version: 66.12
glider: 198
mission: 5
dive: 357
start: 9 20 114 13 30 48
data:
$ID,198
$MISSION,5
$DIVE,357
$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,34
$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
$GPS1,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.93
$_SM_ANGLEo,-16.6
$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,-145.9,2678,2681,1755,1682,0.0,0.0,0,30,0.00,0.00,-12.10,0.000,16386,0.000,0.000,2677,2680,2406,2461,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2678,2681,2464,2352,16.5,0.0,1,62,0.90,2.03,-21.95,0.000,20740,0.069,0.138,2346,3787,3782,3835,3729,0,0,0,0,0,0,14.35,14.24,14.62
$GC,146,-0.62,-145.9,2347,3788,3836,3732,50.8,-28.2,24,153,0.17,1.90,0.00,0.000,3078,0.301,0.070,2383,2675,3783,3835,3732,0,0,0,0,0,0,14.05,14.35,28.83
$GC,452,-0.62,-145.9,2384,2675,3837,3732,105.6,-15.4,55,456,0.00,2.45,0.00,0.000,516,0.000,0.083,2383,1264,3783,3835,3732,0,0,0,0,0,0,28.83,14.31,28.83
$GC,502,-0.62,-145.9,2384,1264,3836,3733,113.3,-14.5,65,506,0.00,2.58,0.00,0.000,1030,0.000,0.104,2374,2683,3784,3836,3732,0,0,0,0,0,0,28.83,14.28,28.83
$GC,812,-0.62,-145.9,2375,2684,3836,3733,156.9,-13.1,97,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2684,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,-0.64,-145.9,2375,2684,3836,3732,195.9,-13.1,127,1116,0.00,2.42,0.00,0.000,516,0.000,0.081,2374,1271,3784,3836,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1152,-0.67,-145.9,2375,1271,3836,3733,201.0,-12.7,135,1157,0.00,2.55,0.00,0.000,1030,0.000,0.106,2374,2688,3783,3835,3732,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1463,-0.70,-145.9,2375,2688,3837,3732,235.8,-9.9,167,1468,0.00,2.00,0.00,0.000,260,0.000,0.123,2373,3795,3783,3835,3732,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1560,-0.73,-145.9,2374,3795,3837,3732,245.8,-10.9,186,1566,0.00,1.90,0.00,0.000,1030,0.000,0.072,2374,2676,3783,3835,3732,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1875,-0.77,-145.9,2374,2676,3837,3732,277.1,-9.9,200,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3783,3835,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,-0.81,-145.9,2375,2676,3836,3732,305.7,-9.2,210,2179,0.12,2.03,0.00,0.000,4356,0.149,0.120,2309,3787,3783,3835,3731,0,0,0,0,0,0,14.52,14.38,28.83
$GC,2265,-0.81,-145.9,2309,3788,3837,3731,317.2,-13.6,228,2270,0.00,1.88,0.00,0.000,1030,0.000,0.073,2309,2676,3783,3835,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2596,-0.81,-145.9,2310,2676,3837,3731,356.8,-12.0,244,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2675,3782,3835,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,-0.81,-145.9,2310,2676,3837,3731,392.6,-11.9,254,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2676,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.81,-145.9,2309,2676,3836,3732,428.2,-11.8,264,3199,0.00,2.40,0.00,0.000,516,0.000,0.081,2309,1266,3783,3836,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3229,-0.81,-145.9,2310,1266,3837,3731,432.3,-11.3,271,3234,0.00,2.55,0.00,0.000,1030,0.000,0.105,2305,2691,3783,3835,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3556,-0.81,-145.9,2306,2692,3836,3733,470.9,-11.9,286,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2691,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3854,-0.81,-145.9,2305,2691,3837,3730,506.9,-12.1,296,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2691,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4154,-0.81,-145.9,2306,2691,3837,3731,542.2,-11.6,306,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2691,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4455,-0.81,-145.9,2306,2691,3837,3732,577.0,-11.6,316,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2691,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4755,-0.81,-145.9,2306,2692,3836,3733,611.1,-11.5,326,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2690,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5055,-0.81,-145.9,2306,2692,3836,3733,645.3,-11.4,336,5059,0.00,2.42,0.00,0.000,516,0.000,0.078,2305,1272,3784,3836,3732,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5089,-0.81,-145.9,2306,1271,3837,3733,649.3,-11.1,343,5094,0.00,2.50,0.00,0.000,1030,0.000,0.104,2306,2681,3783,3835,3732,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5416,-0.81,-145.9,2306,2682,3836,3733,685.9,-11.2,358,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2681,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-0.81,-145.9,2305,2681,3837,3732,719.0,-11.0,368,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2681,3784,3835,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6012,begin apogee
$GC,6018,-0.14,0.0,2303,3055,3837,3733,752.1,-10.9,378,6158,0.90,0.00,132.32,2.470,10246,0.264,0.000,2535,3054,3187,3289,3085,0,0,0,0,1,0,14.16,28.83,12.69
$STATE,6159,end apogee,CONTROL_FINISHED_OK
$STATE,6159,begin climb
$GC,6161,0.70,145.9,2536,3055,3295,3090,755.4,0.0,382,6302,0.95,0.00,133.68,1.703,10502,0.164,0.000,2806,3054,2588,2673,2504,0,0,0,0,0,0,13.55,28.83,12.65
$GC,6617,0.70,145.9,2806,3054,2665,2497,707.5,12.4,423,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2580,2664,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6917,0.70,145.9,2806,3054,2665,2497,670.5,12.2,433,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2580,2664,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7217,0.70,145.9,2807,3055,2664,2498,633.9,12.1,443,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2580,2664,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7517,0.70,145.9,2807,3054,2664,2497,597.1,12.3,453,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3055,2580,2663,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7817,0.70,145.9,2806,3055,2665,2497,560.2,12.3,463,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2580,2663,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8117,0.70,145.9,2806,3054,2665,2496,523.7,12.1,473,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2579,2663,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8417,0.70,145.9,2807,3055,2666,2498,487.6,12.0,483,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2580,2663,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8717,0.70,145.9,2806,3055,2665,2497,451.9,11.8,493,8721,0.00,1.33,0.00,0.000,260,0.000,0.113,2806,3782,2580,2663,2497,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8772,0.67,145.9,2807,3782,2664,2498,444.7,12.9,504,8778,0.00,1.27,0.00,0.000,1030,0.000,0.069,2811,3040,2579,2663,2496,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9077,0.67,145.9,2811,3040,2665,2496,408.6,11.8,515,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3039,2579,2663,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9377,0.67,145.9,2812,3040,2663,2497,373.2,11.8,525,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3040,2580,2663,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9677,0.67,145.9,2812,3040,2664,2503,337.8,11.8,535,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3040,2580,2663,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9977,0.67,153.4,2813,3040,2664,2497,303.5,11.2,545,9981,0.00,0.00,2.70,0.775,8198,0.000,0.000,2811,3039,2559,2644,2474,0,0,0,0,0,0,28.83,28.83,13.47
$GC,10277,0.68,158.4,2811,3040,2670,2480,270.6,11.4,555,10288,0.00,0.00,10.12,1.290,8198,0.000,0.000,2811,3039,2540,2627,2453,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10577,0.71,209.2,2812,3041,2618,2448,239.8,8.9,571,10622,0.00,0.00,43.60,1.131,8454,0.000,0.000,2811,3040,2332,2415,2250,0,0,0,0,0,0,28.83,28.83,13.79
$GC,10917,0.76,253.5,2812,3040,2399,2239,208.3,9.3,606,10958,0.00,0.00,38.35,1.096,8198,0.000,0.000,2811,3039,2147,2227,2067,0,0,0,0,0,0,28.83,28.83,13.76
$GC,11258,0.82,284.1,2812,3043,2215,2058,174.8,10.0,640,11288,0.12,0.00,26.75,1.073,10246,0.144,0.000,2867,3038,2022,2098,1946,0,0,0,0,0,0,14.44,28.83,13.81
$GC,11588,0.82,287.8,2868,3039,2086,1937,134.8,11.4,673,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3038,2010,2084,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11887,0.85,326.4,2868,3040,2083,1937,102.6,9.6,703,11928,0.00,2.47,36.80,0.987,8708,0.000,0.075,2876,1642,1848,1919,1778,0,0,0,0,0,0,28.83,14.29,13.85
$GC,11960,0.92,370.1,2877,1642,1910,1778,95.8,9.3,714,11990,0.00,2.53,21.50,0.453,9222,0.000,0.101,2876,3048,1679,1744,1614,0,0,0,0,0,0,28.83,14.25,13.95
$GC,12289,0.97,394.6,2877,3048,1756,1615,61.1,10.3,750,12309,0.00,0.00,14.88,0.345,8198,0.000,0.000,2876,3048,1583,1653,1513,0,0,0,0,0,0,28.83,28.83,14.01
$GC,12610,1.12,513.2,2877,3049,1661,1513,39.6,5.3,782,12685,0.20,2.45,68.22,0.289,10756,0.112,0.073,2968,1645,1091,1133,1050,0,0,0,0,0,0,14.28,14.25,14.03
$GC,12831,1.25,599.7,2970,1645,1141,1051,21.9,7.0,826,12887,0.00,2.55,48.38,0.239,9222,0.000,0.101,2968,3057,739,743,735,0,0,0,0,0,0,28.83,14.21,14.04
$FREEZE,8.54,-1.620,-1.439,2,24,0
$STATE,13000,end climb,FINISH_DEPTH_REACHED
$STATE,13000,begin subsurface finish
$FINISH1,8.5,1.021141,355
$GC,13005,0.25,354.8,2970,3057,751,736,8.5,8.5,849,13038,1.02,2.45,-25.27,0.000,20996,0.187,0.092,2674,1645,1738,1776,1700,0,0,0,0,0,0,14.05,14.24,14.50
$FINISH2,8.6
$STATE,13038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13038,begin surface
$RAFOS_CLK,266
$RAFOS_FIX,7336.426270,-14240.136719,190914,121205,2,255,0.24
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.88
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3861888
$24V_AH,12.65,114.809
$10V_AH,12.40,0.000
$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,4.400,49.250,577.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10646.684,599.087,1741.359,174.277,0.000,1284.217,0.000,1282.207,1498.000,0.535,0.000
$DEVICE_MAMPS,301.410,137.700,2470.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13090.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.855,0.000,0.000,0.000
$MEM,174076
$DATA_FILE_SIZE,29984,855
$CAP_FILE_SIZE,134124,0
$CFSIZE,2097872896,2017525760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,13002.86,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1