version: 66.12
glider: 198
mission: 5
dive: 360
start: 9 21 114 0 27 43
data:
$ID,198
$MISSION,5
$DIVE,360
$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,38
$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
$GPS1,210914,000427,7322.305,-14320.208,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.88
$_SM_ANGLEo,-17.4
$GPS2,210914,000427,7322.305,-14320.208,0,2255.0,0,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,183.4,46589,-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,17,-0.70,-145.9,2675,2681,1761,1682,0.0,0.0,0,30,0.00,0.00,-11.48,0.000,16386,0.000,0.000,2673,2681,2427,2489,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2674,2681,2491,2364,19.0,0.0,1,62,0.90,2.05,-20.17,0.000,20740,0.072,0.138,2347,3786,3783,3838,3728,0,0,0,0,0,0,14.27,14.23,14.57
$GC,282,-0.66,-145.9,2347,3787,3839,3731,83.9,-21.5,51,287,0.12,1.88,0.00,0.000,3078,0.300,0.069,2367,2678,3784,3838,3731,0,0,0,0,0,0,14.00,14.29,28.83
$GC,592,-0.66,-145.9,2371,2678,3839,3731,134.7,-14.7,83,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2678,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.66,-145.9,2372,2679,3839,3732,178.2,-13.3,113,896,0.00,2.40,0.00,0.000,516,0.000,0.080,2371,1278,3784,3838,3731,0,0,0,0,0,0,28.83,14.42,28.83
$GC,947,-0.68,-145.9,2372,1278,3839,3732,185.6,-13.1,124,953,0.00,2.53,0.00,0.000,1030,0.000,0.101,2362,2690,3784,3838,3731,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1252,-0.68,-145.9,2363,2690,3839,3732,224.9,-12.3,155,1256,0.00,2.00,0.00,0.000,260,0.000,0.119,2357,3794,3784,3838,3731,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1312,-0.68,-145.9,2362,3795,3839,3732,232.6,-13.1,167,1316,0.00,1.88,0.00,0.000,1030,0.000,0.070,2361,2678,3784,3838,3731,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1622,-0.71,-145.9,2362,2678,3839,3732,267.2,-11.0,189,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2677,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-0.75,-145.9,2362,2677,3839,3732,297.2,-9.8,199,1927,0.00,2.03,0.00,0.000,260,0.000,0.121,2361,3789,3784,3838,3731,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1957,-0.78,-145.9,2362,3790,3839,3732,300.8,-10.7,206,1962,0.00,1.88,0.00,0.000,1030,0.000,0.070,2361,2675,3784,3838,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2284,-0.81,-145.9,2362,2677,3839,3732,333.3,-10.1,221,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2582,-0.86,-145.9,2367,2676,3839,3731,363.1,-9.9,231,2587,0.12,2.03,0.00,0.000,4356,0.154,0.117,2305,3786,3784,3838,3730,0,0,0,0,0,0,14.52,14.38,28.83
$GC,2652,-0.86,-145.9,2302,3786,3839,3730,372.2,-13.2,245,2657,0.00,1.90,0.00,0.000,1030,0.000,0.070,2305,2679,3783,3837,3730,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2973,-0.86,-145.9,2305,2679,3839,3730,411.9,-12.4,259,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3272,-0.86,-145.9,2305,2679,3840,3730,448.8,-12.2,269,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2678,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-0.86,-145.9,2307,2679,3839,3731,485.1,-12.1,279,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3872,-0.86,-145.9,2306,2678,3839,3731,520.9,-11.8,289,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4172,-0.86,-145.9,2302,2678,3839,3731,555.9,-11.6,299,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2678,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4472,-0.86,-145.9,2306,2679,3839,3732,589.9,-11.4,309,4477,0.00,2.38,0.00,0.000,516,0.000,0.076,2305,1279,3783,3835,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4537,-0.86,-145.9,2306,1279,3839,3732,597.0,-11.6,322,4542,0.00,2.50,0.00,0.000,1030,0.000,0.100,2304,2684,3784,3838,3731,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4863,-0.86,-145.9,2306,2684,3839,3732,632.9,-11.2,337,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2684,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5162,-0.86,-145.9,2306,2685,3839,3733,666.3,-11.1,347,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2684,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5462,-0.86,-145.9,2306,2684,3839,3733,700.2,-11.3,357,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2684,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5762,-0.86,-145.9,2306,2684,3838,3733,733.9,-11.1,367,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2684,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5910,begin apogee
$GC,5915,-0.14,0.0,2304,3059,3840,3734,750.6,-11.2,372,6049,0.93,0.00,131.35,1.704,10246,0.263,0.000,2540,3058,3188,3278,3098,0,0,0,0,0,0,14.16,28.83,13.24
$STATE,6050,end apogee,CONTROL_FINISHED_OK
$STATE,6050,begin climb
$GC,6052,0.70,145.9,2541,3058,3272,3091,753.9,0.0,376,6189,0.90,1.40,128.23,1.694,10500,0.167,0.109,2803,3786,2581,2654,2509,0,0,0,0,0,0,13.86,13.43,12.78
$GC,6209,0.67,145.9,2804,3786,2646,2504,742.4,11.9,401,6215,0.00,1.35,0.00,0.000,1030,0.000,0.068,2808,3054,2573,2645,2502,0,0,0,0,0,0,28.83,13.59,28.83
$GC,6514,0.67,145.9,2808,3054,2644,2501,705.5,12.1,412,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3053,2571,2643,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6814,0.67,145.9,2807,3054,2644,2500,669.4,12.0,422,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7114,0.67,145.9,2808,3054,2644,2499,633.1,12.1,432,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2570,2643,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,0.67,145.9,2808,3054,2644,2500,596.8,12.1,442,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3053,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7714,0.67,145.9,2808,3054,2644,2500,561.0,12.0,452,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3053,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8014,0.67,145.9,2808,3058,2644,2499,525.3,11.9,462,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8314,0.67,145.9,2808,3055,2644,2499,489.8,11.8,472,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8614,0.67,145.9,2808,3054,2645,2499,454.2,12.0,482,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,0.67,145.9,2808,3054,2644,2499,418.1,12.1,492,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9214,0.67,145.9,2808,3054,2645,2499,382.0,11.9,502,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3053,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9514,0.67,145.9,2808,3054,2644,2499,346.2,11.9,512,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2643,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9814,0.67,145.9,2808,3054,2644,2499,310.4,11.7,522,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3051,2569,2643,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10114,0.67,149.0,2808,3053,2644,2499,275.7,11.5,532,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2644,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10416,0.69,176.6,2808,3054,2644,2501,243.8,10.2,546,10445,0.00,0.00,25.88,1.133,8198,0.000,0.000,2807,3054,2457,2533,2381,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10746,0.74,244.5,2807,3054,2521,2375,212.9,8.0,579,10806,0.00,0.00,58.15,1.067,8198,0.000,0.000,2807,3054,2188,2257,2119,0,0,0,0,0,0,28.83,28.83,13.78
$GC,11104,0.81,295.0,2808,3054,2236,2098,180.8,8.9,615,11154,0.12,0.00,43.58,1.032,10758,0.148,0.000,2862,3053,1973,2037,1909,0,0,0,0,0,0,14.42,28.83,13.78
$GC,11454,0.82,301.9,2863,3054,2024,1899,140.2,11.3,652,11459,0.00,2.40,0.00,0.000,516,0.000,0.074,2872,1647,1961,2024,1898,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11526,0.86,326.8,2872,1647,2021,1898,132.9,10.3,666,11560,0.00,2.53,27.42,0.996,9222,0.000,0.100,2872,3052,1846,1906,1786,0,0,0,0,0,0,28.83,14.33,13.81
$GC,11865,0.89,326.8,2872,3052,1890,1774,91.7,12.4,704,11869,0.00,2.45,0.00,0.000,516,0.000,0.075,2880,1639,1831,1889,1773,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11915,0.95,352.4,2881,1639,1891,1773,86.3,10.3,714,11930,0.00,2.55,10.93,0.386,9222,0.000,0.101,2881,3052,1749,1808,1690,0,0,0,0,0,0,28.83,14.24,13.96
$GC,12237,1.05,441.7,2882,3052,1839,1691,54.2,6.9,748,12296,0.15,0.00,52.62,0.329,10246,0.128,0.000,2947,3051,1389,1442,1336,0,0,0,0,0,0,14.27,28.83,14.02
$GC,12595,1.20,592.4,2948,3052,1455,1337,29.7,3.6,784,12692,0.00,1.38,84.57,0.262,8452,0.000,0.112,2948,3783,771,772,771,0,0,0,0,0,0,28.83,14.14,13.99
$GC,12794,1.29,609.7,2947,3782,784,772,16.1,10.7,821,12810,0.12,1.27,10.15,0.216,11270,0.083,0.072,3014,3054,702,700,704,0,0,0,0,0,0,14.20,14.19,14.02
$FREEZE,8.61,-1.448,-1.432,2,27,0
$STATE,12857,end climb,FINISH_DEPTH_REACHED
$STATE,12857,begin subsurface finish
$FINISH1,8.6,1.021041,360
$GC,12862,0.25,360.0,3016,3056,720,706,8.6,12.1,829,12895,1.23,2.53,-26.70,0.000,20996,0.220,0.097,2680,1638,1723,1764,1682,0,0,0,0,0,0,14.00,14.18,14.42
$FINISH2,7.8
$STATE,12896,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12896,begin surface
$RAFOS_CLK,20
$RAFOS_FIX,7322.304688,-14320.208008,210914,000027,2,255,0.26
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.080143,0.080143
$HUMID,48.85
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3860544
$24V_AH,12.78,115.678
$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,4.600,45.850,572.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10554.778,590.455,1711.882,169.690,0.000,1265.135,0.000,1254.244,1499.000,0.535,0.000
$DEVICE_MAMPS,299.880,138.465,1704.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.498,0.000,0.000,0.000
$MEM,172568
$DATA_FILE_SIZE,30064,835
$CAP_FILE_SIZE,132181,0
$CFSIZE,2097872896,2016968704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12859.50,0x2378b6,5,5
$SOUNDSPEED,1448.6
$GPS,210914,000427,7322.305,-14320.208,0,2255.0,0,24.1