version: 66.12
glider: 198
mission: 5
dive: 365
start: 9 21 114 18 58 37
data:
$ID,198
$MISSION,5
$DIVE,365
$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,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
$GPS1,210914,000427,7322.305,-14320.208,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.34
$_SM_ANGLEo,-18.6
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.70,-145.9,2678,2689,1754,1671,0.0,0.0,0,30,0.00,0.00,-11.77,0.000,16386,0.000,0.000,2677,2689,2391,2450,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2677,2690,2452,2333,16.9,0.0,1,62,0.90,1.98,-21.75,0.000,20740,0.068,0.134,2345,3789,3782,3836,3729,0,0,0,0,0,0,14.28,14.23,14.61
$GC,253,-0.65,-145.9,2346,3790,3837,3733,82.4,-24.8,45,258,0.15,1.88,0.00,0.000,3078,0.298,0.068,2376,2674,3784,3836,3732,0,0,0,0,0,0,14.02,14.35,28.83
$GC,563,-0.65,-145.9,2377,2675,3837,3733,135.3,-15.2,77,568,0.00,2.03,0.00,0.000,260,0.000,0.119,2373,3788,3784,3836,3732,0,0,0,0,0,0,28.83,14.31,28.83
$GC,613,-0.65,-145.9,2374,3788,3838,3732,143.0,-15.5,87,618,0.00,1.88,0.00,0.000,1030,0.000,0.070,2373,2677,3784,3837,3732,0,0,0,0,0,0,28.83,14.44,28.83
$GC,923,-0.65,-145.9,2374,2677,3837,3733,185.5,-13.2,119,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.67,-145.9,2377,2677,3837,3733,222.6,-11.9,149,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2676,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,-0.71,-145.9,2374,2677,3837,3733,256.9,-10.0,177,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2676,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.75,-145.9,2374,2676,3837,3732,286.1,-9.6,187,1848,0.00,2.03,0.00,0.000,260,0.000,0.121,2373,3788,3784,3836,3732,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1928,-0.79,-145.9,2374,3788,3839,3728,294.9,-10.7,204,1935,0.12,1.90,0.00,0.000,5126,0.142,0.070,2322,2673,3783,3836,3731,0,0,0,0,0,0,14.40,14.45,28.83
$GC,2235,-0.79,-145.9,2322,2677,3837,3732,331.6,-11.8,215,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2533,-0.79,-145.9,2322,2677,3837,3732,365.6,-11.2,225,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.79,-145.9,2322,2677,3836,3732,398.6,-10.9,235,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2676,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3134,-0.79,-145.9,2322,2676,3838,3731,431.3,-10.7,245,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2675,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3433,-0.79,-145.9,2322,2677,3837,3732,463.4,-10.7,255,3438,0.00,2.03,0.00,0.000,260,0.000,0.116,2312,3796,3783,3836,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3478,-0.79,-145.9,2314,3797,3837,3732,468.7,-11.6,264,3483,0.00,1.88,0.00,0.000,1030,0.000,0.067,2312,2677,3783,3836,3731,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3793,-0.79,-145.9,2313,2677,3836,3732,503.5,-11.1,277,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2675,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4093,-0.79,-145.9,2314,2678,3837,3733,536.5,-11.0,287,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4394,-0.79,-145.9,2313,2677,3837,3733,568.8,-10.7,297,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2676,3786,3835,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4693,-0.79,-145.9,2313,2677,3838,3733,600.4,-10.5,307,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2677,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4993,-0.79,-145.9,2314,2677,3837,3733,632.1,-10.7,317,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2677,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5293,-0.79,-145.9,2313,2677,3837,3733,664.0,-10.7,327,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.79,-145.9,2312,2677,3838,3733,696.2,-10.8,337,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5893,-0.79,-145.9,2313,2677,3838,3733,728.9,-10.9,347,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2677,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6101,begin apogee
$GC,6106,-0.14,0.0,2310,3055,3838,3734,751.6,-10.8,354,6304,0.88,0.00,193.90,1.385,10246,0.247,0.000,2538,3054,3184,3274,3095,0,0,0,0,0,0,14.13,28.83,13.26
$STATE,6305,end apogee,CONTROL_FINISHED_OK
$STATE,6305,begin climb
$GC,6307,0.70,145.9,2539,3055,3273,3093,756.6,0.0,360,6443,0.90,1.42,128.05,1.674,10500,0.161,0.112,2803,3786,2581,2653,2509,0,0,0,0,0,0,13.78,13.37,12.73
$GC,6634,0.67,145.9,2804,3787,2643,2502,722.7,14.0,428,6638,0.00,1.30,0.00,0.000,1030,0.000,0.070,2808,3058,2571,2642,2501,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6955,0.67,145.9,2809,3059,2643,2501,682.5,12.6,442,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,0.67,145.9,2809,3059,2644,2501,644.7,12.4,452,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2571,2643,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,0.67,145.9,2809,3059,2643,2500,607.4,12.5,462,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2571,2643,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7853,0.67,145.9,2809,3058,2644,2500,570.6,12.2,472,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3056,2571,2643,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8153,0.67,145.9,2809,3060,2643,2501,534.4,12.0,482,8158,0.00,1.35,0.00,0.000,260,0.000,0.115,2808,3785,2571,2643,2500,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8208,0.63,145.9,2808,3785,2644,2500,527.1,13.7,493,8214,0.00,1.27,0.00,0.000,1030,0.000,0.071,2813,3042,2571,2643,2500,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8514,0.63,145.9,2814,3042,2643,2501,489.7,12.1,504,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3042,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8813,0.63,145.9,2814,3042,2644,2500,453.3,12.2,514,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3041,2571,2643,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9113,0.63,145.9,2814,3041,2644,2506,416.9,12.1,524,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3041,2570,2642,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9413,0.63,145.9,2813,3042,2643,2499,379.9,12.4,534,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3042,2571,2643,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9713,0.63,145.9,2814,3042,2641,2500,343.1,12.2,544,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3041,2571,2642,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10014,0.64,153.0,2814,3042,2643,2500,308.3,11.3,554,10019,0.00,1.33,1.05,0.247,8452,0.000,0.109,2813,3783,2562,2637,2487,0,0,0,0,0,0,28.83,14.43,14.27
$GC,10110,0.61,153.0,2814,3784,2654,2488,297.1,11.8,573,10115,0.10,1.27,0.00,0.000,5126,0.249,0.070,2791,3043,2570,2653,2487,0,0,0,0,0,0,14.18,14.54,28.83
$GC,10435,0.65,203.5,2792,3044,2654,2488,266.7,8.9,588,10490,0.00,2.42,47.70,1.123,8708,0.000,0.073,2800,1652,2348,2420,2276,0,0,0,0,0,0,28.83,14.42,13.86
$GC,10527,0.72,255.6,2802,1651,2412,2273,258.7,8.9,606,10580,0.00,2.50,45.70,1.089,9222,0.000,0.099,2801,3054,2133,2202,2064,0,0,0,0,0,0,28.83,14.33,13.70
$GC,10885,0.78,284.2,2802,3055,2189,2051,219.2,10.1,646,10917,0.12,2.45,23.83,1.062,10756,0.137,0.075,2866,1644,2016,2082,1951,0,0,0,0,0,0,14.43,14.34,13.81
$GC,10987,0.78,284.2,2868,1645,2071,1949,206.5,11.9,666,10992,0.00,2.53,0.00,0.000,1030,0.000,0.098,2867,3054,2009,2071,1948,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11297,0.78,284.2,2867,3055,2069,1944,167.6,11.7,698,11302,0.00,2.42,0.00,0.000,516,0.000,0.074,2875,1638,2006,2069,1943,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11389,0.81,291.5,2876,1639,2070,1944,157.5,11.2,716,11393,0.00,2.53,0.00,0.000,1030,0.000,0.099,2875,3056,2006,2069,1943,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11698,0.81,291.5,2876,3056,2068,1942,119.0,12.0,748,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,3056,2004,2067,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11998,0.83,313.4,2876,3057,2067,1941,86.8,10.5,778,12014,0.00,1.38,12.90,0.395,8452,0.000,0.116,2875,3787,1909,1976,1842,0,0,0,0,0,0,28.83,14.32,13.99
$GC,12049,0.85,339.8,2876,3787,1998,1842,81.7,10.2,788,12071,0.00,1.27,16.60,0.392,9222,0.000,0.070,2881,3051,1802,1867,1738,0,0,0,0,0,0,28.83,14.28,14.02
$GC,12370,0.96,442.0,2881,3051,1893,1738,54.6,6.2,822,12435,0.00,2.47,58.72,0.332,8708,0.000,0.075,2888,1651,1388,1442,1335,0,0,0,0,0,0,28.83,14.19,14.02
$GC,12470,1.07,503.7,2889,1650,1455,1335,47.6,8.3,837,12512,0.15,2.53,35.62,0.311,11270,0.126,0.102,2953,3049,1133,1164,1102,0,0,0,0,0,0,14.28,14.20,14.00
$GC,12810,1.22,624.5,2953,3049,1186,1102,18.1,5.2,875,12886,0.00,2.47,67.38,0.223,8708,0.000,0.075,2957,1654,639,634,644,0,0,0,0,0,0,28.83,14.14,14.07
$FREEZE,8.59,-1.436,-1.430,2,32,0
$STATE,12943,end climb,FINISH_DEPTH_REACHED
$STATE,12944,begin subsurface finish
$FINISH1,8.6,1.021012,362
$GC,12951,0.25,361.6,2959,3049,642,645,8.6,8.0,902,12985,0.95,2.45,-26.85,0.000,20996,0.170,0.096,2678,1645,1715,1756,1674,0,0,0,0,0,0,14.08,14.22,14.49
$FINISH2,8.6
$STATE,12986,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12986,begin surface
$RAFOS_CLK,607
$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,49.88
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3858304
$24V_AH,12.73,117.147
$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,4.275,56.150,631.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10476.633,631.879,1830.775,174.271,0.000,1366.848,0.000,1357.495,1482.000,0.535,0.000
$DEVICE_MAMPS,298.350,133.875,1673.820,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13041.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.490,0.000,0.000,0.000
$MEM,170008
$DATA_FILE_SIZE,30061,909
$CAP_FILE_SIZE,138070,0
$CFSIZE,2097872896,2016018432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,210914,000427,7322.305,-14320.208,181,99.0,181,24.1