version: 66.12
glider: 198
mission: 5
dive: 355
start: 9 20 114 6 8 43
data:
$ID,198
$MISSION,5
$DIVE,355
$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,14.99
$_SM_ANGLEo,-17.1
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.70,-145.9,2678,2683,1765,1689,0.0,0.0,0,31,0.00,0.00,-12.30,0.000,16386,0.000,0.000,2677,2682,2415,2468,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.70,-145.9,2678,2683,2471,2359,16.0,0.0,1,63,0.90,2.03,-22.17,0.000,20740,0.072,0.138,2348,3796,3782,3837,3728,0,0,0,0,0,0,14.35,14.26,14.61
$GC,153,-0.61,-145.9,2348,3796,3838,3729,52.6,-30.3,25,158,0.17,1.90,0.00,0.000,3078,0.310,0.070,2384,2677,3783,3837,3729,0,0,0,0,0,0,14.03,14.35,28.83
$GC,463,-0.61,-145.9,2385,2677,3838,3731,110.3,-15.8,57,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2677,3782,3837,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,763,-0.61,-145.9,2385,2677,3839,3731,152.6,-13.4,87,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2676,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1063,-0.64,-145.9,2385,2674,3839,3730,191.0,-12.5,117,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2676,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.68,-145.9,2385,2676,3839,3730,226.8,-11.2,147,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.72,-145.9,2385,2676,3837,3730,255.8,-9.3,173,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1963,-0.77,-145.9,2384,2676,3838,3733,283.0,-8.7,183,1964,0.15,0.00,0.00,0.000,4102,0.138,0.000,2325,2676,3783,3837,3730,0,0,0,0,0,0,14.43,28.83,28.83
$GC,2263,-0.77,-145.9,2326,2677,3838,3731,318.0,-11.8,193,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,-0.77,-145.9,2325,2676,3838,3727,352.9,-11.3,203,2568,0.00,2.05,0.00,0.000,260,0.000,0.122,2316,3793,3783,3837,3730,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2628,-0.77,-145.9,2317,3793,3838,3730,360.7,-12.6,216,2633,0.00,1.88,0.00,0.000,1030,0.000,0.073,2316,2683,3783,3837,3730,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2954,-0.77,-145.9,2317,2683,3839,3730,397.7,-11.3,231,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.77,-145.9,2317,2684,3838,3731,431.0,-11.1,241,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3553,-0.77,-145.9,2317,2684,3838,3733,464.5,-11.1,251,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2683,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3853,-0.77,-145.9,2317,2683,3839,3730,498.1,-11.2,261,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2682,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4153,-0.77,-145.9,2316,2684,3839,3730,532.1,-11.3,271,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,-0.77,-145.9,2317,2685,3838,3731,565.4,-11.1,281,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4753,-0.77,-145.9,2317,2684,3839,3732,598.1,-10.8,291,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5053,-0.77,-145.9,2317,2684,3838,3732,630.0,-10.5,301,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5353,-0.77,-145.9,2317,2683,3839,3732,661.7,-10.6,311,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,-0.77,-145.9,2317,2684,3839,3732,692.4,-10.3,321,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5953,-0.77,-145.9,2313,2684,3838,3733,722.6,-10.0,331,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2683,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6251,begin apogee
$GC,6256,-0.14,0.0,2314,3059,3846,3733,752.7,-10.0,341,6449,0.85,0.00,190.12,1.411,10246,0.253,0.000,2535,3059,3186,3289,3083,0,0,0,0,0,0,14.18,28.83,13.24
$STATE,6450,end apogee,CONTROL_FINISHED_OK
$STATE,6450,begin climb
$GC,6452,0.70,145.9,2536,3060,3285,3078,757.3,0.0,347,6588,0.93,1.40,127.68,1.687,10500,0.166,0.116,2804,3778,2582,2668,2496,0,0,0,0,0,0,13.80,13.37,12.74
$GC,6730,0.67,145.9,2804,3778,2658,2489,728.6,14.2,402,6734,0.00,1.33,0.00,0.000,1030,0.000,0.071,2810,3052,2573,2657,2489,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7056,0.67,145.9,2810,3052,2658,2489,687.3,12.7,417,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3052,2571,2653,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7355,0.67,145.9,2810,3052,2658,2488,649.9,12.5,427,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3051,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,0.67,145.9,2810,3052,2658,2488,612.9,12.4,437,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3052,2571,2654,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7955,0.67,145.9,2810,3053,2657,2487,575.2,12.5,447,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3052,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8255,0.67,145.9,2810,3053,2657,2489,537.9,12.3,457,8259,0.00,1.38,0.00,0.000,260,0.000,0.117,2810,3786,2572,2656,2488,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8290,0.63,145.9,2810,3786,2656,2489,533.3,13.1,464,8294,0.00,1.27,0.00,0.000,1030,0.000,0.073,2816,3054,2570,2656,2485,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8616,0.63,145.9,2816,3050,2657,2488,492.7,12.5,479,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,0.63,145.9,2816,3050,2656,2489,455.8,12.3,489,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3049,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9215,0.63,145.9,2817,3051,2657,2489,418.5,12.4,499,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3050,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9515,0.63,145.9,2816,3050,2656,2489,381.4,12.4,509,9519,0.00,1.38,0.00,0.000,260,0.000,0.117,2815,3787,2572,2656,2488,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9550,0.59,145.9,2816,3788,2656,2489,376.8,13.5,516,9555,0.12,1.27,0.00,0.000,5126,0.247,0.073,2790,3050,2572,2656,2488,0,0,0,0,0,0,14.20,14.52,28.83
$GC,9875,0.60,160.6,2788,3050,2657,2489,340.9,10.8,531,9888,0.00,0.00,12.00,1.264,8198,0.000,0.000,2787,3050,2530,2617,2443,0,0,0,0,0,0,28.83,28.83,13.92
$GC,10175,0.62,181.3,2787,3050,2605,2431,309.1,10.5,541,10195,0.00,0.00,18.62,1.221,8198,0.000,0.000,2786,3050,2447,2536,2358,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10477,0.66,202.9,2787,3050,2520,2344,277.5,10.5,551,10500,0.00,2.40,18.88,1.186,8708,0.000,0.075,2796,1638,2350,2435,2266,0,0,0,0,0,0,28.83,14.48,13.88
$GC,10520,0.72,242.3,2803,1639,2427,2263,272.7,9.5,560,10560,0.00,2.53,34.25,1.153,9222,0.000,0.103,2796,3056,2193,2274,2112,0,0,0,0,0,0,28.83,14.42,13.74
$GC,10865,0.78,267.4,2797,3057,2257,2098,234.8,10.3,587,10891,0.12,2.50,21.50,1.134,10756,0.139,0.077,2863,1646,2088,2168,2008,0,0,0,0,0,0,14.48,14.39,13.80
$GC,10936,0.78,267.4,2863,1646,2157,2004,225.9,12.9,601,10941,0.00,2.53,0.00,0.000,1030,0.000,0.102,2863,3049,2079,2155,2003,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11246,0.78,267.4,2863,3049,2161,1999,182.8,13.5,633,11251,0.00,2.42,0.00,0.000,516,0.000,0.076,2872,1647,2075,2152,1998,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11266,0.78,267.4,2873,1647,2153,2000,180.2,12.8,637,11272,0.12,2.53,0.00,0.000,5126,0.264,0.103,2845,3049,2075,2152,1999,0,0,0,0,0,0,14.21,14.38,28.83
$GC,11578,0.79,285.7,2846,3050,2148,1999,145.1,10.7,669,11598,0.00,0.00,15.60,1.078,8710,0.000,0.000,2845,3049,2012,2090,1934,0,0,0,0,0,0,28.83,28.83,13.91
$GC,11898,0.84,313.7,2846,3049,2079,1927,111.2,10.1,702,11928,0.00,0.00,24.90,1.025,8198,0.000,0.000,2845,3049,1899,1975,1824,0,0,0,0,0,0,28.83,28.83,13.86
$GC,12228,0.92,370.9,2845,3049,1962,1816,79.8,8.6,735,12263,0.12,2.45,28.12,0.401,10756,0.143,0.077,2915,1649,1680,1753,1608,0,0,0,0,0,0,14.33,14.29,13.97
$GC,12303,0.92,375.8,2916,1649,1770,1609,71.6,11.4,750,12314,0.00,2.55,5.43,0.304,9222,0.000,0.104,2916,3054,1655,1726,1585,0,0,0,0,0,0,28.83,14.23,13.95
$GC,12620,1.01,464.0,2916,3056,1748,1589,44.4,6.9,783,12680,0.00,2.53,51.50,0.304,8708,0.000,0.079,2924,1641,1300,1361,1239,0,0,0,0,0,0,28.83,14.21,14.04
$GC,12760,1.09,495.5,2925,1641,1374,1239,32.1,10.0,811,12785,0.00,2.55,19.10,0.266,9222,0.000,0.104,2924,3049,1168,1218,1118,0,0,0,0,0,0,28.83,14.20,14.04
$GC,13090,1.25,595.2,2925,3049,1241,1119,14.9,6.3,847,13152,0.20,2.53,55.78,0.214,10756,0.120,0.079,3014,1642,758,765,752,0,0,0,0,0,0,14.29,14.23,14.07
$FREEZE,8.36,-1.433,-1.432,2,22,0
$STATE,13156,end climb,FINISH_DEPTH_REACHED
$STATE,13157,begin subsurface finish
$FINISH1,8.4,1.021037,360
$GC,13164,0.25,360.2,3015,3051,772,753,8.4,10.5,860,13198,1.23,2.50,-25.52,0.000,20996,0.216,0.099,2676,1644,1721,1757,1686,0,0,0,0,0,0,14.07,14.24,14.50
$FINISH2,7.9
$STATE,13198,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13198,begin surface
$RAFOS_CLK,426
$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,49.52
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3862784
$24V_AH,12.74,114.181
$10V_AH,12.65,0.000
$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,4.925,51.125,623.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10754.550,623.963,1772.751,170.309,0.000,1325.624,0.000,1302.104,1496.000,0.535,0.000
$DEVICE_MAMPS,309.825,138.465,1686.825,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.965,0.000,0.000,0.000
$MEM,175096
$DATA_FILE_SIZE,30086,867
$CAP_FILE_SIZE,137523,0
$CFSIZE,2097872896,2017918976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1