version: 66.12
glider: 198
mission: 5
dive: 411
start: 10 1 114 0 55 40
data:
$ID,198
$MISSION,5
$DIVE,411
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,300
$T_MISSION,330
$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,180
$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,5
$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,-6579.7065
$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,40
$R_STBD_OVSHOOT,15
$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
$GPS1,011014,002924,7200.149,-14729.480,23,0.8,43,21.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-70.6
$GPS2,011014,005522,7200.311,-14729.617,5,0.8,25,21.5
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,a
$TGT_LATLONG,7200.000,-14730.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,179.3,616,-30.8,-11.000,-35.00,997
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.91,-71.2,197,2678,458,523,0.0,0.0,0,82,0.00,0.00,-61.42,0.000,16386,0.000,0.000,196,2677,1898,1909,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.97,-162.5,197,2677,1912,1888,3.0,-1.6,6,166,10.75,2.08,-63.12,0.000,18692,0.438,0.135,2258,3792,3851,3903,3800,0,0,0,0,0,0,13.88,14.20,14.54
$GC,393,-0.97,-162.5,2258,3792,3904,3804,84.8,-24.9,68,398,0.00,1.90,0.00,0.000,1030,0.000,0.064,2258,2674,3853,3902,3804,0,0,0,0,0,0,28.83,14.32,28.83
$GC,703,-1.00,-162.5,2259,2674,3903,3805,155.7,-21.5,100,708,0.00,2.03,0.00,0.000,260,0.000,0.111,2251,3790,3853,3902,3804,0,0,0,0,0,0,28.83,14.28,28.83
$GC,828,-1.00,-162.5,2252,3791,3903,3805,183.4,-20.8,125,834,0.00,1.90,0.00,0.000,1030,0.000,0.064,2251,2655,3855,3903,3807,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1134,-1.04,-162.5,2252,2658,3903,3805,238.5,-17.2,156,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2657,3851,3903,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1445,-1.09,-162.5,2251,2658,3904,3803,289.6,-16.2,171,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2658,3853,3903,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1743,-1.14,-162.5,2251,2658,3904,3803,337.5,-15.9,181,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2657,3852,3903,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2043,-1.20,-162.5,2252,2659,3903,3803,384.2,-15.6,191,2045,0.15,0.00,0.00,0.000,4102,0.146,0.000,2197,2658,3852,3903,3802,0,0,0,0,0,0,14.51,28.83,28.83
$GC,2343,-1.20,-162.5,2197,2658,3904,3802,438.5,-18.1,201,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3852,3903,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2643,-1.20,-162.5,2198,2659,3904,3803,492.3,-18.0,211,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3852,3903,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-1.20,-162.5,2197,2657,3904,3802,545.8,-17.8,221,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3853,3903,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3244,-1.20,-162.5,2197,2657,3904,3802,599.0,-17.7,231,3248,0.00,2.35,0.00,0.000,516,0.000,0.078,2196,1281,3852,3903,3801,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3293,-1.23,-162.5,2197,1280,3904,3801,607.6,-16.9,241,3298,0.00,2.53,0.00,0.000,1030,0.000,0.099,2195,2689,3852,3903,3801,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3604,-1.23,-162.5,2192,2689,3904,3801,662.7,-17.7,253,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2689,3852,3903,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3904,-1.25,-162.5,2196,2689,3904,3802,715.7,-17.5,263,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2689,3852,3903,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4204,-1.27,-162.5,2196,2690,3904,3802,768.3,-17.5,273,4209,0.00,2.40,0.00,0.000,516,0.000,0.077,2195,1289,3852,3903,3801,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4264,-1.31,-162.5,2195,1289,3904,3801,778.3,-16.1,285,4269,0.00,2.47,0.00,0.000,1030,0.000,0.099,2195,2679,3852,3903,3801,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4596,-1.33,-162.5,2196,2678,3904,3801,835.5,-17.3,301,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2679,3851,3903,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4894,-1.36,-162.5,2195,2679,3904,3800,886.8,-17.0,311,4895,0.15,0.00,0.00,0.000,4102,0.153,0.000,2143,2679,3851,3903,3800,0,0,0,0,0,0,14.49,28.83,28.83
$GC,5194,-1.36,-162.5,2144,2680,3904,3801,944.8,-19.4,321,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2679,3851,3903,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5432,begin apogee
$GC,5437,-0.14,0.0,2142,3055,3903,3801,991.1,-19.3,329,5654,1.67,0.00,213.05,1.616,10246,0.316,0.000,2535,3055,3187,3278,3096,0,0,0,0,0,0,13.98,28.83,13.00
$STATE,5655,end apogee,CONTROL_FINISHED_OK
$STATE,5655,begin climb
$GC,5658,0.97,162.5,2537,3055,3275,3095,997.8,0.0,336,5815,1.25,1.50,150.12,1.982,10500,0.164,0.109,2894,3787,2519,2589,2449,0,0,0,0,0,0,13.62,13.24,12.47
$GC,6040,0.97,162.5,2895,3788,2579,2443,937.2,20.1,415,6045,0.00,1.27,0.00,0.000,1030,0.000,0.067,2899,3065,2509,2577,2442,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6367,0.97,162.5,2900,3064,2579,2442,876.9,18.4,430,6371,0.00,1.35,0.00,0.000,260,0.000,0.112,2900,3787,2509,2578,2441,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6596,0.97,162.5,2900,3787,2579,2442,830.4,19.6,476,6601,0.00,1.27,0.00,0.000,1030,0.000,0.068,2905,3044,2509,2578,2441,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6906,0.97,162.5,2906,3044,2579,2441,773.1,18.4,488,6911,0.00,1.38,0.00,0.000,260,0.000,0.113,2905,3784,2509,2578,2441,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7136,0.97,162.5,2906,3785,2578,2442,726.1,20.8,534,7141,0.00,1.25,0.00,0.000,1030,0.000,0.069,2911,3051,2509,2577,2441,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7447,0.97,162.5,2912,3051,2579,2441,668.2,18.4,546,7451,0.00,1.35,0.00,0.000,260,0.000,0.113,2911,3781,2509,2577,2441,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7676,0.95,162.5,2918,3782,2578,2442,621.4,20.0,592,7681,0.00,1.25,0.00,0.000,1030,0.000,0.070,2917,3048,2509,2577,2441,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7987,0.95,162.5,2918,3049,2578,2442,563.3,18.7,604,7991,0.00,1.38,0.00,0.000,260,0.000,0.112,2913,3790,2509,2577,2441,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8217,0.92,162.5,2917,3791,2578,2442,516.2,20.4,650,8221,0.10,1.27,0.00,0.000,5126,0.309,0.070,2898,3046,2509,2577,2441,0,0,0,0,0,0,14.02,14.48,28.83
$GC,8528,0.92,162.5,2899,3047,2578,2442,462.2,17.3,662,8533,0.00,1.38,0.00,0.000,260,0.000,0.113,2898,3786,2509,2577,2441,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8758,0.92,162.5,2898,3786,2578,2441,418.1,19.7,708,8762,0.00,1.25,0.00,0.000,1030,0.000,0.070,2903,3055,2509,2577,2441,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9068,0.92,162.5,2904,3056,2578,2442,363.6,17.5,720,9072,0.00,1.35,0.00,0.000,260,0.000,0.113,2903,3783,2509,2577,2441,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9298,0.92,162.5,2905,3784,2578,2442,319.7,19.4,766,9302,0.00,1.27,0.00,0.000,1030,0.000,0.069,2909,3041,2509,2577,2441,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9608,0.92,162.5,2910,3042,2578,2442,265.7,17.1,778,9612,0.00,1.38,0.00,0.000,260,0.000,0.114,2908,3780,2509,2577,2441,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9763,0.92,162.5,2909,3781,2578,2442,237.2,17.9,809,9769,0.00,1.27,0.00,0.000,1030,0.000,0.069,2915,3043,2509,2577,2441,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10068,0.92,162.5,2915,3044,2578,2442,190.0,14.2,840,10073,0.00,1.40,0.00,0.000,260,0.000,0.116,2915,3789,2509,2577,2441,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10150,0.92,162.5,2915,3789,2578,2441,177.8,14.6,856,10154,0.10,1.27,0.00,0.000,5126,0.323,0.068,2895,3044,2509,2577,2441,0,0,0,0,0,0,13.92,14.44,28.83
$GC,10462,0.97,177.6,2896,3045,2579,2441,143.9,9.4,888,10476,0.00,0.00,12.65,1.131,8710,0.000,0.000,2895,3044,2459,2531,2388,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10783,1.03,202.8,2896,3045,2522,2380,114.6,8.4,922,10812,0.00,2.42,21.58,1.063,8708,0.000,0.077,2906,1651,2353,2423,2283,0,0,0,0,0,0,28.83,14.42,13.88
$GC,10839,1.11,221.8,2906,1652,2420,2282,109.6,9.0,932,10865,0.12,2.53,17.27,1.054,11270,0.144,0.104,2953,3050,2273,2341,2206,0,0,0,0,0,0,14.27,14.21,13.78
$GC,11166,1.11,221.8,2953,3051,2333,2199,69.8,11.4,967,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,3050,2266,2333,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11466,1.18,286.5,2954,3051,2332,2199,44.8,4.3,997,11507,0.00,2.45,33.72,0.314,8708,0.000,0.078,2964,1648,2021,2089,1953,0,0,0,0,0,0,28.83,14.19,14.00
$GC,11652,1.27,321.7,2964,1648,2100,1953,32.4,7.4,1034,11679,0.12,2.58,20.88,0.275,11270,0.145,0.107,3016,3053,1873,1934,1813,0,0,0,0,0,0,14.19,14.12,13.99
$GC,11977,1.37,420.8,3017,3053,1948,1813,15.3,0.8,1069,12038,0.00,2.45,55.15,0.227,8708,0.000,0.076,3027,1651,1470,1520,1420,0,0,0,0,0,0,28.83,14.19,14.02
$FREEZE,8.87,1.455,-1.503,2,1,0
$FREEZE,8.46,1.448,-1.502,2,1,0
$FREEZE,7.99,1.448,-1.502,2,1,0
$FREEZE,7.67,1.451,-1.501,2,1,0
$FREEZE,7.26,1.451,-1.501,2,1,0
$FREEZE,6.89,1.448,-1.501,2,1,0
$FREEZE,6.32,1.448,-1.500,2,1,0
$FREEZE,6.03,1.447,-1.500,2,1,0
$FREEZE,5.53,1.447,-1.499,2,1,0
$FREEZE,5.01,1.447,-1.499,2,1,0
$FREEZE,4.63,1.447,-1.499,2,1,0
$FREEZE,4.16,1.448,-1.498,2,1,0
$FREEZE,3.75,1.448,-1.498,2,1,0
$FREEZE,3.22,1.441,-1.497,2,1,0
$FREEZE,2.77,1.441,-1.497,2,1,0
$FREEZE,2.33,1.441,-1.497,2,1,0
$FREEZE,1.81,1.441,-1.496,2,1,0
$STATE,12192,end climb,SURFACE_DEPTH_REACHED
$STATE,12192,begin surface coast
$FREEZE,1.61,1.436,-1.496,2,1,0
$FINISH,1.6,1.021959
$STATE,12197,end surface coast,CONTROL_FINISHED_OK
$STATE,12197,begin surface
$SM_CCo,12216,130.77,0.188,0,0,498,658.88
$SM_GC,2.62,8.75,1.98,130.77,0.102,0.123,0.188,202,2685,498,-7.39,-0.40,658.88,0,0,0,0,0,0,14.31,14.16,14.09
$RAFOS_CLK,89
$RAFOS_FIX,7256.729004,-14417.802734,230914,161619,2,255,3.09
$IRIDIUM_FIX,7125.74,-14730.12,011014,003559
$TT8_MAMPS,0.078645,0.078645
$HUMID,48.18
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.40
$XPDR_PINGS,1
$SC_FREEKB,3837696
$24V_AH,12.47,135.969
$10V_AH,12.41,0.000
$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,23.175,56.575,524.425,130.775,0.000,0.000,0.000,1088.600,0.250,0.000,28.734,0.000,9422.646,756.539,3176.863,540.191,0.000,2699.383,0.000,1646.823,1490.000,0.536,0.000
$DEVICE_MAMPS,438.345,135.405,1982.115,188.190,0.000,0.000,0.000,198.135,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.518,0.000,0.000,0.000
$MEM,146848
$DATA_FILE_SIZE,39962,1113
$CAP_FILE_SIZE,163160,0
$CFSIZE,2097872896,2007007232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14057.32,0x2378b6,7,5
$SOUNDSPEED,1453.5
$GPS,011014,042255,7159.263,-14730.966,31,0.9,51,21.4