version: 66.12
glider: 198
mission: 5
dive: 237
start: 9 1 114 23 44 9
data:
$ID,198
$MISSION,5
$DIVE,237
$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,-5022.3872
$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,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
$GPS1,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.09
$_SM_ANGLEo,-18.5
$GPS2,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.0,22370,-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,-145.9,2670,2679,1802,1721,0.0,0.0,0,30,0.00,0.00,-12.18,0.000,16386,0.000,0.000,2670,2679,2445,2506,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2670,2680,2507,2391,16.0,0.0,1,61,0.88,2.03,-21.55,0.000,20740,0.072,0.148,2346,3787,3785,3841,3729,0,0,0,0,0,0,14.40,14.37,14.64
$GC,107,-0.59,-145.9,2347,3789,3841,3732,37.4,-34.0,16,113,0.22,1.90,0.00,0.000,3078,0.317,0.073,2396,2665,3786,3841,3732,0,0,0,0,0,0,14.21,14.45,28.83
$GC,411,-0.59,-145.9,2396,2664,3843,3732,97.6,-15.0,47,416,0.00,2.10,0.00,0.000,260,0.000,0.122,2387,3791,3787,3842,3732,0,0,0,0,0,0,28.83,14.33,28.83
$GC,461,-0.59,-145.9,2388,3791,3843,3732,105.6,-16.0,57,466,0.00,1.92,0.00,0.000,1030,0.000,0.073,2387,2680,3787,3842,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,771,-0.59,-145.9,2388,2681,3843,3733,149.8,-14.0,89,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2680,3785,3842,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1076,-0.61,-145.9,2388,2680,3843,3732,190.0,-12.8,119,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2680,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.64,-145.9,2389,2681,3843,3730,226.8,-11.8,149,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2680,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,-0.69,-145.9,2388,2680,3844,3733,259.1,-10.1,174,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2680,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1985,-0.73,-145.9,2389,2679,3843,3733,287.4,-9.1,184,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2680,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2285,-0.78,-145.9,2388,2680,3843,3732,314.1,-8.9,194,2290,0.15,2.05,0.00,0.000,4356,0.137,0.125,2321,3795,3787,3842,3732,0,0,0,0,0,0,14.52,14.44,28.83
$GC,2349,-0.78,-145.9,2322,3795,3840,3732,322.1,-13.0,207,2354,0.00,1.92,0.00,0.000,1030,0.000,0.074,2321,2682,3786,3842,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2675,-0.78,-145.9,2322,2682,3843,3732,361.3,-11.9,222,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2975,-0.78,-145.9,2322,2682,3844,3732,396.2,-11.6,232,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.78,-145.9,2322,2682,3842,3732,430.2,-11.2,242,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2681,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3575,-0.78,-145.9,2322,2683,3843,3732,463.6,-11.1,252,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3875,-0.78,-145.9,2322,2683,3843,3732,497.0,-11.2,262,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,-0.78,-145.9,2322,2683,3843,3732,530.4,-11.0,272,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,-0.78,-145.9,2322,2683,3843,3733,563.1,-10.9,282,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-0.78,-145.9,2322,2683,3843,3733,595.6,-10.8,292,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.78,-145.9,2321,2682,3843,3733,627.9,-10.8,302,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,-0.78,-145.9,2321,2682,3844,3733,660.1,-10.7,312,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5675,-0.78,-145.9,2321,2682,3844,3733,692.1,-10.6,322,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2682,3787,3842,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5975,-0.78,-145.9,2321,2682,3844,3733,723.7,-10.5,332,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2682,3787,3842,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6243,begin apogee
$GC,6247,-0.14,0.0,2318,3053,3843,3733,751.8,-10.4,341,6380,0.82,0.00,130.45,1.798,10246,0.260,0.000,2537,3053,3186,3286,3086,0,0,0,0,0,0,14.47,28.83,13.28
$STATE,6381,end apogee,CONTROL_FINISHED_OK
$STATE,6381,begin climb
$GC,6383,0.70,145.9,2538,3054,3281,3079,754.2,0.0,345,6516,0.93,0.00,126.15,1.776,10502,0.175,0.000,2805,3053,2584,2667,2502,0,0,0,0,0,0,13.88,28.83,12.82
$GC,6814,0.70,145.9,2806,3054,2666,2496,705.9,12.9,365,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2576,2658,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7114,0.70,145.9,2806,3053,2658,2496,667.3,13.0,375,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2576,2659,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,0.70,145.9,2806,3054,2659,2496,629.4,12.7,385,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7714,0.70,145.9,2806,3054,2659,2495,591.8,12.5,395,7719,0.00,1.35,0.00,0.000,260,0.000,0.119,2805,3789,2576,2658,2494,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7789,0.66,145.9,2806,3789,2659,2494,581.3,14.2,410,7794,0.00,1.25,0.00,0.000,1030,0.000,0.074,2810,3055,2576,2658,2494,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8104,0.66,145.9,2810,3055,2659,2494,541.3,12.5,423,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8404,0.66,145.9,2811,3056,2659,2495,503.3,12.7,433,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8704,0.66,145.9,2810,3056,2658,2494,465.5,12.5,443,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9004,0.66,145.9,2810,3054,2660,2494,427.9,12.5,453,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9305,0.66,145.9,2811,3056,2659,2495,390.8,12.4,463,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9604,0.66,145.9,2810,3055,2659,2494,354.5,12.0,473,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2576,2659,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9904,0.66,145.9,2811,3056,2659,2495,318.8,11.9,483,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3055,2576,2658,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10204,0.67,154.8,2810,3055,2659,2494,284.5,11.2,493,10208,0.00,0.00,2.33,0.495,8198,0.000,0.000,2809,3055,2554,2639,2470,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10505,0.69,183.4,2811,3056,2667,2476,252.9,10.1,503,10537,0.00,0.00,31.33,1.214,8198,0.000,0.000,2810,3055,2438,2527,2350,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10834,0.71,216.9,2811,3056,2505,2337,219.1,9.8,532,10866,0.00,0.00,28.42,1.195,8710,0.000,0.000,2810,3055,2296,2378,2214,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11166,0.76,258.5,2811,3055,2361,2205,186.8,9.4,568,11206,0.00,2.50,35.53,1.161,8708,0.000,0.077,2819,1646,2125,2205,2046,0,0,0,0,0,0,28.83,14.34,13.81
$GC,11287,0.84,299.8,2819,1646,2194,2043,174.9,9.4,592,11329,0.12,2.53,36.78,1.134,11270,0.150,0.106,2877,3048,1960,2032,1888,0,0,0,0,0,0,14.40,14.33,13.73
$GC,11626,0.84,299.8,2878,3048,2012,1869,127.8,13.1,630,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,3048,1939,2010,1869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11926,0.84,300.9,2878,3048,2011,1868,91.5,11.6,660,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,3047,1938,2010,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12226,0.90,382.2,2878,3048,2010,1867,61.6,7.3,690,12268,0.00,0.00,40.03,0.356,8710,0.000,0.000,2877,3047,1626,1687,1565,0,0,0,0,0,0,28.83,28.83,14.15
$GC,12567,1.06,522.5,2877,3048,1717,1566,41.6,4.2,725,12653,0.12,2.45,78.00,0.297,10756,0.144,0.080,2945,1648,1058,1092,1025,0,0,0,0,0,0,14.37,14.28,14.12
$GC,12708,1.15,573.7,2946,1649,1105,1026,29.4,8.9,753,12744,0.00,2.53,29.48,0.262,9222,0.000,0.106,2945,3050,848,852,845,0,0,0,0,0,0,28.83,14.28,14.13
$FREEZE,8.43,-1.347,-1.443,2,2,0
$STATE,12937,end climb,FINISH_DEPTH_REACHED
$STATE,12937,begin subsurface finish
$FINISH1,8.4,1.021201,352
$GC,12941,0.25,351.7,2946,3051,868,846,8.4,8.4,780,12973,0.95,1.38,-23.30,0.000,20740,0.215,0.168,2675,3780,1754,1794,1715,0,0,0,0,0,0,14.19,14.24,14.57
$FINISH2,8.2
$STATE,12974,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12974,begin surface
$RAFOS_CLK,784
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.84
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3915680
$24V_AH,12.82,77.656
$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,4.200,27.225,538.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10797.189,553.497,1618.794,118.916,0.000,1167.546,0.000,1179.600,1432.000,0.536,0.000
$DEVICE_MAMPS,316.710,167.535,1797.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13022.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.159,0.000,0.000,0.000
$MEM,237832
$DATA_FILE_SIZE,26761,786
$CAP_FILE_SIZE,125300,0
$CFSIZE,2097872896,2040758272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12938.86,0x2378b6,5,5
$SOUNDSPEED,1448.6
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7