version: 66.12
glider: 198
mission: 5
dive: 353
start: 9 19 114 22 41 49
data:
$ID,198
$MISSION,5
$DIVE,353
$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,33
$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
$GPS1,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.26
$_SM_ANGLEo,-17.5
$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,-145.9,2677,2682,1744,1665,0.0,0.0,0,30,0.00,0.00,-11.73,0.000,16386,0.000,0.000,2677,2682,2373,2428,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2678,2682,2430,2318,16.7,0.0,1,62,0.93,2.00,-22.17,0.000,20740,0.073,0.138,2342,3787,3782,3836,3728,0,0,0,0,0,0,14.28,14.23,14.59
$GC,287,-0.65,-145.9,2343,3787,3838,3731,84.6,-20.0,52,293,0.12,1.95,0.00,0.000,3078,0.288,0.072,2373,2670,3783,3836,3730,0,0,0,0,0,0,14.01,14.32,28.83
$GC,592,-0.65,-145.9,2374,2670,3838,3731,131.3,-14.5,83,596,0.00,2.05,0.00,0.000,260,0.000,0.122,2373,3786,3783,3837,3730,0,0,0,0,0,0,28.83,14.29,28.83
$GC,792,-0.65,-145.9,2374,3786,3838,3731,162.3,-15.2,123,796,0.00,1.90,0.00,0.000,1030,0.000,0.072,2373,2673,3783,3836,3731,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1102,-0.67,-145.9,2374,2673,3837,3732,203.6,-12.6,155,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2670,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-0.70,-145.9,2374,2672,3837,3732,238.9,-10.4,185,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2672,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,-0.74,-145.9,2374,2673,3837,3732,268.8,-10.1,203,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2672,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,-0.78,-145.9,2374,2673,3838,3730,297.4,-9.2,213,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2672,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,-0.83,-145.9,2374,2673,3837,3731,324.0,-8.7,223,2303,0.15,0.00,0.00,0.000,4102,0.139,0.000,2314,2672,3783,3836,3731,0,0,0,0,0,0,14.55,28.83,28.83
$GC,2602,-0.83,-145.9,2314,2672,3845,3730,358.6,-11.8,233,2607,0.00,2.05,0.00,0.000,260,0.000,0.121,2306,3787,3783,3836,3730,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2692,-0.83,-145.9,2306,3788,3838,3730,370.3,-12.6,251,2696,0.00,1.90,0.00,0.000,1030,0.000,0.073,2305,2676,3783,3836,3731,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3023,-0.83,-145.9,2306,2675,3838,3731,410.5,-12.0,267,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2675,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-0.83,-145.9,2307,2676,3837,3731,446.3,-11.9,277,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2675,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,-0.83,-145.9,2307,2676,3837,3731,482.3,-11.9,287,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2675,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.83,-145.9,2306,2675,3837,3731,517.5,-11.6,297,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2675,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4222,-0.83,-145.9,2306,2675,3838,3730,552.0,-11.5,307,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2675,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4522,-0.83,-145.9,2307,2676,3837,3732,586.2,-11.3,317,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2675,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,-0.83,-145.9,2307,2675,3838,3727,620.1,-11.3,327,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2676,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5122,-0.83,-145.9,2306,2675,3838,3732,653.5,-11.2,337,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2675,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.83,-145.9,2307,2676,3837,3733,686.3,-11.0,347,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2675,3785,3836,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5722,-0.83,-145.9,2307,2676,3837,3733,719.1,-11.0,357,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2678,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6020,begin apogee
$GC,6025,-0.14,0.0,2304,3051,3838,3733,751.8,-10.9,367,6161,0.90,0.00,132.98,1.706,10246,0.257,0.000,2535,3050,3182,3285,3079,0,0,0,0,0,0,14.05,28.83,13.15
$STATE,6162,end apogee,CONTROL_FINISHED_OK
$STATE,6162,begin climb
$GC,6164,0.70,145.9,2536,3050,3281,3075,754.8,0.0,371,6298,0.93,0.00,127.30,1.703,10502,0.169,0.000,2804,3050,2589,2674,2505,0,0,0,0,0,0,13.79,28.83,12.74
$GC,6592,0.70,145.9,2801,3052,2660,2493,710.1,12.1,401,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3050,2575,2658,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6892,0.70,145.9,2804,3051,2660,2492,673.1,12.3,411,6896,0.00,1.38,0.00,0.000,260,0.000,0.118,2803,3787,2574,2656,2492,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6952,0.67,145.9,2805,3789,2660,2492,665.1,14.5,423,6956,0.00,1.30,0.00,0.000,1030,0.000,0.073,2809,3044,2575,2659,2491,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7283,0.67,145.9,2809,3044,2660,2491,624.4,12.3,439,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3044,2575,2659,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7582,0.67,145.9,2810,3045,2660,2492,587.2,12.4,449,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3044,2575,2659,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7882,0.67,145.9,2811,3044,2659,2492,550.9,12.1,459,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3044,2575,2659,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8182,0.67,145.9,2810,3043,2660,2491,515.1,11.9,469,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3044,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8482,0.67,145.9,2810,3044,2659,2492,479.0,12.0,479,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3044,2573,2658,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8782,0.67,145.9,2810,3044,2659,2491,442.9,12.0,489,8786,0.00,1.38,0.00,0.000,260,0.000,0.117,2809,3783,2575,2659,2491,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8852,0.63,145.9,2810,3784,2659,2492,433.7,13.4,503,8856,0.00,1.27,0.00,0.000,1030,0.000,0.073,2815,3044,2574,2658,2491,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9173,0.63,145.9,2815,3044,2660,2491,395.6,11.7,517,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3043,2575,2659,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9472,0.64,147.6,2816,3045,2659,2492,360.8,11.5,527,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3044,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9772,0.64,151.4,2816,3045,2659,2492,326.5,11.4,537,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3044,2575,2659,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10072,0.65,170.6,2816,3045,2659,2492,293.8,10.6,547,10095,0.00,0.00,21.73,1.203,8198,0.000,0.000,2815,3044,2488,2574,2402,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10372,0.66,182.7,2815,3044,2558,2387,260.4,11.0,557,10382,0.00,2.40,4.03,0.996,8708,0.000,0.079,2823,1636,2445,2538,2353,0,0,0,0,0,0,28.83,14.54,13.78
$GC,10422,0.68,205.8,2823,1636,2560,2354,255.0,10.4,567,10457,0.00,2.50,27.83,1.156,9222,0.000,0.103,2823,3049,2337,2421,2253,0,0,0,0,0,0,28.83,14.42,13.87
$GC,10763,0.70,235.6,2824,3048,2409,2246,217.4,10.0,603,10794,0.00,1.40,25.12,1.118,8452,0.000,0.116,2823,3793,2218,2298,2138,0,0,0,0,0,0,28.83,14.38,13.82
$GC,10868,0.70,235.6,2824,3793,2289,2129,205.7,11.9,624,10875,0.00,1.30,0.00,0.000,1030,0.000,0.071,2827,3050,2208,2288,2129,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11175,0.76,287.8,2828,3049,2288,2129,177.0,8.8,655,11235,0.00,0.00,56.83,1.011,8198,0.000,0.000,2827,3050,2008,2087,1930,0,0,0,0,0,0,28.83,28.83,13.80
$GC,11534,0.82,322.8,2828,3050,2071,1923,140.9,9.8,691,11570,0.00,2.50,31.80,1.028,8708,0.000,0.079,2835,1642,1862,1934,1790,0,0,0,0,0,0,28.83,14.26,13.81
$GC,11675,0.91,352.8,2836,1642,1917,1788,127.2,10.0,719,11707,0.15,2.53,26.23,1.013,11270,0.132,0.104,2901,3049,1744,1808,1681,0,0,0,0,0,0,14.37,14.29,13.76
$GC,12005,0.91,352.8,2901,3049,1789,1665,82.6,13.0,755,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3049,1726,1788,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12305,1.00,442.2,2902,3049,1788,1662,53.8,6.9,785,12357,0.00,2.50,46.35,0.333,8708,0.000,0.075,2909,1648,1386,1444,1328,0,0,0,0,0,0,28.83,14.28,14.04
$GC,12437,1.12,518.6,2910,1648,1464,1329,43.7,7.6,811,12488,0.12,2.53,44.28,0.301,11270,0.147,0.101,2961,3049,1075,1115,1035,0,0,0,0,0,0,14.28,14.22,14.02
$GC,12787,1.24,613.2,2962,3050,1133,1035,11.1,6.6,851,12847,0.00,0.00,53.60,0.208,8710,0.000,0.000,2962,3049,687,693,681,0,0,0,0,0,0,28.83,28.83,14.11
$FREEZE,7.67,-1.439,-1.432,2,20,1
$FREEZE,6.76,-1.440,-1.431,2,20,1
$FREEZE,6.33,-1.437,-1.431,2,20,1
$FREEZE,6.11,-1.440,-1.431,2,20,1
$FREEZE,6.00,-1.439,-1.431,2,20,1
$FREEZE,5.95,-1.440,-1.431,2,20,1
$FREEZE,5.95,-1.440,-1.431,2,20,1
$FREEZE,5.92,-1.440,-1.431,2,20,1
$FREEZE,5.89,-1.440,-1.431,2,20,1
$FREEZE,5.85,-1.440,-1.430,2,20,1
$FREEZE,5.68,-1.355,-1.426,2,20,1
$FREEZE,5.12,-1.311,-1.424,2,20,1
$FREEZE,5.17,-1.439,-1.430,2,20,1
$FREEZE,5.09,-1.438,-1.430,2,20,1
$FREEZE,4.98,-1.438,-1.430,2,20,1
$FREEZE,5.09,-1.438,-1.430,2,20,1
$FREEZE,5.12,-1.439,-1.430,2,20,1
$FREEZE,5.07,-1.439,-1.430,2,20,1
$FREEZE,5.03,-1.439,-1.430,2,20,1
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$STATE,13368,end climb,NO_VERTICAL_VELOCITY
$STATE,13368,begin subsurface finish
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$FINISH2,4.3
$STATE,13382,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13383,begin surface
$RAFOS_CLK,559
$RAFOS_FIX,7336.426270,-14240.136719,190914,121205,2,255,0.24
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.043442,0.043442
$HUMID,50.15
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3863680
$24V_AH,12.74,113.573
$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,5.125,42.600,624.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10831.064,610.949,1890.790,172.052,0.000,1343.918,0.000,1401.346,1432.000,0.535,0.000
$DEVICE_MAMPS,287.640,137.700,1705.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.009,0.000,0.000,0.000
$MEM,176116
$DATA_FILE_SIZE,33363,936
$CAP_FILE_SIZE,141177,0
$CFSIZE,2097872896,2018279424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1