version: 66.12
glider: 198
mission: 5
dive: 368
start: 9 22 114 5 50 45
data:
$ID,198
$MISSION,5
$DIVE,368
$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,34
$R_STBD_OVSHOOT,18
$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,15.64
$_SM_ANGLEo,-18.5
$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,15,begin dive
$GC,17,-0.70,-145.9,2678,2684,1763,1685,0.0,0.0,0,30,0.00,0.00,-11.32,0.000,16386,0.000,0.000,2676,2684,2390,2449,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2683,2451,2332,17.6,0.0,1,62,0.90,2.47,-21.60,0.000,20996,0.070,0.107,2356,1266,3784,3837,3731,0,0,0,0,0,0,14.23,14.26,14.59
$GC,108,-0.63,-145.9,2356,1263,3839,3731,37.9,-28.3,16,114,0.15,2.55,0.00,0.000,3078,0.334,0.099,2377,2683,3784,3838,3731,0,0,0,0,0,0,13.99,14.25,28.83
$GC,412,-0.63,-145.9,2377,2684,3839,3732,99.6,-16.0,47,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2683,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,712,-0.63,-145.9,2377,2684,3839,3732,143.8,-14.5,77,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2683,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1012,-0.65,-145.9,2378,2684,3839,3732,184.7,-12.9,107,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2683,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1312,-0.69,-145.9,2377,2684,3839,3732,219.4,-11.5,137,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2683,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-0.73,-145.9,2378,2684,3838,3733,253.9,-10.8,166,1627,0.00,2.00,0.00,0.000,260,0.000,0.120,2373,3786,3785,3838,3732,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1702,-0.76,-145.9,2375,3787,3838,3733,262.9,-11.0,182,1706,0.00,1.88,0.00,0.000,1030,0.000,0.072,2374,2677,3784,3838,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2013,-0.81,-145.9,2374,2678,3838,3733,294.3,-9.9,194,2018,0.12,2.03,0.00,0.000,4356,0.145,0.117,2310,3786,3784,3838,3731,0,0,0,0,0,0,14.45,14.34,28.83
$GC,2068,-0.81,-145.9,2311,3786,3839,3732,301.4,-13.6,205,2074,0.00,1.92,0.00,0.000,1030,0.000,0.071,2310,2676,3784,3838,3731,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2374,-0.81,-145.9,2311,2677,3838,3732,338.3,-11.9,216,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2674,-0.81,-145.9,2311,2676,3839,3731,373.4,-11.7,226,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-0.81,-145.9,2312,2676,3840,3731,408.4,-11.6,236,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.81,-145.9,2311,2676,3839,3731,442.6,-11.2,246,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-0.81,-145.9,2312,2677,3838,3732,477.1,-11.5,256,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3874,-0.81,-145.9,2311,2677,3834,3732,511.4,-11.4,266,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,-0.81,-145.9,2311,2677,3839,3733,544.8,-11.0,276,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-0.81,-145.9,2311,2676,3839,3733,577.9,-11.0,286,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-0.81,-145.9,2312,2677,3839,3733,610.6,-10.8,296,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5074,-0.81,-145.9,2311,2676,3839,3733,643.0,-10.8,306,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5374,-0.81,-145.9,2311,2676,3839,3733,674.9,-10.6,316,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5674,-0.81,-145.9,2316,2677,3838,3734,706.4,-10.5,326,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,-0.81,-145.9,2311,2676,3839,3734,737.5,-10.2,336,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6121,begin apogee
$GC,6127,-0.14,0.0,2308,3052,3839,3734,752.9,-10.3,341,6259,0.88,0.00,129.43,1.714,10246,0.253,0.000,2535,3052,3189,3282,3097,0,0,0,0,0,0,14.14,28.83,13.21
$STATE,6260,end apogee,CONTROL_FINISHED_OK
$STATE,6260,begin climb
$GC,6262,0.70,145.9,2535,3052,3276,3091,755.4,0.0,345,6396,0.93,0.00,128.07,1.692,10502,0.168,0.000,2806,3053,2585,2660,2511,0,0,0,0,0,0,13.87,28.83,12.77
$GC,6694,0.70,145.9,2807,3052,2648,2501,708.5,12.5,375,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3052,2574,2647,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6993,0.70,145.9,2807,3052,2649,2501,671.0,12.4,385,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3052,2574,2648,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7294,0.70,145.9,2807,3053,2648,2501,634.2,12.2,395,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3053,2574,2648,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7593,0.70,145.9,2807,3052,2649,2500,598.1,12.0,405,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3053,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7895,0.70,145.9,2807,3053,2648,2501,562.1,12.0,415,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3050,2577,2647,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8193,0.70,145.9,2807,3053,2648,2501,525.4,12.2,425,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3052,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8494,0.70,145.9,2807,3053,2649,2500,489.1,12.1,435,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3052,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8793,0.70,145.9,2807,3053,2648,2501,452.5,12.3,445,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3053,2574,2648,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,0.70,145.9,2807,3050,2649,2500,415.9,12.2,455,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3053,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,0.70,145.9,2807,3053,2648,2501,380.3,11.7,465,9398,0.00,1.35,0.00,0.000,260,0.000,0.116,2806,3780,2574,2648,2500,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9438,0.67,145.9,2807,3780,2648,2500,374.6,12.4,474,9443,0.00,1.27,0.00,0.000,1030,0.000,0.071,2811,3045,2573,2647,2500,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9755,0.67,145.9,2812,3046,2648,2501,337.1,11.8,487,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3045,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10053,0.67,148.2,2811,3045,2645,2500,302.5,11.5,497,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3045,2573,2647,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10353,0.69,171.4,2813,3047,2648,2501,270.7,10.4,507,10379,0.00,1.33,21.15,1.169,8452,0.000,0.111,2812,3789,2481,2557,2405,0,0,0,0,0,0,28.83,14.49,13.92
$GC,10414,0.69,171.4,2812,3789,2549,2398,263.8,12.5,519,10418,0.00,1.27,0.00,0.000,1030,0.000,0.072,2817,3050,2473,2548,2398,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10724,0.72,218.9,2818,3050,2548,2399,230.8,9.1,545,10769,0.00,2.40,40.83,1.090,8708,0.000,0.073,2824,1653,2284,2355,2214,0,0,0,0,0,0,28.83,14.33,13.83
$GC,10819,0.79,267.9,2824,1647,2347,2210,221.9,9.0,564,10870,0.00,2.53,43.05,1.056,9222,0.000,0.101,2824,3054,2083,2150,2017,0,0,0,0,0,0,28.83,14.26,13.69
$GC,11175,0.84,292.0,2825,3055,2138,2005,182.7,10.3,605,11200,0.00,2.45,19.88,1.044,8708,0.000,0.076,2832,1640,1987,2053,1922,0,0,0,0,0,0,28.83,14.34,13.82
$GC,11227,0.91,331.5,2833,1641,2046,1919,177.6,9.5,615,11267,0.15,2.53,35.12,1.010,11270,0.127,0.100,2901,3050,1833,1894,1773,0,0,0,0,0,0,14.38,14.31,13.73
$GC,11565,0.91,331.5,2902,3050,1870,1755,128.9,14.9,653,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3050,1812,1869,1755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11865,0.91,331.5,2902,3050,1869,1753,88.3,13.0,683,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3050,1810,1868,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12166,0.98,426.9,2902,3050,1868,1752,58.3,6.6,713,12221,0.00,2.45,49.67,0.343,8708,0.000,0.076,2911,1647,1448,1503,1394,0,0,0,0,0,0,28.83,14.28,14.04
$GC,12296,1.09,495.9,2912,1646,1519,1395,48.5,8.0,736,12341,0.00,2.55,39.62,0.315,9222,0.000,0.102,2911,3049,1163,1202,1125,0,0,0,0,0,0,28.83,14.22,14.01
$GC,12647,1.27,624.7,2912,3049,1221,1126,19.9,4.8,776,12723,0.25,2.45,70.93,0.227,10756,0.107,0.075,3011,1647,636,631,641,0,0,0,0,0,0,14.18,14.19,14.09
$FREEZE,8.43,-1.442,-1.434,2,35,0
$STATE,12768,end climb,FINISH_DEPTH_REACHED
$STATE,12768,begin subsurface finish
$FINISH1,8.4,1.021067,359
$GC,12775,0.25,358.7,3013,3049,638,640,8.4,11.9,800,12814,1.23,2.47,-29.40,0.000,20996,0.220,0.096,2677,1649,1727,1768,1686,0,0,0,0,0,0,13.97,14.20,14.48
$FINISH2,7.2
$STATE,12815,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12815,begin surface
$RAFOS_CLK,333
$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,49.40
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3856960
$24V_AH,12.77,118.036
$10V_AH,12.67,0.000
$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,4.600,41.825,577.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10549.754,569.841,1654.274,162.534,0.000,1225.472,0.000,1217.480,1484.000,0.536,0.000
$DEVICE_MAMPS,333.540,120.105,1713.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12866.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.255,0.000,0.000,0.000
$MEM,168500
$DATA_FILE_SIZE,26747,808
$CAP_FILE_SIZE,128910,0
$CFSIZE,2097872896,2015494144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.5
$GPS,210914,000427,7322.305,-14320.208,181,99.0,181,24.1