version: 66.12
glider: 198
mission: 5
dive: 230
start: 8 31 114 22 14 44
data:
$ID,198
$MISSION,5
$DIVE,230
$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,33
$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
$GPS1,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.34
$_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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-145.9,2676,2680,1811,1724,0.0,0.0,0,29,0.00,0.00,-12.20,0.000,16386,0.000,0.000,2674,2679,2470,2530,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2676,2680,2532,2412,16.7,0.0,1,60,0.88,2.05,-20.92,0.000,20740,0.072,0.148,2350,3788,3783,3839,3728,0,0,0,0,0,0,14.41,14.35,14.63
$GC,214,-0.64,-145.9,2350,3789,3840,3731,68.2,-23.6,38,221,0.10,1.92,0.00,0.000,3078,0.284,0.073,2375,2677,3785,3839,3731,0,0,0,0,0,0,14.21,14.44,28.83
$GC,519,-0.64,-145.9,2376,2678,3839,3732,119.8,-15.2,69,525,0.00,2.05,0.00,0.000,260,0.000,0.125,2373,3786,3784,3838,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,584,-0.64,-145.9,2375,3785,3840,3731,130.4,-16.3,82,591,0.00,1.90,0.00,0.000,1030,0.000,0.074,2373,2681,3785,3839,3731,0,0,0,0,0,0,28.83,14.47,28.83
$GC,889,-0.64,-145.9,2375,2681,3839,3732,174.5,-13.8,113,895,0.00,2.40,0.00,0.000,516,0.000,0.087,2373,1270,3784,3838,3731,0,0,0,0,0,0,28.83,14.51,28.83
$GC,934,-0.66,-145.9,2374,1269,3840,3731,180.6,-13.3,122,941,0.00,2.53,0.00,0.000,1030,0.000,0.110,2373,2688,3785,3839,3731,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1240,-0.66,-145.9,2374,2688,3840,3731,221.0,-12.5,153,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2688,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1540,-0.68,-145.9,2374,2688,3840,3731,257.0,-11.3,179,1545,0.00,2.42,0.00,0.000,516,0.000,0.085,2373,1261,3784,3838,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1590,-0.72,-145.9,2375,1262,3839,3732,262.4,-10.8,189,1595,0.00,2.55,0.00,0.000,1030,0.000,0.110,2373,2684,3785,3839,3731,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1901,-0.76,-145.9,2374,2684,3840,3732,294.2,-10.3,201,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2684,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.80,-145.9,2375,2684,3839,3732,324.0,-9.9,211,2201,0.12,0.00,0.00,0.000,4102,0.149,0.000,2323,2684,3784,3839,3730,0,0,0,0,0,0,14.67,28.83,28.83
$GC,2500,-0.80,-145.9,2323,2685,3839,3731,359.6,-11.9,221,2505,0.00,1.95,0.00,0.000,260,0.000,0.122,2314,3789,3784,3838,3730,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2539,-0.80,-145.9,2314,3789,3840,3730,364.7,-13.3,229,2545,0.00,1.88,0.00,0.000,1030,0.000,0.075,2314,2686,3784,3839,3730,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2860,-0.80,-145.9,2315,2687,3839,3730,403.2,-11.9,243,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2686,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,-0.80,-145.9,2315,2686,3840,3730,438.5,-11.7,253,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2686,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.80,-145.9,2315,2686,3839,3731,473.1,-11.5,263,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2686,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.80,-145.9,2315,2686,3840,3729,507.5,-11.4,273,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2686,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.80,-145.9,2314,2686,3840,3730,541.2,-11.3,283,4065,0.00,2.38,0.00,0.000,516,0.000,0.084,2314,1271,3784,3838,3730,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4099,-0.80,-145.9,2315,1270,3839,3731,545.6,-10.6,291,4105,0.00,2.47,0.00,0.000,1030,0.000,0.107,2305,2682,3784,3839,3730,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4420,-0.80,-145.9,2305,2683,3840,3730,583.0,-11.8,305,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2682,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4720,-0.80,-145.9,2305,2682,3840,3731,618.0,-11.6,315,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2682,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5020,-0.80,-145.9,2305,2682,3840,3732,652.9,-11.6,325,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2682,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5320,-0.80,-145.9,2305,2683,3839,3733,687.5,-11.5,335,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2682,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5620,-0.80,-145.9,2305,2683,3839,3736,721.4,-11.3,345,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2682,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5888,begin apogee
$GC,5892,-0.14,0.0,2303,3061,3839,3733,751.7,-11.2,354,6081,0.90,0.00,186.55,1.494,10246,0.275,0.000,2537,3060,3186,3282,3090,0,0,0,0,0,0,14.48,28.83,13.31
$STATE,6082,end apogee,CONTROL_FINISHED_OK
$STATE,6082,begin climb
$GC,6084,0.70,145.9,2538,3061,3279,3086,755.8,0.0,360,6217,0.93,1.48,125.82,1.748,10500,0.177,0.116,2802,3784,2587,2667,2508,0,0,0,0,0,0,13.83,13.35,12.76
$GC,6336,0.66,145.9,2804,3785,2652,2498,729.5,14.0,411,6341,0.00,1.33,0.00,0.000,1030,0.000,0.073,2808,3057,2574,2651,2498,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6652,0.66,145.9,2809,3057,2652,2497,687.8,13.1,424,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2573,2651,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6951,0.66,145.9,2809,3058,2652,2497,648.5,13.0,434,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2573,2651,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7252,0.66,145.9,2809,3056,2658,2496,609.4,13.0,444,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2573,2651,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,0.66,145.9,2810,3057,2653,2496,570.4,12.9,454,7556,0.00,1.35,0.00,0.000,260,0.000,0.119,2808,3783,2573,2651,2495,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7601,0.62,145.9,2809,3784,2652,2497,563.3,14.3,464,7606,0.00,1.27,0.00,0.000,1030,0.000,0.076,2813,3049,2571,2650,2492,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7913,0.60,145.9,2813,3046,2652,2495,522.4,13.2,476,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3046,2573,2651,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8212,0.60,145.9,2814,3046,2652,2496,483.7,13.0,486,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3046,2572,2650,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,0.60,145.9,2814,3047,2652,2497,444.8,12.9,496,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3046,2573,2651,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8811,0.60,145.9,2813,3046,2652,2496,406.0,12.9,506,8816,0.00,1.35,0.00,0.000,260,0.000,0.121,2813,3782,2573,2651,2496,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8871,0.56,145.9,2813,3781,2652,2496,397.5,14.6,518,8877,0.15,1.25,0.00,0.000,5126,0.253,0.075,2777,3048,2574,2652,2496,0,0,0,0,0,0,14.46,14.67,28.83
$GC,9201,0.58,166.0,2777,3048,2652,2496,362.1,10.6,534,9219,0.00,0.00,16.98,1.335,8198,0.000,0.000,2777,3048,2508,2589,2428,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9503,0.61,186.9,2777,3048,2576,2414,330.2,10.5,544,9522,0.00,0.00,18.45,1.295,8198,0.000,0.000,2776,3049,2422,2505,2340,0,0,0,0,0,0,28.83,28.83,13.93
$GC,9803,0.65,199.5,2777,3049,2485,2327,297.2,11.0,554,9812,0.00,2.45,5.60,1.154,8708,0.000,0.079,2786,1645,2374,2456,2293,0,0,0,0,0,0,28.83,14.55,13.90
$GC,9862,0.70,221.6,2787,1644,2472,2294,290.9,10.5,566,9894,0.00,2.50,25.38,1.267,9222,0.000,0.106,2787,3054,2277,2355,2199,0,0,0,0,0,0,28.83,14.52,13.83
$GC,10192,0.75,236.0,2787,3055,2339,2189,254.1,10.9,582,10205,0.12,0.00,11.80,1.215,10246,0.141,0.000,2845,3055,2224,2300,2148,0,0,0,0,0,0,14.57,28.83,13.89
$GC,10492,0.75,236.0,2845,3055,2286,2137,215.2,12.3,608,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,3055,2210,2284,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10792,0.75,241.1,2845,3055,2285,2136,181.5,11.4,638,10797,0.00,2.38,0.00,0.000,516,0.000,0.078,2848,1648,2210,2284,2136,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10868,0.80,281.8,2850,1647,2284,2137,174.1,9.5,653,10914,0.00,2.50,40.58,1.138,9222,0.000,0.106,2849,3057,2034,2107,1962,0,0,0,0,0,0,28.83,14.51,13.85
$GC,11212,0.80,286.2,2850,3057,2090,1947,135.1,11.4,692,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,3057,2017,2088,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11512,0.84,304.9,2850,3058,2087,1946,102.6,10.6,722,11534,0.00,0.00,19.45,1.084,8710,0.000,0.000,2849,3057,1941,2013,1869,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11833,0.91,360.9,2850,3058,1996,1858,71.2,8.7,755,11868,0.10,2.47,27.58,0.380,10756,0.170,0.079,2904,1654,1718,1786,1651,0,0,0,0,0,0,14.44,14.32,14.12
$GC,11923,0.95,369.0,2905,1652,1806,1652,61.5,11.2,773,11935,0.00,2.53,6.68,0.312,9222,0.000,0.108,2904,3052,1681,1746,1617,0,0,0,0,0,0,28.83,14.34,14.13
$GC,12234,1.07,501.9,2904,3052,1773,1617,39.0,4.6,805,12315,0.00,2.42,74.03,0.293,8708,0.000,0.076,2913,1649,1141,1183,1100,0,0,0,0,0,0,28.83,14.28,14.11
$GC,12376,1.20,576.6,2913,1649,1200,1101,28.8,7.7,833,12422,0.15,2.53,41.50,0.262,11270,0.082,0.109,2986,3049,837,835,839,0,0,0,0,0,0,14.30,14.28,14.14
$FREEZE,8.72,-1.368,-1.446,2,15,0
$STATE,12555,end climb,FINISH_DEPTH_REACHED
$STATE,12555,begin subsurface finish
$FINISH1,8.7,1.021238,350
$GC,12560,0.24,349.8,2986,3049,854,838,8.7,10.8,856,12594,1.10,1.38,-23.75,0.000,20740,0.219,0.163,2674,3800,1761,1803,1719,0,0,0,0,0,0,14.21,14.28,14.56
$FINISH2,8.0
$STATE,12594,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12594,begin surface
$RAFOS_CLK,410
$RAFOS_FIX,7417.013672,-14347.504883,310814,080806,2,255,0.16
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.09
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3918816
$24V_AH,12.76,75.586
$10V_AH,12.73,0.000
$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,4.550,58.250,600.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10206.956,621.398,1749.230,131.476,0.000,1317.056,0.000,1287.865,1437.000,0.535,0.000
$DEVICE_MAMPS,283.815,162.945,1748.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.009,0.000,0.000,0.000
$MEM,241516
$DATA_FILE_SIZE,30027,862
$CAP_FILE_SIZE,133846,0
$CFSIZE,2097872896,2042003456
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12558.20,0x2378b6,5,5
$INTR,1,12585.80,0x234482,5,24
$SOUNDSPEED,1449.4
$GPS,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2