version: 66.12
glider: 198
mission: 5
dive: 132
start: 8 16 114 13 12 25
data:
$ID,198
$MISSION,5
$DIVE,132
$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,-3476.0259
$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,39
$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
$GPS1,160814,130512,7241.871,-14420.148,37,0.8,57,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-69.1
$GPS2,160814,131206,7241.846,-14420.319,5,0.8,25,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,357.7,16121,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-145.9,205,2680,450,538,0.0,0.0,0,81,0.00,0.00,-62.62,0.000,16386,0.000,0.000,203,2680,1984,2012,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.70,-145.9,205,2681,2014,1957,3.1,-2.2,6,142,10.90,2.08,-44.00,0.000,18692,0.448,0.145,2347,3789,3783,3910,3656,0,0,0,0,0,0,14.09,14.37,14.62
$GC,366,-0.62,-145.9,2348,3790,3887,3694,76.1,-23.0,63,373,0.12,1.90,0.00,0.000,3078,0.308,0.071,2379,2680,3792,3886,3699,0,0,0,0,0,0,14.31,14.50,28.83
$GC,671,-0.62,-145.9,2380,2680,3886,3695,126.5,-15.3,94,677,0.00,2.03,0.00,0.000,260,0.000,0.123,2374,3786,3790,3886,3694,0,0,0,0,0,0,28.83,14.49,28.83
$GC,831,-0.62,-145.9,2375,3787,3886,3695,152.9,-14.8,126,837,0.00,1.90,0.00,0.000,1030,0.000,0.072,2374,2674,3790,3886,3694,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1141,-0.62,-145.9,2376,2675,3886,3695,196.3,-12.5,158,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3792,3886,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1441,-0.62,-145.9,2375,2675,3887,3694,233.0,-11.6,188,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3789,3885,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1741,-0.65,-145.9,2375,2675,3886,3694,266.6,-11.0,208,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3789,3885,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-0.67,-145.9,2375,2675,3885,3695,298.0,-10.3,218,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3789,3884,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.70,-145.9,2375,2676,3884,3694,326.9,-9.5,228,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3788,3883,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2642,-0.73,-145.9,2375,2675,3884,3694,355.4,-9.5,238,2647,0.00,2.00,0.00,0.000,260,0.000,0.127,2374,3791,3788,3883,3694,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2701,-0.75,-145.9,2374,3792,3883,3694,361.5,-10.3,250,2707,0.00,1.90,0.00,0.000,1030,0.000,0.073,2374,2675,3788,3882,3694,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3032,-0.79,-145.9,2374,2673,3883,3694,392.7,-9.4,266,3037,0.12,2.00,0.00,0.000,4356,0.154,0.121,2310,3793,3788,3882,3694,0,0,0,0,0,0,14.72,14.64,28.83
$GC,3071,-0.76,-145.9,2311,3794,3883,3695,397.7,-13.2,274,3077,0.10,1.90,0.00,0.000,3078,0.285,0.071,2336,2672,3787,3881,3694,0,0,0,0,0,0,14.52,14.69,28.83
$GC,3392,-0.76,-145.9,2336,2672,3883,3694,434.3,-11.5,288,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2672,3788,3882,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.76,-145.9,2337,2671,3883,3694,467.7,-11.1,298,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3786,3882,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-0.76,-145.9,2337,2672,3882,3696,500.5,-10.9,308,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3788,3882,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-0.76,-145.9,2337,2672,3882,3696,533.1,-10.7,318,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2670,3788,3881,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.76,-145.9,2337,2671,3882,3696,565.4,-10.8,328,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3788,3882,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4892,-0.76,-145.9,2338,2672,3882,3697,597.1,-10.5,338,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3789,3882,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5191,-0.76,-145.9,2337,2671,3884,3696,628.6,-10.5,348,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3789,3882,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5491,-0.76,-145.9,2337,2671,3883,3696,659.7,-10.4,358,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3789,3882,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,-0.76,-145.9,2337,2671,3883,3695,691.1,-10.6,368,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3787,3882,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6092,-0.76,-145.9,2337,2671,3883,3696,723.2,-10.8,378,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2671,3788,3881,3696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6360,begin apogee
$GC,6364,-0.14,0.0,2334,3058,3882,3696,752.4,-10.8,387,6492,0.75,0.00,126.00,1.739,10246,0.268,0.000,2535,3057,3186,3267,3106,0,0,0,0,0,0,14.64,28.83,13.38
$STATE,6493,end apogee,CONTROL_FINISHED_OK
$STATE,6493,begin climb
$GC,6495,0.70,145.9,2536,3058,3263,3102,755.9,0.0,391,6628,0.93,1.45,122.85,1.727,10500,0.184,0.119,2802,3783,2585,2648,2522,0,0,0,0,0,0,13.93,13.60,13.02
$GC,6707,0.66,145.9,2803,3784,2643,2518,735.9,13.9,436,6713,0.00,1.30,0.00,0.000,1030,0.000,0.073,2807,3057,2580,2642,2518,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7023,0.66,145.9,2808,3057,2644,2516,695.6,12.9,449,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3056,2579,2642,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,0.66,145.9,2807,3057,2644,2516,656.8,12.9,459,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3057,2579,2643,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7622,0.66,145.9,2808,3057,2643,2516,617.7,12.9,469,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3057,2578,2642,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,0.66,145.9,2807,3057,2644,2515,579.3,12.8,479,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2579,2643,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,0.66,145.9,2807,3056,2643,2515,540.6,12.9,489,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3057,2578,2642,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8522,0.66,145.9,2807,3057,2644,2514,501.7,13.0,499,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3057,2578,2642,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8822,0.66,145.9,2808,3057,2643,2515,463.5,12.6,509,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3057,2581,2648,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,0.66,145.9,2807,3057,2644,2514,425.6,12.6,519,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3056,2578,2642,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9422,0.66,145.9,2807,3057,2643,2514,388.0,12.5,529,9428,0.00,1.33,0.00,0.000,260,0.000,0.118,2807,3786,2578,2642,2514,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9462,0.63,145.9,2808,3786,2644,2514,382.5,14.0,537,9468,0.00,1.25,0.00,0.000,1030,0.000,0.075,2813,3048,2578,2642,2514,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9783,0.63,145.9,2813,3049,2643,2516,342.9,12.1,551,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3048,2578,2643,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10083,0.63,145.9,2816,3049,2643,2515,307.0,11.7,561,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3048,2577,2641,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10382,0.63,145.9,2813,3048,2644,2515,271.4,11.9,571,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3048,2578,2642,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,0.64,167.6,2813,3048,2644,2514,238.2,10.5,587,10704,0.00,0.00,18.02,1.209,8454,0.000,0.000,2812,3048,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,14.01
$GC,11003,0.67,201.1,2814,3048,2560,2426,204.4,9.8,620,11034,0.00,0.00,28.23,1.128,8198,0.000,0.000,2812,3048,2363,2428,2298,0,0,0,0,0,0,28.83,28.83,13.87
$GC,11333,0.69,239.5,2813,3048,2419,2292,172.1,9.6,653,11368,0.00,0.00,33.15,1.080,8198,0.000,0.000,2813,3048,2206,2267,2146,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11663,0.75,279.8,2814,3048,2256,2135,140.2,9.5,686,11704,0.00,0.00,34.35,1.043,8710,0.000,0.000,2813,3048,2038,2098,1978,0,0,0,0,0,0,28.83,28.83,13.83
$GC,12003,0.83,324.3,2813,3047,2090,1972,108.1,9.3,721,12049,0.12,2.47,38.17,0.998,10756,0.149,0.078,2879,1639,1854,1909,1799,0,0,0,0,0,0,14.48,14.27,13.84
$GC,12138,0.85,324.3,2881,1640,1900,1801,92.1,11.7,748,12145,0.00,2.55,0.00,0.000,1030,0.000,0.105,2880,3062,1848,1898,1798,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12444,0.89,350.5,2880,3064,1899,1793,57.6,10.2,779,12457,0.00,0.00,11.60,0.360,8710,0.000,0.000,2879,3062,1757,1813,1701,0,0,0,0,0,0,28.83,28.83,14.26
$GC,12754,1.00,443.0,2880,3062,1830,1701,33.8,6.7,811,12807,0.00,0.00,51.38,0.283,8710,0.000,0.000,2879,3062,1378,1427,1330,0,0,0,0,0,0,28.83,28.83,14.31
$FREEZE,8.12,1.319,-1.432,2,1,0
$FREEZE,7.20,1.319,-1.431,2,1,0
$GC,13103,1.23,634.6,2880,3063,1437,1330,14.1,1.4,847,13209,0.32,1.38,99.82,0.223,11012,0.105,0.125,2995,3791,596,557,636,0,0,0,0,0,0,14.55,14.38,14.32
$FREEZE,5.74,1.430,-1.428,2,1,0
$FREEZE,5.25,1.502,-1.428,2,1,0
$FREEZE,4.98,1.502,-1.427,2,1,0
$FREEZE,4.53,1.501,-1.427,2,1,0
$FREEZE,3.88,1.501,-1.427,2,1,0
$FREEZE,3.36,1.495,-1.427,2,1,0
$FREEZE,2.63,1.495,-1.426,2,1,0
$FREEZE,1.90,1.490,-1.426,2,1,0
$STATE,13247,end climb,SURFACE_DEPTH_REACHED
$STATE,13247,begin surface coast
$FREEZE,1.27,1.490,-1.425,2,1,0
$FREEZE,1.28,1.445,-1.426,2,1,0
$FINISH,1.3,1.020960
$STATE,13258,end surface coast,CONTROL_FINISHED_OK
$STATE,13258,begin surface
$SM_CCo,13274,14.07,0.200,0,0,498,658.88
$SM_GC,2.09,8.35,1.92,14.07,0.090,0.070,0.200,197,2678,498,-7.40,1.10,658.88,0,0,0,0,0,0,14.47,14.47,14.33
$RAFOS_CLK,211
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7207.11,-14424.38,160814,092229
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.93
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,6.70
$XPDR_PINGS,1
$SC_FREEKB,3962720
$24V_AH,13.02,46.409
$10V_AH,12.86,0.000
$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,21.725,30.050,563.575,14.075,0.000,0.000,0.000,251.825,0.250,0.000,26.213,0.000,10891.106,638.350,2044.078,128.081,0.000,1583.879,0.000,1306.330,1475.000,0.535,0.000
$DEVICE_MAMPS,448.290,145.350,1738.845,200.430,0.000,0.000,0.000,171.360,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.530,0.000,0.000,0.000
$MEM,295884
$DATA_FILE_SIZE,30022,875
$CAP_FILE_SIZE,140531,0
$CFSIZE,2097872896,2061271040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13539.68,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,160814,165524,7243.381,-14419.255,37,0.7,57,22.9