version: 66.12
glider: 198
mission: 5
dive: 364
start: 9 21 114 15 12 2
data:
$ID,198
$MISSION,5
$DIVE,364
$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,-6535.2744
$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,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,-14320.208,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-55.4
$GPS2,210914,000427,7322.305,-14320.208,181,99.0,181,24.1
$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,18,-0.70,-145.9,200,2681,473,526,0.0,0.0,0,51,0.00,0.00,-31.70,0.000,16386,0.000,0.000,199,2681,1307,1308,1307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.70,-145.9,200,2682,1310,1308,3.0,-0.6,3,173,10.70,2.45,-98.88,0.000,18948,0.422,0.108,2352,1274,3781,3836,3727,0,0,0,0,0,0,13.97,14.32,14.61
$GC,397,-0.66,-145.9,2353,1274,3837,3730,72.7,-18.8,72,404,0.10,2.55,0.00,0.000,3078,0.350,0.102,2369,2686,3783,3836,3730,0,0,0,0,0,0,14.02,14.24,28.83
$GC,703,-0.66,-145.9,2369,2687,3837,3730,124.3,-15.2,103,707,0.00,2.45,0.00,0.000,516,0.000,0.080,2368,1270,3782,3836,3728,0,0,0,0,0,0,28.83,14.35,28.83
$GC,807,-0.66,-145.9,2370,1271,3837,3731,139.2,-14.1,124,814,0.00,2.55,0.00,0.000,1030,0.000,0.101,2361,2685,3783,3836,3730,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1113,-0.66,-145.9,2362,2686,3836,3731,184.3,-13.8,155,1117,0.00,2.00,0.00,0.000,260,0.000,0.119,2360,3787,3782,3836,3729,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1167,-0.66,-145.9,2361,3787,3837,3730,192.2,-14.1,166,1173,0.00,1.92,0.00,0.000,1030,0.000,0.069,2360,2677,3783,3836,3730,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1473,-0.66,-145.9,2360,2677,3837,3731,233.5,-11.9,197,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2674,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1773,-0.68,-145.9,2361,2675,3836,3730,267.5,-11.3,217,1777,0.00,2.05,0.00,0.000,260,0.000,0.121,2360,3795,3783,3836,3730,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1884,-0.70,-145.9,2361,3795,3837,3731,280.2,-11.5,239,1889,0.00,1.92,0.00,0.000,1030,0.000,0.070,2360,2663,3783,3836,3730,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2196,-0.74,-145.9,2361,2663,3837,3730,311.8,-9.8,251,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2663,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,-0.77,-145.9,2361,2662,3837,3730,340.4,-9.7,261,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2663,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-0.81,-145.9,2361,2663,3837,3730,368.6,-9.3,271,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2663,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3097,-0.85,-145.9,2361,2663,3839,3731,395.8,-9.1,281,3098,0.15,0.00,0.00,0.000,4102,0.135,0.000,2301,2663,3783,3836,3730,0,0,0,0,0,0,14.42,28.83,28.83
$GC,3394,-0.85,-145.9,2303,2663,3836,3731,431.6,-12.0,291,3399,0.00,2.08,0.00,0.000,260,0.000,0.116,2293,3794,3782,3835,3730,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3479,-0.82,-145.9,2294,3799,3836,3731,443.0,-13.9,308,3485,0.12,1.90,0.00,0.000,3078,0.314,0.068,2316,2676,3783,3836,3730,0,0,0,0,0,0,14.01,14.38,28.83
$GC,3786,-0.82,-145.9,2317,2676,3837,3731,476.9,-11.1,319,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2676,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4084,-0.82,-145.9,2315,2676,3837,3731,510.0,-11.1,329,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4384,-0.82,-145.9,2317,2677,3837,3732,543.0,-10.9,339,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3783,3835,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4684,-0.82,-145.9,2317,2678,3836,3733,575.6,-10.7,349,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4984,-0.82,-145.9,2317,2677,3837,3733,607.7,-10.6,359,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5284,-0.82,-145.9,2316,2676,3837,3733,639.5,-10.5,369,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5584,-0.82,-145.9,2317,2677,3837,3734,670.9,-10.5,379,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2676,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-0.82,-145.9,2318,2676,3837,3733,702.3,-10.5,389,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3787,3836,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,-0.82,-145.9,2317,2676,3838,3733,733.6,-10.4,399,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6362,begin apogee
$GC,6367,-0.14,0.0,2315,3054,3837,3734,752.3,-10.4,405,6561,0.85,0.00,189.98,1.403,10246,0.252,0.000,2536,3054,3186,3277,3095,0,0,0,0,0,0,14.15,28.83,13.25
$STATE,6562,end apogee,CONTROL_FINISHED_OK
$STATE,6562,begin climb
$GC,6564,0.70,145.9,2537,3055,3275,3093,756.9,0.0,411,6699,0.90,0.00,129.57,1.671,10502,0.166,0.000,2799,3053,2587,2661,2514,0,0,0,0,0,0,13.79,28.83,12.72
$GC,6994,0.70,145.9,2799,3054,2648,2501,712.8,12.0,441,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3054,2573,2646,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7294,0.70,145.9,2800,3054,2647,2501,677.0,11.9,451,7299,0.00,1.35,0.00,0.000,260,0.000,0.116,2800,3780,2573,2646,2501,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7349,0.67,145.9,2800,3781,2646,2501,669.9,12.9,462,7355,0.00,1.27,0.00,0.000,1030,0.000,0.071,2805,3050,2570,2641,2500,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7654,0.67,145.9,2805,3050,2647,2500,633.7,11.7,473,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3049,2572,2645,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7954,0.67,146.9,2806,3051,2645,2501,599.0,11.6,483,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3050,2573,2646,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8254,0.67,150.3,2806,3050,2646,2501,564.6,11.4,493,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3050,2572,2645,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,0.68,154.1,2806,3051,2646,2501,530.3,11.4,503,8557,0.00,0.00,1.75,0.228,8198,0.000,0.000,2805,3050,2556,2630,2482,0,0,0,0,0,0,28.83,28.83,14.29
$GC,8854,0.68,154.1,2806,3050,2659,2483,495.3,11.7,513,8857,0.00,0.00,1.73,0.228,8198,0.000,0.000,2805,3049,2556,2635,2477,0,0,0,0,0,0,28.83,28.83,14.29
$GC,9154,0.68,154.3,2806,3050,2660,2478,460.5,11.6,523,9157,0.00,0.00,1.75,0.227,8198,0.000,0.000,2805,3050,2556,2634,2479,0,0,0,0,0,0,28.83,28.83,14.28
$GC,9454,0.68,154.3,2806,3050,2665,2478,424.9,12.0,533,9459,0.00,1.40,1.95,0.226,8452,0.000,0.113,2805,3790,2557,2639,2475,0,0,0,0,0,0,28.83,14.43,14.26
$GC,9515,0.65,154.3,2806,3791,2664,2475,416.9,13.4,545,9520,0.00,1.27,1.73,0.211,9222,0.000,0.070,2810,3047,2555,2636,2475,0,0,0,0,0,0,28.83,14.52,14.25
$GC,9845,0.65,154.3,2811,3048,2667,2477,376.3,12.1,561,9848,0.00,0.00,1.90,0.225,8198,0.000,0.000,2810,3047,2555,2636,2475,0,0,0,0,0,0,28.83,28.83,14.27
$GC,10145,0.65,154.3,2811,3047,2668,2475,340.4,11.8,571,10150,0.00,1.40,1.60,0.230,8452,0.000,0.112,2810,3787,2558,2641,2475,0,0,0,0,0,0,28.83,14.39,14.28
$GC,10195,0.62,154.3,2811,3787,2665,2475,333.9,13.0,581,10200,0.00,1.27,1.77,0.213,9222,0.000,0.070,2816,3045,2555,2635,2475,0,0,0,0,0,0,28.83,14.53,14.16
$GC,10507,0.62,157.1,2817,3045,2668,2475,297.9,11.5,593,10512,0.00,0.00,3.45,0.898,8198,0.000,0.000,2821,3045,2543,2625,2462,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10806,0.63,168.4,2814,3045,2661,2463,264.5,11.0,603,10830,0.00,2.42,16.77,1.160,8708,0.000,0.074,2823,1648,2491,2571,2411,0,0,0,0,0,0,28.83,14.58,13.95
$GC,10855,0.65,195.8,2824,1648,2566,2410,259.2,10.2,613,10885,0.00,2.47,23.92,1.121,9222,0.000,0.099,2824,3048,2380,2456,2304,0,0,0,0,0,0,28.83,14.35,13.83
$GC,11187,0.68,236.7,2825,3048,2443,2296,223.2,9.5,646,11227,0.00,0.00,34.90,1.071,8454,0.000,0.000,2824,3047,2213,2285,2141,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11526,0.73,270.4,2824,3047,2274,2132,189.1,9.8,684,11557,0.00,0.00,29.33,1.037,8198,0.000,0.000,2826,3046,2081,2152,2010,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11857,0.78,302.8,2825,3048,2134,1997,156.1,9.9,717,11891,0.00,1.38,28.25,1.008,8452,0.000,0.116,2824,3789,1941,2008,1875,0,0,0,0,0,0,28.83,14.34,13.83
$GC,11918,0.81,302.8,2825,3789,2002,1869,149.5,11.7,729,11922,0.00,1.27,0.00,0.000,1030,0.000,0.071,2826,3057,1934,2002,1867,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12230,0.88,336.5,2828,3057,1998,1867,118.3,9.8,761,12263,0.12,2.42,29.02,0.970,10756,0.145,0.074,2897,1643,1807,1869,1746,0,0,0,0,0,0,14.38,14.35,13.85
$GC,12349,0.91,336.5,2897,1642,1856,1744,102.7,13.3,785,12354,0.00,2.55,0.00,0.000,1030,0.000,0.100,2897,3056,1798,1854,1743,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12659,0.93,361.1,2898,3057,1854,1738,65.0,10.3,817,12671,0.00,0.00,10.85,0.346,8198,0.000,0.000,2897,3057,1714,1774,1654,0,0,0,0,0,0,28.83,28.83,13.99
$GC,12970,1.04,478.5,2898,3057,1803,1654,44.3,5.4,848,13044,0.00,2.45,68.65,0.304,8708,0.000,0.073,2905,1648,1238,1282,1195,0,0,0,0,0,0,28.83,14.25,14.00
$GC,13099,1.18,561.6,2906,1648,1299,1195,36.0,7.2,872,13155,0.20,2.55,47.72,0.277,11270,0.109,0.102,2988,3055,897,901,894,0,0,0,0,0,0,14.28,14.19,14.00
$FREEZE,8.99,-1.438,-1.429,2,31,0
$STATE,13388,end climb,FINISH_DEPTH_REACHED
$STATE,13388,begin subsurface finish
$FINISH1,9.0,1.020989,363
$GC,13393,0.25,362.8,2989,3055,915,894,9.0,9.9,907,13421,1.10,2.45,-20.50,0.000,20996,0.207,0.101,2679,1649,1710,1750,1670,0,0,0,0,0,0,14.06,14.19,14.51
$FINISH2,8.6
$STATE,13421,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13421,begin surface
$RAFOS_CLK,693
$RAFOS_FIX,7322.304688,-14320.208008,210914,000027,2,255,0.26
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.11
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,13.00
$XPDR_PINGS,3
$SC_FREEKB,3858752
$24V_AH,12.72,116.851
$10V_AH,12.58,0.000
$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,14.250,50.525,626.600,0.000,0.000,0.000,0.000,121.200,0.750,0.000,181.470,0.000,10923.573,713.199,2148.603,399.241,0.000,1580.041,0.000,1361.149,1496.000,0.535,0.000
$DEVICE_MAMPS,421.515,120.870,1670.760,0.000,0.000,0.000,0.000,48.960,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13473.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.416,0.000,0.000,0.000
$MEM,170396
$DATA_FILE_SIZE,30015,912
$CAP_FILE_SIZE,150253,0
$CFSIZE,2097872896,2016215040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13876.42,0x2378b6,7,5
$INTR,1,13390.95,0x2378b6,5,5
$SOUNDSPEED,1448.5
$GPS,210914,000427,7322.305,-14320.208,181,99.0,181,24.1