version: 66.12
glider: 198
mission: 5
dive: 88
start: 8 9 114 6 36 7
data:
$ID,198
$MISSION,5
$DIVE,88
$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,648.87579
$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,-3420.5642
$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,32
$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,3
$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
$GPS1,090814,062442,7157.351,-14415.299,20,10.0,20,22.7
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,23.51
$_SM_ANGLEo,-16.0
$GPS2,090814,062442,7157.351,-14415.299,20,10.0,20,22.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,152.8,39663,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,31,-0.70,-145.9,2568,2688,3250,3136,0.0,0.0,0,64,0.00,0.00,-5.47,0.000,16386,0.000,0.000,2568,2688,3644,3719,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.70,-145.9,2568,2688,3721,3569,30.6,0.0,1,104,0.57,2.47,-1.55,0.000,20996,0.080,0.112,2352,1274,3786,3844,3728,0,0,0,0,0,0,14.55,14.51,14.72
$GC,330,-0.67,-145.9,2352,1273,3844,3732,82.9,-15.8,48,360,0.00,2.50,0.00,0.000,1030,0.000,0.111,2347,2681,3787,3844,3731,0,0,0,0,0,0,28.83,14.52,28.83
$GC,657,-0.67,-145.9,2347,2681,3843,3732,138.3,-16.5,79,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2681,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,983,-0.67,-145.9,2347,2681,3843,3731,188.3,-14.6,110,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2681,3790,3843,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.67,-145.9,2347,2681,3843,3731,230.1,-12.8,141,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1636,-0.67,-145.9,2347,2681,3843,3737,268.3,-11.6,162,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1943,-0.67,-145.9,2347,2681,3843,3731,302.5,-11.0,172,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2249,-0.67,-145.9,2347,2681,3843,3730,335.1,-10.5,182,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3786,3843,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2556,-0.67,-145.9,2347,2681,3843,3729,367.6,-10.5,192,2585,0.00,1.95,0.00,0.000,260,0.000,0.130,2347,3787,3786,3843,3730,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2622,-0.67,-145.9,2348,3787,3843,3730,375.0,-11.1,200,2651,0.00,1.85,0.00,0.000,1030,0.000,0.080,2347,2675,3786,3843,3729,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2969,-0.67,-145.9,2344,2675,3843,3729,411.5,-10.4,214,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2675,3786,3843,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-0.67,-145.9,2347,2675,3843,3729,443.0,-10.3,224,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2675,3786,3843,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3583,-0.69,-145.9,2349,2675,3843,3729,474.5,-10.3,234,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2674,3784,3839,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3890,-0.72,-145.9,2346,2675,3843,3729,505.8,-10.2,244,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2675,3786,3843,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4197,-0.74,-145.9,2347,2675,3843,3729,536.9,-10.1,254,4226,0.00,1.98,0.00,0.000,260,0.000,0.130,2347,3787,3786,3843,3729,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4254,-0.74,-145.9,2347,3788,3843,3729,542.9,-11.1,260,4283,0.00,1.85,0.00,0.000,1030,0.000,0.079,2347,2670,3786,3844,3729,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4611,-0.76,-145.9,2347,2669,3843,3729,578.3,-9.7,276,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2666,3786,3843,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-0.79,-145.9,2347,2669,3843,3729,608.2,-9.7,286,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2669,3786,3843,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-0.81,-145.9,2347,2670,3844,3731,637.9,-9.7,296,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2669,3786,3842,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5525,-0.84,-145.9,2347,2669,3844,3730,666.6,-9.5,306,5554,0.00,2.00,0.00,0.000,260,0.000,0.129,2346,3788,3786,3843,3729,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5603,-0.84,-145.9,2347,3789,3844,3730,674.4,-9.9,317,5632,0.00,1.85,0.00,0.000,1030,0.000,0.079,2346,2676,3786,3843,3729,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5909,-0.86,-145.9,2347,2678,3845,3730,702.5,-9.0,328,5938,0.12,0.00,0.00,0.000,4102,0.157,0.000,2297,2677,3786,3843,3729,0,0,0,0,0,0,14.61,28.83,28.83
$GC,6213,-0.86,-145.9,2298,2678,3844,3730,736.5,-11.3,338,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2677,3786,3843,3729,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6334,begin apogee
$GC,6338,-0.14,0.0,2295,3057,3842,3734,750.6,-11.4,342,6504,0.95,0.00,134.10,2.567,10246,0.288,0.000,2538,3062,3188,3284,3092,0,0,0,0,1,0,14.42,28.83,12.81
$STATE,6504,end apogee,CONTROL_FINISHED_OK
$STATE,6505,begin climb
$GC,6506,0.70,145.9,2539,3058,3285,3104,755.1,0.0,347,6674,0.93,0.00,129.15,1.818,10502,0.185,0.000,2802,3058,2585,2675,2495,0,0,0,0,0,0,13.76,28.83,12.71
$GC,7057,0.70,145.9,2803,3058,2668,2492,694.2,13.0,370,7106,0.00,1.38,0.00,0.000,260,0.000,0.124,2802,3784,2580,2669,2491,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7141,0.67,145.9,2803,3784,2670,2490,683.1,13.6,373,7190,0.00,1.30,0.00,0.000,1030,0.000,0.080,2807,3048,2580,2669,2491,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7523,0.67,145.9,2808,3048,2671,2491,632.2,13.0,386,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2580,2669,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7857,0.67,145.9,2808,3049,2670,2491,589.1,12.8,397,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3049,2579,2669,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8192,0.67,145.9,2808,3049,2670,2492,546.3,12.8,408,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2580,2669,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,0.67,145.9,2808,3049,2670,2491,503.1,12.9,419,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3049,2579,2669,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8861,0.67,145.9,2808,3048,2669,2491,459.8,12.9,430,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2580,2669,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9196,0.67,145.9,2808,3049,2669,2492,416.7,12.9,441,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3048,2580,2669,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9530,0.67,145.9,2808,3048,2670,2491,373.7,12.8,452,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3048,2579,2668,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9865,0.67,145.9,2808,3049,2669,2492,330.8,12.8,463,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2579,2669,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10200,0.67,145.9,2803,3048,2669,2491,290.1,11.9,474,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2579,2669,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10534,0.67,146.5,2808,3049,2669,2491,250.3,11.6,485,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2579,2668,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11087,0.71,194.8,2808,3049,2670,2491,192.6,9.1,516,11171,0.00,2.45,40.78,1.193,8708,0.000,0.082,2818,1649,2383,2473,2294,0,0,0,0,0,0,28.83,14.36,13.89
$GC,11205,0.74,250.0,2818,1649,2471,2293,182.4,8.7,521,11289,0.00,2.53,46.92,1.180,9222,0.000,0.111,2818,3052,2162,2249,2075,0,0,0,0,0,0,28.83,14.38,13.71
$GC,11792,0.79,285.1,2819,3052,2236,2067,120.9,9.8,554,11858,0.00,0.00,28.75,1.136,8198,0.000,0.000,2818,3052,2015,2099,1931,0,0,0,0,0,0,28.83,28.83,13.87
$GC,12366,0.88,330.1,2819,3052,2090,1926,66.7,9.2,586,12432,0.15,2.47,21.95,0.377,10756,0.138,0.085,2892,1643,1843,1930,1757,0,0,0,0,0,0,14.51,14.42,14.26
$GC,12500,0.92,363.9,2893,1645,1931,1758,53.5,9.8,592,12565,0.00,2.53,18.73,0.333,9222,0.000,0.112,2892,3060,1705,1787,1623,0,0,0,0,0,0,28.83,14.44,14.27
$GC,13089,1.12,554.2,2893,3060,1786,1623,10.1,1.5,625,13241,0.15,2.45,100.95,0.210,10756,0.146,0.083,2968,1642,924,944,904,0,0,0,0,0,0,14.47,14.38,14.31
$FREEZE,7.77,2.232,-1.327,2,1,0
$FREEZE,7.27,2.232,-1.326,2,1,0
$FREEZE,6.58,2.240,-1.329,2,1,0
$FREEZE,5.80,2.240,-1.328,2,1,0
$FREEZE,5.02,2.232,-1.336,2,1,0
$FREEZE,4.49,2.232,-1.335,2,1,0
$FREEZE,3.59,2.240,-1.335,2,1,0
$FREEZE,2.42,2.240,-1.334,2,1,0
$FREEZE,1.43,2.153,-1.336,2,1,0
$STATE,13393,end climb,SURFACE_DEPTH_REACHED
$STATE,13393,begin surface coast
$FREEZE,1.19,2.153,-1.336,2,1,0
$FREEZE,1.14,2.138,-1.304,2,1,0
$FREEZE,1.09,2.138,-1.304,2,1,0
$FREEZE,1.08,2.187,-0.755,2,1,0
$FREEZE,1.11,2.187,-0.755,2,1,0
$FREEZE,1.24,2.073,-0.802,2,1,0
$FINISH,1.2,1.011826
$STATE,13421,end surface coast,CONTROL_FINISHED_OK
$STATE,13421,begin surface
$SM_CCo,13447,50.35,0.190,0,0,539,649.06
$SM_GC,2.15,8.23,1.92,50.35,0.090,0.130,0.190,200,2676,539,-7.40,-0.68,649.06,0,0,0,0,0,0,14.50,14.43,14.36
$RAFOS_CLK,496
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,,
$TT8_MAMPS,0.042693,0.042693
$HUMID,48.54
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3982432
$24V_AH,12.71,31.635
$10V_AH,12.69,0.000
$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,11.100,36.075,521.325,50.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,721.427,6027.454,367.647,6405.337,114.090,0.000,2595.126,0.000,977.358,1492.000,0.536,0.000
$DEVICE_MAMPS,288.405,130.050,2566.575,190.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,8.730,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13393.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.979,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,321924
$DATA_FILE_SIZE,23365,647
$CAP_FILE_SIZE,176026,0
$CFSIZE,2097872896,2069889024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1451.1
$GPS,090814,102254,7202.251,-14450.815,33,0.8,53,22.5
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0