version: 66.12
glider: 198
mission: 5
dive: 362
start: 9 21 114 7 44 25
data:
$ID,198
$MISSION,5
$DIVE,362
$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,15.88
$_SM_ANGLEo,-15.8
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.70,-145.9,2678,2690,1766,1682,0.0,0.0,0,30,0.00,0.00,-11.98,0.000,16386,0.000,0.000,2677,2689,2419,2479,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2678,2686,2481,2359,17.2,0.0,1,62,0.90,2.00,-21.30,0.000,20740,0.073,0.142,2349,3787,3782,3837,3728,0,0,0,0,0,0,14.33,14.23,14.60
$GC,286,-0.65,-145.9,2349,3788,3838,3730,85.2,-20.0,52,293,0.00,1.92,0.00,0.000,1030,0.000,0.070,2348,2684,3783,3837,3730,0,0,0,0,0,0,28.83,14.33,28.83
$GC,592,-0.65,-145.9,2349,2685,3837,3731,136.9,-16.0,83,597,0.12,2.03,0.00,0.000,2308,0.308,0.116,2366,3792,3783,3837,3730,0,0,0,0,0,0,14.14,14.31,28.83
$GC,802,-0.65,-145.9,2367,3793,3837,3731,169.7,-15.3,125,806,0.00,1.90,0.00,0.000,1030,0.000,0.070,2366,2673,3783,3837,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1116,-0.65,-145.9,2367,2673,3838,3730,212.1,-12.5,157,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2670,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-0.69,-145.9,2367,2673,3837,3730,247.7,-10.7,187,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2673,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-0.72,-145.9,2367,2675,3837,3731,278.1,-10.2,199,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2673,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2015,-0.76,-145.9,2367,2673,3838,3730,308.3,-9.9,209,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2673,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.80,-145.9,2368,2674,3838,3737,336.8,-9.2,219,2320,0.12,2.05,0.00,0.000,4356,0.153,0.117,2308,3787,3782,3837,3728,0,0,0,0,0,0,14.37,14.24,28.83
$GC,2375,-0.80,-145.9,2308,3790,3837,3730,344.2,-13.3,231,2380,0.00,1.90,0.00,0.000,1030,0.000,0.070,2308,2676,3783,3837,3729,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2705,-0.80,-145.9,2308,2676,3838,3729,383.8,-12.0,247,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3005,-0.80,-145.9,2308,2676,3838,3730,419.7,-11.9,257,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3781,3837,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3305,-0.80,-145.9,2308,2676,3838,3729,455.3,-11.9,267,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3605,-0.80,-145.9,2308,2676,3837,3729,490.9,-11.7,277,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2676,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3906,-0.80,-145.9,2308,2676,3839,3730,525.5,-11.5,287,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4205,-0.80,-145.9,2308,2676,3838,3730,559.9,-11.4,297,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4505,-0.80,-145.9,2308,2676,3838,3730,593.7,-11.3,307,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4805,-0.80,-145.9,2308,2676,3838,3731,627.5,-11.3,317,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2676,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,-0.80,-145.9,2308,2676,3838,3731,661.3,-11.3,327,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5405,-0.80,-145.9,2309,2677,3845,3732,695.1,-11.2,337,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2673,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5705,-0.80,-145.9,2309,2677,3838,3732,729.0,-11.3,347,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2676,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5913,begin apogee
$GC,5918,-0.14,0.0,2306,3054,3837,3733,752.5,-11.2,354,6052,0.90,0.00,131.38,1.696,10246,0.252,0.000,2539,3053,3186,3278,3095,0,0,0,0,0,0,14.17,28.83,13.27
$STATE,6053,end apogee,CONTROL_FINISHED_OK
$STATE,6053,begin climb
$GC,6055,0.70,145.9,2541,3054,3272,3088,755.8,0.0,358,6191,0.90,0.00,126.97,1.682,10502,0.164,0.000,2804,3054,2581,2654,2508,0,0,0,0,0,0,13.88,28.83,12.80
$GC,6485,0.70,145.9,2806,3055,2645,2499,711.4,12.1,398,6490,0.00,1.38,0.00,0.000,260,0.000,0.116,2804,3780,2571,2645,2498,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6530,0.67,145.9,2805,3780,2646,2498,705.5,13.3,407,6535,0.00,1.30,0.00,0.000,1030,0.000,0.070,2810,3047,2571,2644,2498,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6847,0.67,145.9,2811,3047,2644,2499,666.6,12.3,420,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2571,2644,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,0.67,145.9,2810,3047,2645,2498,629.9,12.2,430,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2571,2644,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7445,0.67,145.9,2811,3047,2645,2499,593.3,12.2,440,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2571,2644,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7745,0.67,145.9,2810,3047,2645,2497,556.5,12.2,450,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2570,2644,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8045,0.67,145.9,2811,3047,2645,2497,519.3,12.5,460,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2571,2644,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8345,0.67,145.9,2811,3046,2645,2498,482.5,12.2,470,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2570,2644,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8645,0.67,145.9,2811,3048,2645,2497,445.9,12.1,480,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2570,2644,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8945,0.67,145.9,2811,3047,2645,2498,409.8,12.0,490,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3046,2570,2644,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9245,0.67,145.9,2811,3047,2644,2498,374.3,11.9,500,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2569,2644,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9545,0.67,147.2,2811,3047,2645,2498,339.4,11.6,510,9550,0.00,1.38,0.00,0.000,260,0.000,0.115,2810,3786,2570,2643,2497,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9600,0.64,147.2,2811,3787,2645,2498,332.2,13.2,521,9606,0.00,1.27,0.00,0.000,1030,0.000,0.071,2816,3048,2570,2644,2497,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9905,0.64,147.2,2816,3048,2645,2498,295.9,11.7,532,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3048,2571,2644,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10205,0.65,170.2,2816,3049,2646,2497,263.3,10.4,542,10227,0.00,0.00,20.55,1.150,8198,0.000,0.000,2816,3048,2490,2567,2414,0,0,0,0,0,0,28.83,28.83,13.96
$GC,10505,0.69,216.6,2816,3048,2549,2398,232.5,9.2,562,10547,0.00,0.00,39.58,1.094,8198,0.000,0.000,2816,3048,2300,2372,2228,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10847,0.72,235.3,2816,3048,2353,2210,198.3,10.6,596,10867,0.00,2.45,15.00,1.077,8708,0.000,0.073,2826,1650,2220,2291,2150,0,0,0,0,0,0,28.83,14.43,13.87
$GC,10937,0.79,270.0,2827,1651,2281,2147,189.1,9.8,614,10973,0.00,2.53,31.00,1.042,9222,0.000,0.102,2826,3057,2085,2154,2016,0,0,0,0,0,0,28.83,14.20,13.78
$GC,11278,0.84,293.7,2826,3057,2132,1997,154.3,10.4,652,11300,0.10,0.00,20.25,1.023,10246,0.167,0.000,2873,3057,1989,2056,1922,0,0,0,0,0,0,14.44,28.83,13.85
$GC,11599,0.84,301.7,2874,3057,2034,1904,115.2,11.2,684,11605,0.00,2.50,1.52,0.224,8708,0.000,0.074,2880,1650,1955,2021,1889,0,0,0,0,0,0,28.83,14.32,14.19
$GC,11635,0.89,333.2,2881,1649,2035,1890,111.3,10.0,691,11675,0.00,2.53,34.30,0.976,9222,0.000,0.101,2880,3054,1821,1882,1761,0,0,0,0,0,0,28.83,14.29,13.83
$GC,11980,0.93,361.3,2881,3055,1865,1749,72.3,10.1,730,12001,0.00,2.50,12.23,0.357,8708,0.000,0.074,2889,1650,1722,1790,1654,0,0,0,0,0,0,28.83,14.27,13.98
$GC,12048,1.01,406.8,2890,1651,1808,1655,65.9,9.2,743,12083,0.00,2.55,28.67,0.356,9222,0.000,0.101,2889,3057,1526,1580,1472,0,0,0,0,0,0,28.83,14.19,13.95
$GC,12381,1.18,554.8,2890,3057,1609,1472,38.2,3.8,780,12475,0.22,2.45,84.65,0.282,10756,0.106,0.072,2990,1650,925,938,912,0,0,0,0,0,0,14.29,14.16,14.01
$FREEZE,8.66,-1.445,-1.432,2,29,0
$GC,12700,1.31,669.1,2990,1651,953,913,13.7,5.5,843,12763,0.00,2.55,58.45,0.208,9220,0.000,0.100,2989,3057,500,495,506,0,0,0,0,0,0,28.83,14.20,14.09
$STATE,12763,end climb,FINISH_DEPTH_REACHED
$STATE,12763,begin subsurface finish
$FINISH1,8.7,1.021034,360
$GC,12770,0.25,360.4,2990,3057,496,505,8.7,9.1,855,12812,1.10,2.50,-32.33,0.000,20996,0.203,0.095,2680,1650,1719,1771,1668,0,0,0,0,0,0,14.07,14.17,14.47
$FINISH2,7.9
$STATE,12812,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12812,begin surface
$RAFOS_CLK,783
$RAFOS_FIX,7322.304688,-14320.208008,210914,000027,2,255,0.26
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.05
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3859648
$24V_AH,12.80,116.236
$10V_AH,12.69,0.000
$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,4.375,42.300,604.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10430.316,593.218,1745.622,166.355,0.000,1293.616,0.000,1295.429,1496.000,0.535,0.000
$DEVICE_MAMPS,308.295,142.290,1696.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12865.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.276,0.000,0.000,0.000
$MEM,171548
$DATA_FILE_SIZE,30060,863
$CAP_FILE_SIZE,131862,0
$CFSIZE,2097872896,2016608256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12767.42,0x2378b6,5,5
$SOUNDSPEED,1448.1
$GPS,210914,000427,7322.305,-14320.208,0,2255.0,0,24.1