version: 66.12
glider: 198
mission: 5
dive: 223
start: 8 30 114 20 28 42
data:
$ID,198
$MISSION,5
$DIVE,223
$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,30
$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
$GPS1,300814,200426,7413.434,-14352.840,0,2255.0,0,23.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.37
$_SM_ANGLEo,-17.0
$GPS2,300814,200426,7413.434,-14352.840,0,2255.0,0,23.2
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.4,57084,-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,-145.9,2678,2685,1797,1713,0.0,0.0,0,29,0.00,0.00,-12.25,0.000,16386,0.000,0.000,2677,2685,2455,2517,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2679,2685,2519,2394,16.6,0.0,1,58,0.93,0.00,-21.42,0.000,20486,0.071,0.000,2349,2685,3782,3838,3726,0,0,0,0,0,0,14.41,28.83,14.62
$GC,358,-0.66,-145.9,2350,2685,3839,3729,94.6,-19.1,34,362,0.00,2.42,0.00,0.000,516,0.000,0.086,2348,1270,3783,3838,3729,0,0,0,0,0,0,28.83,14.44,28.83
$GC,442,-0.66,-145.9,2349,1269,3840,3729,109.5,-16.9,51,448,0.00,2.55,0.00,0.000,1030,0.000,0.109,2348,2687,3783,3839,3728,0,0,0,0,0,0,28.83,14.41,28.83
$GC,747,-0.66,-145.9,2348,2689,3839,3730,160.5,-16.0,82,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1047,-0.66,-145.9,2348,2688,3840,3729,207.1,-14.8,112,1052,0.00,2.00,0.00,0.000,260,0.000,0.119,2339,3787,3782,3836,3729,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1082,-0.64,-145.9,2341,3788,3839,3730,212.7,-16.5,119,1089,0.12,1.90,0.00,0.000,3078,0.289,0.072,2373,2678,3783,3838,3729,0,0,0,0,0,0,14.33,14.57,28.83
$GC,1389,-0.66,-145.9,2372,2678,3840,3729,250.1,-11.2,150,1393,0.00,2.00,0.00,0.000,260,0.000,0.122,2365,3789,3783,3838,3729,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1467,-0.66,-145.9,2366,3790,3839,3730,259.7,-11.9,166,1473,0.00,1.90,0.00,0.000,1030,0.000,0.073,2365,2679,3784,3839,3729,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1779,-0.69,-145.9,2365,2678,3840,3729,293.5,-10.6,178,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2679,3784,3839,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2078,-0.72,-145.9,2362,2679,3840,3729,324.1,-10.0,188,2083,0.00,2.00,0.00,0.000,260,0.000,0.122,2361,3790,3783,3838,3729,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2118,-0.72,-145.9,2361,3791,3840,3729,328.5,-11.1,196,2123,0.00,1.90,0.00,0.000,1030,0.000,0.073,2362,2678,3783,3838,3729,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2439,-0.75,-145.9,2362,2679,3840,3729,359.5,-9.5,210,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2678,3783,3839,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,-0.78,-145.9,2362,2679,3839,3726,388.1,-9.6,220,2743,0.00,2.00,0.00,0.000,260,0.000,0.124,2361,3794,3784,3839,3729,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2813,-0.81,-145.9,2362,3795,3840,3729,395.8,-10.5,235,2818,0.00,1.90,0.00,0.000,1030,0.000,0.072,2361,2678,3782,3838,3727,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3129,-0.84,-145.9,2362,2678,3839,3729,425.7,-9.4,248,3130,0.15,0.00,0.00,0.000,4102,0.146,0.000,2304,2678,3783,3838,3728,0,0,0,0,0,0,14.69,28.83,28.83
$GC,3428,-0.84,-145.9,2304,2678,3840,3729,461.5,-12.0,258,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3783,3838,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3728,-0.84,-145.9,2305,2678,3840,3728,497.4,-11.9,268,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2677,3783,3839,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4028,-0.84,-145.9,2305,2678,3840,3728,532.9,-11.7,278,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3783,3839,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.84,-145.9,2305,2679,3839,3730,567.6,-11.6,288,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.84,-145.9,2305,2678,3839,3730,602.1,-11.5,298,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3783,3839,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4928,-0.84,-145.9,2304,2678,3840,3730,636.1,-11.3,308,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2677,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5228,-0.84,-145.9,2305,2678,3839,3731,670.4,-11.4,318,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5528,-0.84,-145.9,2305,2678,3839,3731,704.6,-11.5,328,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2677,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,-0.84,-145.9,2305,2678,3838,3732,738.6,-11.3,338,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2677,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5946,begin apogee
$GC,5950,-0.14,0.0,2302,3062,3840,3731,752.0,-11.2,342,6137,0.90,0.00,184.30,1.468,10246,0.275,0.000,2537,3062,3186,3286,3086,0,0,0,0,0,0,14.50,28.83,13.35
$STATE,6138,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6140,0.70,145.9,2539,3063,3282,3082,756.3,0.0,348,6275,0.93,1.45,125.00,1.730,10500,0.176,0.116,2805,3779,2583,2664,2502,0,0,0,0,0,0,13.84,13.38,12.80
$GC,6340,0.66,145.9,2806,3782,2655,2495,737.4,13.9,390,6345,0.00,1.33,0.00,0.000,1030,0.000,0.071,2809,3061,2574,2655,2494,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6671,0.64,145.9,2811,3062,2655,2494,693.6,13.3,406,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3061,2573,2654,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,0.62,145.9,2812,3062,2655,2494,654.0,13.2,416,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3061,2573,2654,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7269,0.62,145.9,2811,3061,2655,2492,615.1,12.9,426,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3061,2573,2654,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,0.60,145.9,2811,3062,2655,2493,576.1,12.9,436,7575,0.00,1.33,0.00,0.000,260,0.000,0.119,2810,3781,2573,2654,2492,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7644,0.56,145.9,2811,3781,2655,2492,565.4,14.4,451,7650,0.15,1.27,0.00,0.000,5126,0.258,0.073,2775,3042,2572,2653,2492,0,0,0,0,0,0,14.40,14.57,28.83
$GC,7961,0.57,161.2,2776,3043,2655,2492,530.6,10.8,464,7975,0.00,0.00,13.05,1.488,8198,0.000,0.000,2775,3042,2527,2612,2443,0,0,0,0,0,0,28.83,28.83,13.91
$GC,8260,0.57,171.0,2776,3039,2598,2432,497.2,11.1,474,8264,0.00,0.00,3.25,0.946,8198,0.000,0.000,2775,3042,2488,2573,2403,0,0,0,0,0,0,28.83,28.83,13.76
$GC,8560,0.58,178.8,2775,3042,2608,2402,463.5,11.2,484,8575,0.00,0.00,14.15,1.418,8198,0.000,0.000,2775,3042,2456,2546,2367,0,0,0,0,0,0,28.83,28.83,13.91
$GC,8861,0.60,181.8,2775,3043,2530,2356,428.9,11.5,494,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,3042,2442,2528,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,0.63,185.2,2775,3043,2529,2356,394.7,11.4,504,9162,0.00,0.00,1.30,0.243,8198,0.000,0.000,2775,3042,2429,2516,2343,0,0,0,0,0,0,28.83,28.83,14.52
$GC,9461,0.65,193.8,2776,3041,2539,2343,360.9,11.2,514,9475,0.00,0.00,13.00,1.316,8198,0.000,0.000,2775,3042,2396,2485,2307,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9761,0.69,202.5,2776,3043,2467,2298,327.3,11.2,524,9770,0.12,2.40,2.55,0.605,10756,0.146,0.076,2847,1645,2365,2454,2276,0,0,0,0,0,0,14.66,14.59,13.78
$GC,9815,0.69,202.5,2848,1645,2474,2277,320.0,13.6,535,9822,0.15,2.47,1.92,0.227,13318,0.278,0.103,2814,3053,2360,2447,2273,0,0,0,0,0,0,14.43,14.57,14.47
$GC,10120,0.69,202.5,2811,3054,2481,2273,281.1,12.3,546,10123,0.00,0.00,1.85,0.227,8198,0.000,0.000,2814,3054,2361,2449,2273,0,0,0,0,0,0,28.83,28.83,14.51
$GC,10421,0.69,213.9,2815,3055,2479,2274,245.7,11.0,558,10442,0.00,1.38,17.30,1.197,8452,0.000,0.117,2814,3793,2307,2394,2220,0,0,0,0,0,0,28.83,14.54,14.02
$GC,10582,0.69,213.9,2814,3793,2380,2215,226.1,12.0,590,10587,0.00,1.27,0.00,0.000,1030,0.000,0.073,2819,3048,2297,2379,2215,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10893,0.72,254.1,2820,3049,2378,2216,195.2,9.5,622,10933,0.00,0.00,34.88,1.122,8198,0.000,0.000,2819,3049,2140,2221,2060,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11233,0.78,293.2,2820,3049,2211,2051,161.8,9.5,656,11273,0.00,0.00,34.25,1.079,8454,0.000,0.000,2819,3048,1979,2056,1903,0,0,0,0,0,0,28.83,28.83,13.85
$GC,11573,0.84,321.5,2819,3049,2044,1896,128.1,10.1,691,11603,0.12,0.00,24.77,1.051,10246,0.145,0.000,2875,3048,1866,1939,1793,0,0,0,0,0,0,14.52,28.83,13.90
$GC,11903,0.84,321.5,2876,3048,1924,1785,87.1,12.0,724,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,3048,1854,1923,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12202,0.92,395.5,2876,3048,1923,1784,56.3,7.7,754,12244,0.00,2.47,36.47,0.340,8708,0.000,0.077,2882,1651,1577,1645,1510,0,0,0,0,0,0,28.83,14.35,14.16
$GC,12428,1.08,515.8,2885,1651,1662,1512,41.4,5.2,799,12505,0.15,2.53,67.00,0.298,11270,0.129,0.106,2948,3057,1085,1121,1050,0,0,0,0,0,0,14.41,14.35,14.12
$FREEZE,8.23,-1.366,-1.442,2,8,0
$STATE,12798,end climb,FINISH_DEPTH_REACHED
$STATE,12798,begin subsurface finish
$FINISH1,8.2,1.021188,352
$GC,12802,0.25,352.4,2948,3057,1138,1050,8.2,7.0,843,12825,0.98,1.40,-17.27,0.000,20740,0.210,0.168,2668,3787,1752,1789,1715,0,0,0,0,0,0,14.21,14.28,14.54
$FINISH2,7.9
$STATE,12825,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12825,begin surface
$RAFOS_CLK,13
$RAFOS_FIX,7413.434082,-14352.839844,300814,202026,2,255,0.30
$IRIDIUM_FIX,7319.74,-14436.82,290814,145814
$TT8_MAMPS,0.079394,0.079394
$HUMID,50.43
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3921952
$24V_AH,12.80,73.481
$10V_AH,12.67,0.000
$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,4.700,42.500,575.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10478.756,608.979,1725.749,126.367,0.000,1274.525,0.000,1257.957,1437.000,0.535,0.000
$DEVICE_MAMPS,289.170,168.300,1730.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12876.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.437,0.000,0.000,0.000
$MEM,245136
$DATA_FILE_SIZE,29983,847
$CAP_FILE_SIZE,131839,0
$CFSIZE,2097872896,2043379712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12800.59,0x2378b6,5,5
$SOUNDSPEED,1449.6
$GPS,300814,200426,7413.434,-14352.840,0,2255.0,0,23.2