version: 66.12
glider: 198
mission: 5
dive: 98
start: 8 11 114 0 35 15
data:
$ID,198
$MISSION,5
$DIVE,98
$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,-3433.1707
$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,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,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
$GPS1,110814,002749,7152.340,-14434.970,37,0.7,57,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.3
$GPS2,110814,003456,7152.313,-14435.214,5,0.7,25,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,358.9,39154,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.70,-145.9,201,2673,450,545,0.0,0.0,0,114,0.00,0.00,-58.22,0.000,16386,0.000,0.000,203,2672,1909,1940,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,207,2672,1943,1875,3.0,-2.1,7,195,11.00,2.03,-36.20,0.000,18692,0.454,0.151,2343,3788,3784,3873,3695,0,0,0,0,0,0,14.15,14.36,14.61
$GC,420,-0.62,-145.9,2345,3794,3874,3701,76.3,-22.0,63,449,0.17,1.88,0.00,0.000,3078,0.327,0.073,2380,2671,3786,3873,3700,0,0,0,0,0,0,14.28,14.45,28.83
$GC,754,-0.62,-145.9,2381,2670,3875,3700,129.3,-14.6,95,783,0.00,2.35,0.00,0.000,516,0.000,0.084,2380,1271,3787,3873,3702,0,0,0,0,0,0,28.83,14.52,28.83
$GC,872,-0.62,-145.9,2381,1271,3874,3701,146.1,-13.9,114,901,0.00,2.50,0.00,0.000,1030,0.000,0.109,2374,2685,3790,3873,3708,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1195,-0.62,-145.9,2375,2686,3872,3701,190.5,-13.2,145,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2685,3786,3873,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-0.62,-145.9,2375,2686,3873,3701,228.6,-11.3,176,1547,0.00,1.95,0.00,0.000,260,0.000,0.126,2374,3790,3786,3872,3700,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1772,-0.62,-145.9,2375,3788,3872,3701,258.4,-11.0,222,1801,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2675,3785,3870,3700,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2106,-0.65,-145.9,2374,2675,3871,3700,292.4,-9.9,234,2135,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3787,3785,3870,3700,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2220,-0.67,-145.9,2375,3787,3871,3700,304.3,-10.1,252,2249,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2673,3784,3869,3700,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2573,-0.70,-145.9,2374,2673,3870,3700,338.7,-9.7,268,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2673,3784,3869,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-0.73,-145.9,2374,2673,3870,3700,367.6,-9.4,278,2906,0.00,1.98,0.00,0.000,260,0.000,0.127,2374,3787,3784,3869,3700,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2955,-0.75,-145.9,2374,3788,3870,3699,375.6,-9.6,289,2985,0.00,1.85,0.00,0.000,1030,0.000,0.075,2373,2670,3786,3872,3700,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3261,-0.79,-145.9,2374,2670,3869,3700,404.1,-9.2,300,3290,0.12,0.00,0.00,0.000,4102,0.157,0.000,2325,2670,3784,3868,3700,0,0,0,0,0,0,14.69,28.83,28.83
$GC,3565,-0.79,-145.9,2326,2671,3869,3701,438.8,-11.6,310,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2670,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3869,-0.79,-145.9,2326,2674,3869,3699,474.0,-11.6,320,3898,0.00,2.00,0.00,0.000,260,0.000,0.122,2317,3793,3784,3868,3700,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3917,-0.79,-145.9,2317,3796,3869,3700,480.1,-12.8,325,3946,0.00,1.85,0.00,0.000,1030,0.000,0.073,2317,2674,3784,3868,3701,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4223,-0.79,-145.9,2318,2676,3869,3701,516.2,-11.7,336,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2674,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4526,-0.79,-145.9,2319,2675,3869,3701,551.5,-11.7,346,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2675,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4829,-0.79,-145.9,2318,2676,3869,3701,586.5,-11.6,356,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2675,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5133,-0.79,-145.9,2317,2675,3870,3700,621.1,-11.1,366,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2675,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5437,-0.79,-145.9,2318,2676,3868,3701,655.2,-11.1,376,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.79,-145.9,2318,2675,3869,3701,688.6,-11.1,386,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2674,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6044,-0.79,-145.9,2316,2675,3870,3700,722.0,-11.2,396,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2675,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6316,begin apogee
$GC,6320,-0.14,0.0,2311,3061,3869,3700,752.3,-11.1,405,6526,0.85,0.00,180.57,1.459,10246,0.283,0.000,2537,3061,3185,3264,3106,0,0,0,0,0,0,14.61,28.83,13.37
$STATE,6527,end apogee,CONTROL_FINISHED_OK
$STATE,6527,begin climb
$GC,6529,0.70,145.9,2537,3062,3259,3107,757.2,0.0,411,6697,0.93,0.00,123.05,1.737,10502,0.187,0.000,2803,3061,2581,2645,2517,0,0,0,0,0,0,13.95,28.83,13.00
$GC,6983,0.70,145.9,2804,3061,2643,2512,708.3,13.2,429,7032,0.00,1.35,0.00,0.000,260,0.000,0.121,2803,3780,2576,2641,2512,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7068,0.68,145.9,2804,3780,2642,2511,697.1,13.7,432,7116,0.00,1.27,0.00,0.000,1030,0.000,0.077,2808,3054,2576,2641,2512,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7449,0.68,145.9,2808,3054,2643,2511,644.7,13.5,445,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3053,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7783,0.68,145.9,2808,3054,2642,2511,600.4,13.1,456,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3053,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8118,0.68,145.9,2808,3054,2642,2510,557.3,12.9,467,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,0.68,145.9,2808,3054,2642,2510,513.7,13.0,478,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8787,0.68,145.9,2809,3054,2641,2511,470.4,13.0,489,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3053,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,0.68,145.9,2809,3055,2642,2511,427.0,13.0,500,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3053,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9456,0.68,145.9,2809,3054,2642,2509,384.2,12.7,511,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9791,0.68,145.9,2808,3053,2642,2510,342.4,12.5,522,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10125,0.68,145.9,2809,3055,2642,2511,301.5,12.0,533,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10460,0.68,146.1,2809,3054,2642,2511,262.0,11.6,544,10509,0.00,1.33,0.00,0.000,260,0.000,0.120,2808,3782,2575,2641,2510,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10527,0.68,148.0,2809,3781,2643,2510,254.4,11.5,546,10576,0.00,1.25,0.00,0.000,1030,0.000,0.076,2814,3045,2575,2641,2510,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11117,0.72,206.8,2815,3046,2642,2510,197.8,8.5,579,11200,0.00,1.42,50.45,1.114,8452,0.000,0.120,2813,3792,2335,2399,2271,0,0,0,0,0,0,28.83,14.30,13.85
$GC,11623,0.74,232.5,2815,3792,2386,2262,145.2,10.3,607,11689,0.00,1.27,20.60,1.095,9222,0.000,0.078,2818,3051,2228,2292,2165,0,0,0,0,0,0,28.83,14.50,13.92
$GC,12193,0.81,290.2,2819,3051,2289,2161,93.6,8.6,639,12274,0.00,2.45,28.42,0.455,8708,0.000,0.080,2829,1649,2013,2086,1941,0,0,0,0,0,0,28.83,14.40,14.20
$GC,12442,0.93,369.8,2822,1643,2087,1940,73.5,7.4,651,12526,0.17,2.50,42.88,0.388,11270,0.085,0.109,2905,3046,1681,1738,1624,0,0,0,0,0,0,14.43,14.38,14.14
$GC,13047,1.06,505.9,2907,3047,1746,1625,13.8,4.4,685,13166,0.00,1.40,72.15,0.224,8452,0.000,0.125,2905,3787,1125,1160,1091,0,0,0,0,0,0,28.83,14.30,14.23
$FREEZE,8.61,3.602,-1.391,2,1,0
$FREEZE,7.80,3.658,-1.405,2,1,0
$FREEZE,7.23,3.658,-1.404,2,1,0
$FREEZE,6.59,3.364,-1.398,2,1,0
$FREEZE,6.03,3.364,-1.397,2,1,0
$FREEZE,5.35,3.377,-1.394,2,1,0
$FREEZE,4.67,3.377,-1.393,2,1,0
$FREEZE,4.13,3.332,-1.389,2,1,0
$FREEZE,3.32,3.332,-1.389,2,1,0
$FREEZE,2.54,3.293,-1.389,2,1,0
$FREEZE,1.74,3.293,-1.388,2,1,0
$STATE,13383,end climb,SURFACE_DEPTH_REACHED
$STATE,13383,begin surface coast
$FREEZE,1.58,3.271,-1.388,2,1,0
$FREEZE,1.25,3.271,-1.387,2,1,0
$FINISH,1.2,1.020296
$STATE,13391,end surface coast,CONTROL_FINISHED_OK
$STATE,13391,begin surface
$SM_CCo,13419,81.43,0.190,0,0,500,659.12
$SM_GC,2.17,8.20,1.95,81.43,0.100,0.074,0.190,205,2677,500,-7.39,0.88,659.12,0,0,0,0,0,0,14.42,14.41,14.26
$RAFOS_CLK,74
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7118.99,-14433.35,100814,202855
$TT8_MAMPS,0.079394,0.079394
$HUMID,47.00
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3977952
$24V_AH,13.00,35.406
$10V_AH,13.07,0.000
$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,21.450,40.975,518.125,81.425,0.000,0.000,0.000,232.050,0.000,0.000,26.898,0.000,6355.498,498.772,6937.295,152.472,0.000,2974.863,0.000,1054.166,1483.000,0.535,0.000
$DEVICE_MAMPS,453.645,150.705,1737.315,190.485,0.000,0.000,0.000,177.480,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13421.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.110,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,315672
$DATA_FILE_SIZE,23437,705
$CAP_FILE_SIZE,184289,0
$CFSIZE,2097872896,2067922944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14491.29,0x2378b6,7,5
$SOUNDSPEED,1450.7
$GPS,110814,042218,7153.680,-14433.809,38,0.9,58,22.6