version: 66.12
glider: 198
mission: 5
dive: 229
start: 8 31 114 18 43 0
data:
$ID,198
$MISSION,5
$DIVE,229
$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,-5021.1265
$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,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
$GPS1,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.78
$_SM_ANGLEo,-16.4
$GPS2,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.7,50652,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-145.9,2677,2685,1806,1727,0.0,0.0,0,30,0.00,0.00,-12.93,0.000,16386,0.000,0.000,2677,2685,2532,2587,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2686,2589,2478,17.6,0.0,1,56,0.90,2.08,-19.55,0.000,20740,0.072,0.149,2344,3792,3787,3845,3729,0,0,0,0,0,0,14.42,14.40,14.66
$GC,281,-0.64,-145.9,2345,3793,3839,3733,81.7,-20.4,51,286,0.12,1.95,0.00,0.000,3078,0.288,0.073,2376,2670,3788,3839,3738,0,0,0,0,0,0,14.20,14.43,28.83
$GC,591,-0.64,-145.9,2376,2670,3840,3732,130.8,-15.4,83,596,0.00,2.08,0.00,0.000,260,0.000,0.125,2373,3786,3785,3839,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,821,-0.64,-145.9,2374,3787,3840,3733,167.0,-15.4,129,826,0.00,1.90,0.00,0.000,1030,0.000,0.075,2374,2685,3785,3839,3732,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1131,-0.64,-145.9,2375,2685,3840,3733,209.8,-13.1,161,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2684,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1431,-0.66,-145.9,2374,2684,3840,3733,247.2,-11.7,191,1436,0.00,2.40,0.00,0.000,516,0.000,0.087,2374,1274,3785,3839,3732,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1476,-0.70,-145.9,2374,1274,3840,3733,252.2,-10.6,200,1481,0.00,2.50,0.00,0.000,1030,0.000,0.111,2373,2681,3785,3839,3732,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1792,-0.73,-145.9,2375,2682,3840,3733,285.4,-10.3,213,1797,0.00,2.40,0.00,0.000,516,0.000,0.085,2373,1269,3785,3839,3732,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1842,-0.77,-145.9,2374,1268,3840,3732,290.3,-10.0,223,1847,0.00,2.53,0.00,0.000,1030,0.000,0.111,2373,2690,3785,3839,3732,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2153,-0.81,-145.9,2375,2690,3839,3733,320.9,-9.9,235,2158,0.12,1.95,0.00,0.000,4356,0.149,0.121,2310,3787,3785,3839,3732,0,0,0,0,0,0,14.61,14.57,28.83
$GC,2258,-0.79,-145.9,2311,3788,3840,3732,334.9,-13.9,256,2263,0.00,1.85,0.00,0.000,1030,0.000,0.076,2310,2674,3785,3839,3732,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2573,-0.79,-145.9,2310,2678,3840,3733,375.2,-12.6,269,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2873,-0.79,-145.9,2311,2676,3840,3732,412.4,-12.3,279,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3172,-0.79,-145.9,2311,2677,3840,3733,448.4,-11.9,289,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3472,-0.79,-145.9,2311,2676,3840,3732,483.8,-11.7,299,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3772,-0.79,-145.9,2311,2676,3840,3732,518.7,-11.6,309,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-0.79,-145.9,2311,2677,3840,3733,553.3,-11.5,319,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2675,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.79,-145.9,2311,2677,3840,3733,587.5,-11.4,329,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4674,-0.79,-145.9,2311,2677,3840,3734,621.3,-11.1,339,4678,0.00,2.35,0.00,0.000,516,0.000,0.084,2310,1278,3786,3839,3733,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4708,-0.79,-145.9,2311,1278,3840,3733,625.3,-11.2,346,4713,0.00,2.47,0.00,0.000,1030,0.000,0.106,2308,2681,3786,3839,3733,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5034,-0.79,-145.9,2308,2681,3836,3733,662.5,-11.6,361,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2681,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5333,-0.79,-145.9,2308,2681,3841,3733,696.5,-11.3,371,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2681,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,-0.79,-145.9,2308,2681,3840,3735,730.7,-11.3,381,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2681,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5811,begin apogee
$GC,5815,-0.14,0.0,2305,3055,3841,3733,751.2,-11.3,387,6010,0.90,0.00,191.05,1.468,10246,0.271,0.000,2537,3055,3186,3285,3088,0,0,0,0,0,0,14.33,28.83,13.21
$STATE,6011,end apogee,CONTROL_FINISHED_OK
$STATE,6011,begin climb
$GC,6012,0.70,145.9,2538,3056,3282,3085,755.9,0.0,393,6150,0.93,1.48,128.32,1.747,10500,0.174,0.116,2802,3783,2581,2660,2503,0,0,0,0,0,0,13.74,13.28,12.69
$GC,6225,0.66,145.9,2803,3785,2654,2495,736.0,13.9,434,6230,0.00,1.33,0.00,0.000,1030,0.000,0.073,2807,3058,2574,2653,2496,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6535,0.66,145.9,2808,3061,2654,2494,695.9,12.8,446,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3061,2573,2652,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6835,0.66,145.9,2809,3062,2653,2494,657.4,12.9,456,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3061,2572,2652,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7135,0.66,145.9,2808,3061,2653,2493,618.6,12.9,466,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3061,2572,2652,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7435,0.66,145.9,2808,3062,2653,2494,580.0,12.8,476,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2572,2652,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7735,0.66,145.9,2807,3061,2653,2493,541.8,12.6,486,7740,0.00,1.35,0.00,0.000,260,0.000,0.120,2807,3793,2572,2652,2493,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7775,0.62,145.9,2807,3793,2653,2492,536.2,14.2,494,7780,0.00,1.27,0.00,0.000,1030,0.000,0.075,2813,3042,2572,2652,2493,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8096,0.62,145.9,2813,3042,2654,2492,494.6,12.9,508,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3042,2572,2652,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8395,0.62,145.9,2814,3043,2653,2494,455.7,13.0,518,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3042,2572,2652,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8695,0.62,145.9,2813,3042,2653,2493,417.6,12.7,528,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3042,2572,2652,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8995,0.62,145.9,2813,3042,2653,2493,380.0,12.4,538,9000,0.00,1.38,0.00,0.000,260,0.000,0.119,2813,3791,2572,2652,2493,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9035,0.58,145.9,2814,3792,2653,2494,374.7,13.8,546,9040,0.12,1.27,0.00,0.000,5126,0.256,0.075,2783,3045,2572,2652,2493,0,0,0,0,0,0,14.50,14.71,28.83
$GC,9356,0.60,168.7,2784,3045,2653,2493,340.8,10.4,560,9376,0.00,0.00,19.38,1.312,8198,0.000,0.000,2782,3045,2499,2587,2412,0,0,0,0,0,0,28.83,28.83,14.01
$GC,9655,0.61,190.3,2784,3046,2564,2399,308.8,10.5,570,9674,0.00,0.00,18.52,1.272,8198,0.000,0.000,2783,3045,2408,2492,2325,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9956,0.65,208.4,2784,3046,2472,2312,276.6,10.7,580,9973,0.00,0.00,15.52,1.251,8198,0.000,0.000,2783,3045,2336,2417,2255,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10256,0.71,239.0,2784,3045,2399,2242,245.5,10.0,592,10287,0.12,2.47,26.67,1.206,10756,0.145,0.080,2849,1639,2204,2280,2128,0,0,0,0,0,0,14.59,14.42,13.88
$GC,10342,0.71,239.0,2850,1638,2268,2124,235.0,12.4,609,10348,0.00,2.53,0.00,0.000,1030,0.000,0.106,2849,3054,2195,2267,2123,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10647,0.71,239.0,2850,3054,2267,2117,196.9,11.6,640,10652,0.12,2.40,0.00,0.000,4612,0.282,0.077,2833,1646,2191,2265,2118,0,0,0,0,0,0,14.33,14.51,28.83
$GC,10742,0.77,280.6,2834,1647,2267,2118,187.7,9.4,659,10783,0.00,2.50,36.05,1.142,9222,0.000,0.107,2833,3056,2039,2113,1965,0,0,0,0,0,0,28.83,14.50,13.84
$GC,11088,0.82,307.1,2833,3056,2094,1948,150.3,10.2,698,11119,0.00,2.50,22.33,1.112,8708,0.000,0.079,2839,1647,1925,1995,1855,0,0,0,0,0,0,28.83,14.38,13.86
$GC,11179,0.88,327.3,2840,1648,1987,1854,140.8,10.6,716,11205,0.10,2.53,18.65,1.095,11270,0.168,0.107,2887,3055,1842,1909,1776,0,0,0,0,0,0,14.42,14.38,13.81
$GC,11509,0.88,327.3,2888,3056,1895,1765,95.7,13.0,752,11510,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,3053,1829,1894,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11809,0.90,345.7,2888,3060,1895,1763,61.6,10.6,782,11821,0.00,1.33,6.80,0.320,8452,0.000,0.119,2887,3788,1780,1851,1709,0,0,0,0,0,0,28.83,14.35,14.19
$GC,11886,0.91,361.4,2888,3789,1869,1710,53.1,10.8,797,11902,0.00,1.27,11.00,0.314,9222,0.000,0.076,2891,3057,1713,1784,1642,0,0,0,0,0,0,28.83,14.40,14.18
$GC,12202,1.03,477.8,2892,3057,1811,1642,35.0,5.4,830,12273,0.00,1.42,65.65,0.281,8452,0.000,0.125,2892,3791,1240,1294,1186,0,0,0,0,0,0,28.83,14.28,14.16
$GC,12327,1.15,562.7,2893,3793,1309,1187,26.2,7.1,855,12379,0.15,1.30,47.65,0.253,11270,0.078,0.076,2967,3052,889,904,875,0,0,0,0,0,0,14.35,14.35,14.12
$FREEZE,8.91,-1.356,-1.447,2,14,0
$STATE,12512,end climb,FINISH_DEPTH_REACHED
$STATE,12512,begin subsurface finish
$FINISH1,8.9,1.021249,349
$GC,12516,0.24,349.2,2968,3052,920,875,8.9,8.6,879,12548,1.05,2.47,-21.75,0.000,20996,0.221,0.105,2675,1651,1765,1808,1723,0,0,0,0,0,0,14.17,14.30,14.55
$FINISH2,8.9
$STATE,12548,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12548,begin surface
$RAFOS_CLK,516
$RAFOS_FIX,7417.013672,-14347.504883,310814,080806,2,255,0.16
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.17
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3919264
$24V_AH,12.69,75.280
$10V_AH,12.63,0.000
$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,4.650,59.850,607.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10114.101,632.736,1787.506,131.214,0.000,1339.791,0.000,1314.115,1480.000,0.535,0.000
$DEVICE_MAMPS,288.405,149.175,1747.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12598.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.917,0.000,0.000,0.000
$MEM,242076
$DATA_FILE_SIZE,30006,885
$CAP_FILE_SIZE,136198,0
$CFSIZE,2097872896,2042200064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12513.94,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2