version: 66.12
glider: 198
mission: 5
dive: 367
start: 9 22 114 2 13 54
data:
$ID,198
$MISSION,5
$DIVE,367
$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,36
$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,18.87
$_SM_ANGLEo,-16.5
$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,-145.9,2677,2688,1755,1678,0.0,0.0,0,30,0.00,0.00,-12.18,0.000,16386,0.000,0.000,2677,2688,2515,2566,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2677,2689,2568,2463,21.3,0.0,1,57,0.90,2.00,-17.85,0.000,20740,0.072,0.132,2347,3795,3783,3838,3729,0,0,0,0,0,0,14.34,14.27,14.62
$GC,282,-0.65,-145.9,2347,3795,3839,3728,86.3,-20.7,51,287,0.12,1.90,0.00,0.000,3078,0.301,0.070,2371,2677,3785,3838,3732,0,0,0,0,0,0,14.04,14.35,28.83
$GC,592,-0.65,-145.9,2372,2677,3839,3737,137.7,-15.6,83,596,0.00,2.03,0.00,0.000,260,0.000,0.119,2363,3787,3785,3838,3732,0,0,0,0,0,0,28.83,14.31,28.83
$GC,782,-0.65,-145.9,2364,3788,3839,3733,168.1,-16.0,121,786,0.00,1.88,0.00,0.000,1030,0.000,0.072,2363,2683,3785,3838,3732,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1092,-0.65,-145.9,2364,2683,3838,3733,210.6,-13.2,153,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2683,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.68,-145.9,2364,2683,3845,3733,246.7,-11.2,183,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1703,-0.72,-145.9,2364,2683,3838,3733,279.9,-10.5,196,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2682,3783,3834,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,-0.76,-145.9,2365,2682,3839,3733,310.2,-9.8,206,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,-0.80,-145.9,2364,2682,3839,3732,338.7,-9.5,216,2307,0.00,2.03,0.00,0.000,260,0.000,0.120,2361,3794,3785,3838,3732,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2337,-0.83,-145.9,2362,3795,3838,3733,342.2,-10.3,223,2342,0.12,1.90,0.00,0.000,5126,0.147,0.071,2312,2670,3785,3838,3732,0,0,0,0,0,0,14.40,14.45,28.83
$GC,2662,-0.83,-145.9,2312,2671,3839,3732,381.1,-11.8,238,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,-0.83,-145.9,2312,2670,3838,3732,415.8,-11.4,248,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2670,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.83,-145.9,2313,2671,3838,3733,449.7,-11.3,258,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-0.83,-145.9,2312,2668,3838,3733,483.5,-11.4,268,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3862,-0.83,-145.9,2312,2672,3838,3733,517.2,-11.2,278,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4162,-0.83,-145.9,2312,2672,3839,3733,550.6,-11.1,288,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4462,-0.83,-145.9,2312,2671,3841,3733,583.7,-11.0,298,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.83,-145.9,2313,2672,3838,3734,616.9,-11.0,308,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2667,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,-0.83,-145.9,2313,2670,3838,3734,649.5,-10.8,318,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2670,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-0.83,-145.9,2313,2671,3839,3734,681.8,-10.7,328,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5662,-0.83,-145.9,2312,2671,3839,3735,713.9,-10.7,338,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2671,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5962,-0.83,-145.9,2313,2672,3839,3735,745.5,-10.4,348,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2671,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6020,begin apogee
$GC,6025,-0.14,0.0,2309,3053,3839,3734,751.7,-10.3,350,6159,0.88,0.00,130.70,1.717,10246,0.252,0.000,2535,3053,3186,3282,3091,0,0,0,0,0,0,14.14,28.83,13.22
$STATE,6160,end apogee,CONTROL_FINISHED_OK
$STATE,6160,begin climb
$GC,6162,0.70,145.9,2537,3053,3277,3084,754.2,0.0,354,6294,0.95,0.00,127.28,1.691,10246,0.165,0.000,2809,3056,2588,2666,2511,0,0,0,0,0,0,13.87,28.83,12.79
$GC,6592,0.70,145.9,2810,3054,2658,2504,707.3,12.6,369,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2581,2659,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6892,0.70,145.9,2812,3053,2658,2502,669.7,12.4,379,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2579,2656,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7192,0.70,145.9,2810,3053,2658,2503,633.2,12.1,389,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2579,2657,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7492,0.70,145.9,2810,3054,2657,2503,597.1,11.9,399,7497,0.00,1.38,0.00,0.000,260,0.000,0.116,2808,3787,2580,2657,2503,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7537,0.66,145.9,2810,3787,2658,2503,591.2,13.8,408,7542,0.00,1.27,0.00,0.000,1030,0.000,0.073,2813,3053,2580,2657,2503,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7856,0.66,145.9,2815,3057,2657,2503,552.0,12.6,421,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3057,2579,2657,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8152,0.66,145.9,2814,3057,2658,2503,514.5,12.5,431,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3057,2579,2657,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,0.66,145.9,2814,3057,2657,2503,477.7,12.3,441,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3057,2579,2656,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,0.66,145.9,2814,3056,2658,2503,440.6,12.4,451,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3057,2580,2657,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,0.66,145.9,2814,3057,2657,2503,404.0,12.3,461,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3057,2579,2657,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9352,0.66,145.9,2814,3057,2658,2502,367.7,11.9,471,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3057,2579,2656,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9652,0.66,145.9,2814,3057,2658,2503,332.6,11.7,481,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3057,2580,2657,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9952,0.67,159.4,2815,3057,2657,2504,298.9,10.9,491,9966,0.00,0.00,12.25,1.242,8198,0.000,0.000,2813,3057,2534,2614,2455,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10252,0.68,177.1,2815,3057,2603,2446,266.1,10.7,501,10269,0.00,0.00,15.70,1.183,8198,0.000,0.000,2813,3057,2463,2543,2383,0,0,0,0,0,0,28.83,28.83,13.94
$GC,10552,0.70,206.3,2814,3057,2530,2374,235.4,10.1,519,10583,0.00,0.00,24.98,1.119,8198,0.000,0.000,2814,3057,2337,2413,2262,0,0,0,0,0,0,28.83,28.83,13.89
$GC,10884,0.74,256.8,2814,3058,2405,2257,203.6,8.9,552,10933,0.00,0.00,44.50,1.058,8198,0.000,0.000,2813,3057,2129,2202,2056,0,0,0,0,0,0,28.83,28.83,13.81
$GC,11234,0.81,300.4,2814,3057,2193,2046,169.8,9.3,587,11274,0.12,0.00,37.42,1.027,10758,0.143,0.000,2869,3056,1959,2027,1891,0,0,0,0,0,0,14.38,28.83,13.81
$GC,11572,0.81,303.2,2869,3056,2008,1876,129.1,11.5,623,11577,0.00,2.42,0.00,0.000,516,0.000,0.076,2877,1649,1941,2006,1876,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11617,0.84,311.8,2877,1649,2008,1876,123.9,11.2,632,11628,0.00,2.53,3.95,0.929,9222,0.000,0.101,2877,3056,1917,1985,1849,0,0,0,0,0,0,28.83,14.33,13.62
$GC,11934,0.86,336.2,2878,3055,2002,1849,88.3,10.3,665,11953,0.00,0.00,15.00,0.420,8710,0.000,0.000,2876,3055,1817,1888,1747,0,0,0,0,0,0,28.83,28.83,14.00
$GC,12254,0.97,449.7,2877,3056,1906,1748,60.0,5.6,698,12324,0.00,2.53,65.05,0.350,8708,0.000,0.075,2885,1644,1354,1408,1301,0,0,0,0,0,0,28.83,14.24,14.03
$GC,12356,1.10,523.2,2886,1644,1423,1301,53.3,7.7,711,12406,0.17,2.55,41.55,0.330,11270,0.118,0.101,2958,3054,1055,1083,1027,0,0,0,0,0,0,14.28,14.19,13.97
$GC,12705,1.21,601.4,2958,3053,1092,1027,17.4,7.5,751,12756,0.00,2.45,43.80,0.225,8708,0.000,0.076,2964,1650,733,736,730,0,0,0,0,0,0,28.83,14.24,14.08
$FREEZE,8.96,-1.442,-1.433,2,34,0
$STATE,12809,end climb,FINISH_DEPTH_REACHED
$STATE,12809,begin subsurface finish
$FINISH1,9.0,1.021052,359
$GC,12816,0.25,359.5,2963,3051,744,730,9.0,8.0,772,12846,1.00,0.00,-24.58,0.000,20998,0.187,0.000,2676,3052,1722,1761,1684,0,0,0,0,0,0,14.07,28.83,14.50
$FINISH2,8.9
$STATE,12846,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12846,begin surface
$RAFOS_CLK,422
$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,49.68
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3857408
$24V_AH,12.79,117.748
$10V_AH,12.91,0.000
$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,4.275,32.075,562.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10590.477,601.867,1617.723,160.609,0.000,1200.899,0.000,1169.047,1486.000,0.535,0.000
$DEVICE_MAMPS,300.645,132.345,1716.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12891.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.926,0.000,0.000,0.000
$MEM,168988
$DATA_FILE_SIZE,26730,778
$CAP_FILE_SIZE,125814,0
$CFSIZE,2097872896,2015657984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.3
$GPS,210914,000427,7322.305,-14320.208,181,99.0,181,24.1