version: 66.12
glider: 198
mission: 5
dive: 220
start: 8 30 114 9 32 20
data:
$ID,198
$MISSION,5
$DIVE,220
$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,-4654.5972
$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,31
$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,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
$GPS1,290814,190238,7402.869,-14429.620,4,0.8,24,23.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.50
$_SM_ANGLEo,-17.4
$GPS2,290814,190238,7402.869,-14429.620,4,0.8,24,23.2
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.5,83722,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-145.9,2680,2680,1792,1702,0.0,0.0,0,29,0.00,0.00,-11.90,0.000,16386,0.000,0.000,2678,2679,2421,2484,2358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2679,2678,2487,2358,16.1,0.0,1,59,0.93,2.10,-22.08,0.000,20740,0.069,0.150,2340,3789,3783,3841,3726,0,0,0,0,0,0,14.46,14.38,14.63
$GC,100,-0.58,-145.9,2341,3789,3842,3729,35.2,-34.8,13,105,0.25,1.90,0.00,0.000,3078,0.317,0.076,2395,2674,3785,3841,3729,0,0,0,0,0,0,14.22,14.44,28.83
$GC,409,-0.58,-145.9,2396,2674,3841,3731,97.0,-15.4,45,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2673,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,709,-0.58,-145.9,2396,2673,3842,3730,139.7,-13.7,75,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2673,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1009,-0.61,-145.9,2396,2673,3842,3731,179.9,-13.1,105,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2673,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.64,-145.9,2396,2673,3841,3730,216.3,-11.3,135,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2673,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.68,-145.9,2396,2673,3842,3730,247.7,-9.5,165,1614,0.00,2.03,0.00,0.000,260,0.000,0.127,2387,3790,3785,3841,3730,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1669,-0.71,-145.9,2388,3791,3841,3731,254.0,-10.8,177,1674,0.00,1.92,0.00,0.000,1030,0.000,0.077,2387,2651,3785,3841,3729,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2000,-0.76,-145.9,2388,2651,3842,3731,285.1,-9.3,193,2002,0.12,0.00,0.00,0.000,4102,0.148,0.000,2335,2650,3785,3841,3729,0,0,0,0,0,0,14.65,28.83,28.83
$GC,2299,-0.76,-145.9,2336,2651,3841,3730,320.1,-11.7,203,2304,0.00,2.08,0.00,0.000,260,0.000,0.127,2330,3783,3785,3841,3729,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2339,-0.76,-145.9,2330,3783,3842,3730,325.2,-13.0,211,2344,0.00,1.90,0.00,0.000,1030,0.000,0.077,2329,2679,3785,3841,3729,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2660,-0.76,-145.9,2330,2679,3842,3729,363.0,-11.7,225,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2679,3784,3840,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,-0.76,-145.9,2331,2680,3841,3730,397.5,-11.3,235,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2678,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3259,-0.76,-145.9,2331,2680,3841,3730,430.9,-11.2,245,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2679,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3559,-0.76,-145.9,2331,2680,3842,3730,463.9,-11.0,255,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2679,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3859,-0.76,-145.9,2331,2680,3841,3730,496.6,-10.8,265,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2679,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4159,-0.76,-145.9,2330,2680,3841,3730,529.2,-10.8,275,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2679,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.76,-145.9,2332,2679,3843,3730,561.7,-10.8,285,4464,0.00,2.00,0.00,0.000,260,0.000,0.124,2320,3802,3785,3841,3730,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4514,-0.76,-145.9,2322,3802,3841,3731,568.2,-11.9,296,4520,0.00,1.92,0.00,0.000,1030,0.000,0.074,2321,2676,3785,3841,3730,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4819,-0.76,-145.9,2322,2677,3841,3731,601.6,-10.8,307,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-0.76,-145.9,2322,2677,3842,3731,634.2,-10.8,317,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5419,-0.76,-145.9,2322,2676,3842,3731,666.8,-10.8,327,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5719,-0.76,-145.9,2322,2677,3842,3732,699.1,-10.7,337,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6019,-0.76,-145.9,2321,2676,3842,3732,731.1,-10.6,347,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3787,3843,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6197,begin apogee
$GC,6202,-0.14,0.0,2320,3058,3841,3733,750.1,-10.5,353,6333,0.82,0.00,128.62,1.757,10246,0.262,0.000,2536,3058,3185,3276,3095,0,0,0,0,0,0,14.49,28.83,13.31
$STATE,6334,end apogee,CONTROL_FINISHED_OK
$STATE,6334,begin climb
$GC,6336,0.70,145.9,2537,3057,3269,3088,752.8,0.0,357,6465,0.93,0.00,124.88,1.740,10502,0.174,0.000,2807,3057,2586,2661,2512,0,0,0,0,0,0,13.90,28.83,12.88
$GC,6770,0.70,145.9,2808,3058,2649,2500,703.4,13.2,387,6775,0.00,1.38,0.00,0.000,260,0.000,0.120,2807,3781,2572,2646,2499,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6831,0.66,145.9,2807,3782,2647,2499,694.9,14.3,399,6835,0.00,1.30,0.00,0.000,1030,0.000,0.076,2809,3050,2572,2646,2499,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7161,0.64,145.9,2813,3050,2647,2499,651.2,13.1,415,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3050,2572,2646,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7461,0.62,145.9,2813,3050,2647,2500,611.8,13.1,425,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3050,2572,2646,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7760,0.62,145.9,2813,3050,2647,2500,572.6,13.0,435,7765,0.00,1.35,0.00,0.000,260,0.000,0.122,2812,3784,2572,2646,2499,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7820,0.58,145.9,2813,3785,2646,2500,563.8,15.4,447,7826,0.12,1.25,0.00,0.000,5126,0.256,0.078,2783,3052,2572,2645,2499,0,0,0,0,0,0,14.42,14.62,28.83
$GC,8150,0.58,152.4,2785,3053,2646,2500,525.9,11.3,463,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3052,2572,2645,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8450,0.58,158.2,2784,3053,2646,2499,492.1,11.3,473,8455,0.00,0.00,3.90,1.128,8198,0.000,0.000,2783,3052,2540,2617,2463,0,0,0,0,0,0,28.83,28.83,13.81
$GC,8751,0.59,162.8,2784,3052,2656,2464,457.8,11.4,483,8763,0.00,0.00,11.40,1.411,8198,0.000,0.000,2783,3052,2521,2604,2439,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9050,0.59,163.5,2784,3053,2590,2432,423.1,11.6,493,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3052,2510,2589,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9351,0.59,168.3,2784,3052,2590,2432,388.8,11.4,503,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3052,2511,2590,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9650,0.60,176.8,2784,3053,2590,2432,355.0,11.2,513,9664,0.00,0.00,12.88,1.307,8198,0.000,0.000,2783,3052,2465,2545,2386,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9951,0.60,187.1,2784,3053,2530,2375,321.5,11.1,523,9955,0.00,0.00,3.67,0.978,8198,0.000,0.000,2783,3052,2421,2500,2342,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10251,0.61,201.2,2784,3049,2538,2343,288.5,10.9,533,10271,0.00,0.00,19.70,1.231,8198,0.000,0.000,2783,3052,2365,2445,2286,0,0,0,0,0,0,28.83,28.83,13.85
$GC,10552,0.66,222.0,2784,3053,2424,2276,255.6,10.5,543,10572,0.00,0.00,17.92,1.199,8198,0.000,0.000,2783,3052,2279,2354,2205,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10851,0.72,258.1,2785,3053,2337,2195,225.7,9.7,569,10885,0.12,0.00,32.12,1.147,10758,0.145,0.000,2841,3050,2130,2202,2058,0,0,0,0,0,0,14.48,28.83,13.84
$GC,11180,0.72,258.1,2842,3051,2184,2043,185.0,12.1,603,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,3051,2113,2183,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11480,0.73,264.5,2842,3052,2182,2042,150.7,11.3,633,11486,0.00,2.40,0.00,0.000,516,0.000,0.082,2849,1640,2111,2182,2041,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11535,0.78,299.2,2850,1640,2183,2043,145.3,9.8,644,11577,0.00,2.50,35.30,1.071,9222,0.000,0.109,2848,3050,1959,2027,1892,0,0,0,0,0,0,28.83,14.51,13.88
$GC,11881,0.82,312.3,2849,3050,2010,1880,106.0,10.9,683,11893,0.00,0.00,9.93,1.070,8198,0.000,0.000,2849,3050,1911,1978,1845,0,0,0,0,0,0,28.83,28.83,13.89
$GC,12192,0.88,350.9,2849,3055,1966,1836,74.6,9.6,714,12217,0.00,2.45,18.92,0.395,8708,0.000,0.083,2858,1641,1760,1828,1693,0,0,0,0,0,0,28.83,14.37,14.14
$GC,12263,0.98,406.6,2859,1641,1846,1694,68.1,8.7,728,12304,0.15,2.55,32.53,0.379,11270,0.128,0.109,2925,3059,1533,1592,1474,0,0,0,0,0,0,14.40,14.35,14.09
$GC,12602,1.06,480.5,2926,3059,1609,1474,34.4,7.7,766,12653,0.00,2.53,42.10,0.289,8708,0.000,0.081,2935,1644,1230,1283,1178,0,0,0,0,0,0,28.83,14.32,14.16
$GC,12728,1.18,561.9,2932,1645,1297,1179,23.8,7.3,791,12779,0.12,2.58,45.30,0.255,11270,0.142,0.109,2989,3058,894,906,882,0,0,0,0,0,0,14.34,14.31,14.16
$FREEZE,8.94,-1.380,-1.441,2,5,0
$STATE,12882,end climb,FINISH_DEPTH_REACHED
$STATE,12882,begin subsurface finish
$FINISH1,8.9,1.021162,354
$GC,12886,0.25,353.8,2990,3059,923,881,8.9,9.9,812,12913,1.12,1.33,-21.17,0.000,20740,0.221,0.162,2674,3787,1744,1789,1700,0,0,0,0,0,0,14.21,14.24,14.55
$FINISH2,8.7
$STATE,12913,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12913,begin surface
$RAFOS_CLK,267
$RAFOS_FIX,7356.548340,-14439.704102,290814,000006,2,255,0.51
$IRIDIUM_FIX,7319.74,-14436.82,290814,145814
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.13
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3923296
$24V_AH,12.88,72.579
$10V_AH,12.80,0.000
$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,4.700,38.800,539.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10656.826,568.498,1683.287,121.463,0.000,1209.319,0.000,1222.277,1492.000,0.535,0.000
$DEVICE_MAMPS,316.710,162.180,1757.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12958.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.347,0.000,0.000,0.000
$MEM,246616
$DATA_FILE_SIZE,26729,817
$CAP_FILE_SIZE,132761,0
$CFSIZE,2097872896,2043969536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12884.26,0x2378b6,5,5
$SOUNDSPEED,1449.4
$GPS,290814,190238,7402.869,-14429.620,4,0.8,24,23.2