version: 66.12
glider: 198
mission: 5
dive: 137
start: 8 17 114 8 11 10
data:
$ID,198
$MISSION,5
$DIVE,137
$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,-3482.3267
$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,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,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
$GPS1,170814,080354,7249.380,-14411.277,25,0.9,45,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-63.8
$GPS2,170814,081051,7249.416,-14411.423,4,0.8,24,22.9
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.7,135969,-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,-145.9,197,2681,448,534,0.0,0.0,0,91,0.00,0.00,-72.88,0.000,16386,0.000,0.000,197,2680,2220,2255,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.70,-145.9,197,2681,2258,2186,3.5,-2.8,7,145,11.07,2.50,-34.15,0.000,18948,0.450,0.108,2353,1266,3782,3869,3696,0,0,0,0,0,0,14.03,14.32,14.54
$GC,329,-0.65,-145.9,2355,1265,3870,3701,64.2,-20.6,55,335,0.12,2.53,0.00,0.000,3078,0.350,0.106,2372,2680,3784,3869,3700,0,0,0,0,0,0,14.23,14.36,28.83
$GC,639,-0.65,-145.9,2374,2680,3873,3700,119.3,-17.0,87,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2680,3784,3869,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-0.65,-145.9,2372,2680,3871,3701,166.9,-15.2,117,945,0.00,2.42,0.00,0.000,516,0.000,0.083,2372,1273,3784,3869,3700,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1014,-0.65,-145.9,2373,1274,3870,3701,177.4,-13.7,132,1021,0.00,2.53,0.00,0.000,1030,0.000,0.105,2363,2676,3782,3865,3700,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1319,-0.65,-145.9,2363,2675,3871,3700,218.6,-14.0,163,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2675,3784,3869,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-0.65,-145.9,2363,2676,3871,3701,257.2,-11.7,191,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2675,3785,3869,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1940,-0.65,-145.9,2368,2676,3877,3701,290.5,-10.9,201,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2675,3784,3869,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-0.65,-145.9,2363,2676,3870,3701,323.1,-11.0,211,2245,0.00,2.35,0.00,0.000,516,0.000,0.083,2362,1275,3784,3868,3701,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2290,-0.68,-145.9,2363,1276,3869,3701,328.3,-10.5,221,2295,0.00,2.50,0.00,0.000,1030,0.000,0.108,2367,2678,3784,3868,3700,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2601,-0.70,-145.9,2362,2679,3869,3701,360.7,-10.3,233,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2678,3784,3868,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,-0.72,-145.9,2362,2679,3874,3701,391.6,-10.2,243,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2678,3784,3868,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.74,-145.9,2362,2679,3869,3701,422.6,-10.4,253,3205,0.00,1.95,0.00,0.000,260,0.000,0.125,2358,3787,3784,3868,3700,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3239,-0.74,-145.9,2362,3788,3868,3701,427.0,-11.6,261,3245,0.00,1.88,0.00,0.000,1030,0.000,0.073,2361,2675,3784,3868,3700,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3561,-0.77,-145.9,2361,2675,3869,3701,458.8,-9.8,275,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2675,3784,3868,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3860,-0.79,-145.9,2362,2676,3868,3701,488.5,-9.8,285,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2675,3784,3868,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4160,-0.82,-145.9,2361,2674,3869,3701,517.5,-9.7,295,4161,0.12,0.00,0.00,0.000,4102,0.156,0.000,2309,2675,3784,3868,3700,0,0,0,0,0,0,14.76,28.83,28.83
$GC,4459,-0.82,-145.9,2310,2675,3869,3700,553.5,-12.1,305,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2674,3784,3867,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4760,-0.82,-145.9,2310,2675,3870,3701,589.1,-11.8,315,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2675,3784,3868,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5059,-0.82,-145.9,2311,2676,3869,3701,624.8,-11.8,325,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2674,3784,3868,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.82,-145.9,2311,2675,3869,3702,660.6,-11.9,335,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2674,3784,3868,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,-0.82,-145.9,2311,2675,3868,3702,695.8,-11.8,345,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2675,3784,3868,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,-0.82,-145.9,2310,2673,3869,3701,730.8,-11.7,355,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2675,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6138,begin apogee
$GC,6142,-0.14,0.0,2307,3062,3869,3702,752.0,-11.7,361,6269,0.88,0.00,124.90,1.740,10246,0.280,0.000,2537,3062,3185,3264,3107,0,0,0,0,0,0,14.59,28.83,13.36
$STATE,6270,end apogee,CONTROL_FINISHED_OK
$STATE,6270,begin climb
$GC,6272,0.70,145.9,2538,3062,3262,3104,755.4,0.0,365,6401,0.93,0.00,122.78,1.721,10502,0.184,0.000,2805,3062,2588,2651,2525,0,0,0,0,0,0,13.93,28.83,13.02
$GC,6710,0.70,145.9,2806,3063,2645,2518,707.2,12.6,400,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3062,2580,2644,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,0.70,145.9,2806,3062,2645,2517,668.7,12.9,410,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3062,2580,2644,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7310,0.70,145.9,2806,3062,2645,2517,630.4,12.6,420,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3061,2580,2644,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7610,0.70,145.9,2805,3062,2645,2516,592.2,12.7,430,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3062,2580,2644,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7911,0.70,145.9,2805,3062,2646,2516,554.3,12.6,440,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3062,2579,2644,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8210,0.70,145.9,2806,3063,2645,2516,516.3,12.7,450,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3061,2579,2644,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8510,0.70,145.9,2805,3061,2646,2515,478.5,12.5,460,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3062,2580,2645,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8810,0.70,145.9,2805,3062,2646,2516,441.1,12.5,470,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3062,2580,2644,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,0.70,145.9,2806,3062,2645,2516,402.9,12.7,480,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3062,2580,2645,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9411,0.70,145.9,2806,3062,2645,2516,365.5,12.3,490,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3062,2579,2644,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9710,0.70,145.9,2806,3062,2645,2516,329.4,11.8,500,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3061,2579,2644,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10010,0.70,145.9,2806,3062,2645,2516,294.1,11.7,510,10016,0.00,1.30,0.00,0.000,260,0.000,0.119,2810,3784,2580,2645,2515,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10055,0.67,145.9,2805,3785,2645,2517,288.6,12.7,519,10061,0.00,1.23,0.00,0.000,1030,0.000,0.076,2810,3054,2580,2645,2515,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10371,0.68,161.4,2811,3053,2646,2516,254.0,10.8,532,10385,0.00,0.00,12.88,1.265,8198,0.000,0.000,2810,3054,2528,2596,2461,0,0,0,0,0,0,28.83,28.83,14.16
$GC,10670,0.68,169.6,2811,3055,2589,2454,220.3,11.2,558,10682,0.00,2.42,4.30,1.308,8708,0.000,0.076,2827,1636,2501,2576,2427,0,0,0,0,0,0,28.83,14.59,14.02
$GC,10702,0.71,209.7,2820,1635,2585,2427,217.3,9.5,564,10748,0.00,2.47,38.47,1.120,9222,0.000,0.105,2820,3052,2324,2387,2261,0,0,0,0,0,0,28.83,14.61,13.95
$GC,11052,0.74,244.6,2820,3052,2380,2253,181.0,9.8,604,11088,0.00,2.45,29.85,1.096,8708,0.000,0.077,2829,1653,2181,2243,2119,0,0,0,0,0,0,28.83,14.35,13.90
$GC,11114,0.79,275.6,2830,1653,2239,2119,174.9,10.0,613,11145,0.00,2.47,26.30,1.082,9222,0.000,0.104,2830,3049,2060,2121,1999,0,0,0,0,0,0,28.83,14.36,13.82
$GC,11443,0.83,288.3,2829,3049,2109,1988,139.1,11.0,649,11459,0.00,2.40,10.45,1.156,8708,0.000,0.078,2833,1647,2005,2066,1945,0,0,0,0,0,0,28.83,14.40,13.95
$GC,11488,0.90,323.6,2837,1647,2064,1945,134.5,9.7,658,11526,0.12,2.50,31.08,1.031,11270,0.149,0.105,2894,3054,1861,1918,1805,0,0,0,0,0,0,14.43,14.39,13.83
$GC,11823,0.90,323.6,2895,3056,1906,1796,86.3,14.6,695,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,3054,1849,1904,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12123,0.92,356.9,2894,3054,1905,1794,50.5,9.9,725,12146,0.00,2.42,15.27,0.342,8708,0.000,0.077,2902,1635,1737,1800,1674,0,0,0,0,0,0,28.83,14.47,14.31
$GC,12225,1.03,445.1,2903,1636,1803,1675,42.6,6.9,745,12281,0.00,2.50,48.72,0.306,9222,0.000,0.106,2902,3050,1371,1420,1323,0,0,0,0,0,0,28.83,14.47,14.23
$FREEZE,8.82,2.184,-1.387,2,1,0
$FREEZE,8.11,2.184,-1.386,2,1,0
$GC,12585,1.22,610.0,2902,3050,1425,1323,15.7,2.9,787,12681,0.25,2.45,85.25,0.226,10756,0.107,0.083,3011,1658,699,671,727,0,0,0,0,0,0,14.56,14.40,14.30
$FREEZE,6.78,2.178,-1.386,2,1,0
$FREEZE,6.27,2.200,-1.384,2,1,0
$FREEZE,5.63,2.200,-1.383,2,1,0
$FREEZE,5.26,2.202,-1.383,2,1,0
$FREEZE,4.66,2.202,-1.382,2,1,0
$FREEZE,4.10,2.200,-1.382,2,1,0
$FREEZE,3.53,2.200,-1.382,2,1,0
$FREEZE,3.07,2.198,-1.381,2,1,0
$FREEZE,2.58,2.198,-1.381,2,1,0
$FREEZE,2.18,2.200,-1.381,2,1,0
$FREEZE,1.75,2.200,-1.380,2,1,0
$STATE,12735,end climb,SURFACE_DEPTH_REACHED
$STATE,12735,begin surface coast
$FREEZE,1.30,2.127,-1.383,2,1,0
$FREEZE,1.26,2.127,-1.383,2,1,0
$FINISH,1.3,1.020303
$STATE,12744,end surface coast,CONTROL_FINISHED_OK
$STATE,12744,begin surface
$SM_CCo,12760,26.88,0.197,0,0,498,658.88
$SM_GC,2.36,8.30,1.88,26.88,0.080,0.105,0.197,199,2694,498,-7.40,-0.34,658.88,0,0,0,0,0,0,14.47,14.44,14.35
$RAFOS_CLK,831
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7214.16,-14407.45,170814,042219
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.56
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3960480
$24V_AH,13.02,47.811
$10V_AH,12.83,0.000
$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,21.800,45.850,550.250,26.875,0.000,0.000,0.000,256.525,0.000,0.000,26.160,0.000,10494.377,648.450,1937.957,125.234,0.000,1571.818,0.000,1221.837,0.000,0.535,0.000
$DEVICE_MAMPS,449.820,124.695,1740.375,197.370,0.000,0.000,0.000,170.595,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12782.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.346,0.000,0.000,0.000
$MEM,293028
$DATA_FILE_SIZE,26766,818
$CAP_FILE_SIZE,136666,0
$CFSIZE,2097872896,2060288000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13445.36,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,170814,114548,7247.646,-14410.753,37,1.0,57,22.9