version: 66.12
glider: 198
mission: 5
dive: 232
start: 9 1 114 5 23 8
data:
$ID,198
$MISSION,5
$DIVE,232
$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,34
$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,14.35
$_SM_ANGLEo,-15.8
$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,-145.9,2679,2671,1805,1719,0.0,0.0,0,30,0.00,0.00,-12.45,0.000,16386,0.000,0.000,2678,2671,2474,2538,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2679,2670,2540,2411,16.6,0.0,1,61,0.90,2.10,-20.83,0.000,20740,0.068,0.150,2344,3787,3780,3834,3727,0,0,0,0,0,0,14.40,14.35,14.62
$GC,155,-0.61,-145.9,2345,3788,3839,3731,53.7,-31.1,26,162,0.15,1.92,0.00,0.000,3078,0.291,0.073,2382,2680,3784,3838,3730,0,0,0,0,0,0,14.19,14.42,28.83
$GC,460,-0.61,-145.9,2383,2680,3839,3732,108.1,-14.8,57,466,0.00,2.05,0.00,0.000,260,0.000,0.123,2374,3784,3784,3838,3730,0,0,0,0,0,0,28.83,14.35,28.83
$GC,530,-0.61,-145.9,2375,3787,3840,3731,119.7,-16.8,71,536,0.00,1.92,0.00,0.000,1030,0.000,0.074,2374,2674,3784,3838,3730,0,0,0,0,0,0,28.83,14.42,28.83
$GC,840,-0.61,-145.9,2375,2674,3840,3731,165.5,-13.8,103,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2674,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.61,-145.9,2375,2675,3839,3732,206.4,-13.0,133,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1441,-0.64,-145.9,2375,2674,3839,3731,242.9,-11.3,163,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-0.67,-145.9,2375,2675,3840,3732,275.4,-10.2,178,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.71,-145.9,2375,2674,3840,3731,304.9,-9.8,188,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-0.75,-145.9,2375,2674,3839,3731,333.6,-9.3,198,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2674,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-0.80,-145.9,2375,2675,3839,3731,360.8,-9.1,208,2656,0.12,2.00,0.00,0.000,4356,0.156,0.126,2318,3789,3784,3838,3730,0,0,0,0,0,0,14.67,14.54,28.83
$GC,2711,-0.80,-145.9,2318,3790,3839,3731,368.1,-12.4,220,2716,0.00,1.90,0.00,0.000,1030,0.000,0.076,2318,2680,3784,3838,3730,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3042,-0.80,-145.9,2318,2680,3839,3731,406.4,-11.6,236,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.80,-145.9,2319,2681,3838,3731,440.4,-11.3,246,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.80,-145.9,2318,2681,3840,3730,474.1,-11.3,256,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.80,-145.9,2319,2681,3839,3731,507.7,-11.2,266,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-0.80,-145.9,2318,2680,3840,3731,540.9,-11.0,276,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4541,-0.80,-145.9,2318,2681,3839,3731,574.5,-11.2,286,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4841,-0.80,-145.9,2318,2681,3840,3731,608.0,-11.0,296,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5141,-0.80,-145.9,2318,2681,3840,3732,641.1,-10.9,306,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-0.80,-145.9,2319,2681,3839,3732,673.5,-10.8,316,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.80,-145.9,2318,2681,3840,3732,705.3,-10.6,326,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2681,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6041,-0.80,-145.9,2318,2681,3841,3733,737.2,-10.6,336,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6159,begin apogee
$GC,6164,-0.14,0.0,2316,3054,3839,3734,750.0,-10.7,340,6297,0.82,0.00,130.68,1.781,10246,0.260,0.000,2536,3053,3185,3284,3086,0,0,0,0,0,0,14.49,28.83,13.28
$STATE,6298,end apogee,CONTROL_FINISHED_OK
$STATE,6298,begin climb
$GC,6300,0.70,145.9,2536,3054,3278,3078,752.7,0.0,344,6434,0.93,1.42,125.22,1.769,10500,0.175,0.114,2803,3786,2587,2672,2503,0,0,0,0,0,0,13.88,13.43,12.83
$GC,6503,0.66,145.9,2804,3787,2656,2496,733.0,14.5,383,6509,0.00,1.35,0.00,0.000,1030,0.000,0.074,2808,3053,2575,2656,2495,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6824,0.66,145.9,2809,3054,2657,2495,691.0,13.0,397,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3050,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7123,0.66,145.9,2809,3053,2657,2494,651.8,13.0,407,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7423,0.66,145.9,2810,3054,2656,2495,612.7,13.0,417,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7724,0.66,145.9,2809,3054,2656,2494,574.1,13.0,427,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,0.66,145.9,2809,3053,2658,2494,535.4,12.8,437,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8323,0.66,145.9,2806,3053,2657,2493,497.2,12.7,447,8328,0.00,1.35,0.00,0.000,260,0.000,0.120,2809,3787,2574,2656,2493,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8378,0.62,145.9,2810,3787,2656,2494,489.6,13.7,458,8385,0.00,1.27,0.00,0.000,1030,0.000,0.076,2810,3044,2574,2655,2493,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8684,0.62,145.9,2815,3045,2657,2494,450.2,12.8,469,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3044,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8983,0.62,145.9,2814,3044,2657,2494,411.8,12.8,479,8988,0.00,1.35,0.00,0.000,260,0.000,0.121,2814,3782,2574,2656,2493,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9043,0.58,145.9,2815,3782,2656,2494,403.1,14.7,491,9049,0.12,1.25,0.00,0.000,5126,0.253,0.076,2784,3050,2575,2657,2493,0,0,0,0,0,0,14.47,14.69,28.83
$GC,9386,0.58,150.9,2785,3049,2657,2494,365.4,11.4,507,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3049,2574,2655,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,0.59,162.1,2785,3049,2656,2494,331.9,11.0,517,9689,0.00,0.00,13.70,1.314,8198,0.000,0.000,2785,3049,2523,2607,2440,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9974,0.61,184.8,2785,3050,2596,2428,299.8,10.4,527,9999,0.00,2.42,19.83,1.275,8708,0.000,0.078,2794,1636,2424,2510,2339,0,0,0,0,0,0,28.83,14.41,13.88
$GC,10034,0.66,212.1,2796,1636,2501,2338,293.8,10.2,539,10065,0.00,2.53,23.88,1.261,9222,0.000,0.106,2796,3049,2312,2393,2232,0,0,0,0,0,0,28.83,14.40,13.77
$GC,10364,0.69,217.4,2796,3050,2382,2225,256.2,11.3,555,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3050,2302,2381,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10664,0.75,263.0,2795,3049,2381,2223,226.2,9.2,581,10715,0.12,2.45,44.20,1.184,10756,0.144,0.079,2861,1645,2103,2180,2026,0,0,0,0,0,0,14.50,14.24,13.74
$GC,10750,0.75,263.0,2862,1646,2171,2025,216.0,12.6,595,10756,0.00,2.55,0.00,0.000,1030,0.000,0.105,2861,3056,2096,2170,2023,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11056,0.75,263.0,2867,3056,2169,2017,175.9,12.9,626,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,3056,2092,2168,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11355,0.76,271.4,2862,3057,2167,2016,140.4,11.2,656,11357,0.00,0.00,1.02,0.257,8198,0.000,0.000,2861,3056,2081,2158,2004,0,0,0,0,0,0,28.83,28.83,14.40
$GC,11655,0.77,284.7,2862,3056,2170,2003,107.7,10.9,686,11676,0.00,0.00,17.50,1.096,8198,0.000,0.000,2858,3056,2019,2098,1941,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11976,0.80,335.1,2862,3056,2085,1935,74.7,8.9,718,12007,0.00,2.45,24.62,0.390,8708,0.000,0.076,2871,1645,1821,1895,1748,0,0,0,0,0,0,28.83,14.37,14.12
$GC,12053,0.90,418.3,2872,1645,1915,1748,68.6,7.2,733,12108,0.00,2.53,45.83,0.377,9222,0.000,0.107,2872,3049,1483,1542,1425,0,0,0,0,0,0,28.83,14.33,14.08
$GC,12407,1.05,522.7,2872,3049,1561,1425,40.5,6.1,774,12468,0.17,0.00,57.78,0.298,10246,0.123,0.000,2944,3049,1054,1089,1020,0,0,0,0,0,0,14.42,28.83,14.11
$FREEZE,8.47,-1.370,-1.447,2,17,0
$STATE,12755,end climb,FINISH_DEPTH_REACHED
$STATE,12755,begin subsurface finish
$FINISH1,8.5,1.021259,349
$GC,12759,0.24,348.7,2945,3049,1107,1020,8.5,7.2,809,12786,0.95,2.47,-18.12,0.000,20996,0.208,0.103,2674,1648,1766,1804,1729,0,0,0,0,0,0,14.25,14.34,14.59
$FINISH2,8.5
$STATE,12786,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12786,begin surface
$RAFOS_CLK,223
$RAFOS_FIX,7417.013672,-14347.504883,310814,080806,2,255,0.16
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.15
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3917920
$24V_AH,12.83,76.161
$10V_AH,12.79,0.000
$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,4.300,38.625,504.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10574.868,536.021,1667.942,121.248,0.000,1176.708,0.000,1221.089,1479.000,0.535,0.000
$DEVICE_MAMPS,291.465,149.940,1780.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12835.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.889,0.000,0.000,0.000
$MEM,240496
$DATA_FILE_SIZE,26673,814
$CAP_FILE_SIZE,129418,0
$CFSIZE,2097872896,2041643008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12756.85,0x2378b6,5,5
$SOUNDSPEED,1449.7
$GPS,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2