,749,12287,0.15,1.40,46.17,0.338,10500,0.128,0.119,2941,3787,1373,1429,1317,0,0,0,0,0,0,14.32,14.23,14.03
$GC,12303,1.06,462.8,2941,3785,1440,1317,48.9,10.7,762,12319,0.00,1.30,11.18,0.310,9222,0.000,0.073,2945,3044,1299,1351,1247,0,0,0,0,0,0,28.83,14.21,14.00
$GC,12619,1.20,588.7,2946,3044,1375,1248,20.8,4.9,795,12698,0.00,2.47,70.50,0.235,8708,0.000,0.080,2945,1648,787,794,780,0,0,0,0,0,0,28.83,14.21,14.08
$FREEZE,8.75,-1.422,-1.427,2,19,0
$STATE,12803,end climb,FINISH_DEPTH_REACHED
$STATE,12803,begin subsurface finish
$FINISH1,8.8,1.020967,364
$GC,12812,0.25,363.9,2946,3048,804,780,8.8,8.1,832,12842,0.93,2.45,-23.48,0.000,20996,0.193,0.094,2680,1635,1703,1741,1665,0,0,0,0,0,0,14.08,14.21,14.49
$FINISH2,8.1
$STATE,12843,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12843,begin surface
$RAFOS_CLK,625
$RAFOS_FIX,7336.426270,-14240.136719,190914,121205,2,255,0.24
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.60
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3864128
$24V_AH,12.77,113.262
$10V_AH,12.66,0.000
$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,4.250,49.700,545.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10545.604,550.376,1705.955,164.407,0.000,1228.079,0.000,1249.657,1496.000,0.535,0.000
$DEVICE_MAMPS,284.580,146.115,1720.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12896.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.201,0.000,0.000,0.000
$MEM,176648
$DATA_FILE_SIZE,30034,838
$CAP_FILE_SIZE,130938,0
$CFSIZE,2097872896,2018541568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1