version: 66.12
glider: 198
mission: 5
dive: 238
start: 9 2 114 3 22 57
data:
$ID,198
$MISSION,5
$DIVE,238
$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,35
$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
$GPS1,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.15
$_SM_ANGLEo,-17.5
$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,-145.9,2676,2677,1795,1716,0.0,0.0,0,29,0.00,0.00,-11.93,0.000,16386,0.000,0.000,2675,2677,2453,2512,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2676,2677,2516,2395,17.2,0.0,1,58,0.90,0.00,-20.73,0.000,20998,0.072,0.000,2351,2676,3781,3836,3727,0,0,0,0,0,0,14.40,28.83,14.64
$GC,358,-0.67,-145.9,2353,2677,3837,3730,96.9,-19.1,36,362,0.00,2.03,0.00,0.000,260,0.000,0.123,2347,3792,3782,3836,3729,0,0,0,0,0,0,28.83,14.40,28.83
$GC,458,-0.63,-145.9,2348,3792,3837,3730,116.3,-18.7,56,463,0.15,1.88,0.00,0.000,3078,0.298,0.073,2379,2676,3783,3836,3730,0,0,0,0,0,0,14.26,14.48,28.83
$GC,768,-0.63,-145.9,2380,2676,3838,3730,161.6,-14.0,88,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2676,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.63,-145.9,2380,2676,3837,3730,201.5,-12.4,118,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1368,-0.66,-145.9,2380,2676,3838,3730,238.2,-11.2,148,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2676,3786,3836,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1688,-0.69,-145.9,2379,2676,3837,3730,271.1,-9.8,166,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1988,-0.73,-145.9,2380,2676,3837,3730,299.9,-9.4,176,1993,0.00,2.00,0.00,0.000,260,0.000,0.126,2374,3787,3783,3836,3730,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2038,-0.76,-145.9,2375,3788,3837,3730,305.0,-10.3,186,2043,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2680,3782,3836,3729,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2348,-0.80,-145.9,2374,2680,3836,3729,334.1,-9.4,198,2349,0.15,0.00,0.00,0.000,4102,0.132,0.000,2315,2679,3782,3836,3729,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2648,-0.80,-145.9,2315,2680,3836,3729,370.2,-12.0,208,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2684,3782,3836,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2948,-0.80,-145.9,2315,2679,3837,3729,405.5,-11.8,218,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.80,-145.9,2316,2680,3837,3730,440.3,-11.7,228,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.80,-145.9,2316,2679,3836,3730,475.0,-11.6,238,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3848,-0.80,-145.9,2316,2679,3837,3730,509.7,-11.6,248,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4148,-0.80,-145.9,2316,2680,3837,3730,544.1,-11.5,258,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4448,-0.80,-145.9,2315,2679,3837,3730,577.6,-11.2,268,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.80,-145.9,2316,2680,3837,3731,610.7,-11.0,278,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5048,-0.80,-145.9,2315,2679,3838,3731,643.4,-10.9,288,5053,0.00,1.98,0.00,0.000,260,0.000,0.121,2306,3787,3783,3836,3731,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5087,-0.80,-145.9,2307,3789,3837,3731,648.1,-12.0,296,5093,0.00,1.90,0.00,0.000,1030,0.000,0.071,2306,2676,3783,3836,3731,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5409,-0.80,-145.9,2308,2677,3837,3732,684.2,-11.1,310,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-0.80,-145.9,2307,2676,3837,3732,717.6,-11.1,320,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2676,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6006,begin apogee
$GC,6010,-0.14,0.0,2311,3057,3838,3732,751.0,-11.1,330,6143,0.88,0.00,130.38,1.792,10246,0.264,0.000,2535,3057,3185,3285,3085,0,0,0,0,0,0,14.45,28.83,13.26
$STATE,6144,end apogee,CONTROL_FINISHED_OK
$STATE,6144,begin climb
$GC,6146,0.70,145.9,2536,3058,3279,3077,754.0,0.0,334,6281,0.93,1.42,125.95,1.769,10500,0.175,0.114,2803,3787,2584,2667,2502,0,0,0,0,0,0,13.87,13.42,12.81
$GC,6325,0.66,145.9,2804,3787,2659,2495,738.0,14.3,363,6331,0.00,1.35,0.00,0.000,1030,0.000,0.071,2808,3054,2576,2658,2495,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6641,0.66,145.9,2809,3054,2659,2494,696.6,13.1,376,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,0.66,145.9,2809,3053,2659,2494,657.6,13.0,386,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2575,2657,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7240,0.66,145.9,2809,3054,2659,2494,619.0,12.8,396,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2575,2657,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,0.66,145.9,2809,3054,2659,2493,580.2,13.0,406,7545,0.00,1.35,0.00,0.000,260,0.000,0.119,2808,3785,2575,2657,2493,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7631,0.62,145.9,2809,3784,2659,2493,567.6,14.4,424,7636,0.00,1.27,0.00,0.000,1030,0.000,0.074,2813,3041,2575,2657,2493,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7961,0.62,145.9,2814,3042,2659,2493,524.6,12.9,440,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3042,2575,2657,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,0.60,145.9,2814,3042,2658,2493,486.0,12.9,450,8262,0.12,0.00,0.00,0.000,4102,0.298,0.000,2787,3041,2575,2657,2493,0,0,0,0,0,0,14.47,28.83,28.83
$GC,8561,0.60,147.8,2788,3042,2658,2494,451.2,11.5,460,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3042,2575,2657,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,0.61,153.2,2787,3042,2658,2493,416.9,11.3,470,8866,0.00,1.33,1.35,0.239,8452,0.000,0.116,2787,3787,2562,2648,2477,0,0,0,0,0,0,28.83,14.62,14.54
$GC,8935,0.61,153.2,2788,3788,2667,2480,407.6,12.4,485,8941,0.00,1.25,1.40,0.219,9222,0.000,0.074,2792,3050,2560,2647,2473,0,0,0,0,0,0,28.83,14.69,14.54
$GC,9252,0.61,160.8,2793,3050,2670,2476,372.0,11.2,498,9266,0.00,0.00,12.80,1.347,8198,0.000,0.000,2792,3050,2529,2617,2442,0,0,0,0,0,0,28.83,28.83,14.01
$GC,9551,0.61,167.1,2793,3051,2602,2432,338.1,11.3,508,9553,0.00,0.00,1.38,0.236,8198,0.000,0.000,2792,3050,2503,2588,2418,0,0,0,0,0,0,28.83,28.83,14.52
$GC,9851,0.62,174.5,2793,3050,2612,2418,304.8,11.2,518,9864,0.00,0.00,12.43,1.271,8198,0.000,0.000,2792,3055,2474,2563,2385,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10151,0.64,198.3,2793,3050,2548,2374,272.2,10.4,528,10176,0.00,2.38,20.98,1.241,8708,0.000,0.075,2802,1650,2369,2454,2285,0,0,0,0,0,0,28.83,14.51,13.92
$GC,10222,0.69,223.6,2804,1649,2444,2283,265.0,10.3,542,10251,0.00,2.47,22.20,1.226,9222,0.000,0.105,2802,3049,2266,2347,2185,0,0,0,0,0,0,28.83,14.48,13.85
$GC,10551,0.72,238.9,2803,3050,2334,2177,226.9,10.8,574,10565,0.00,0.00,12.62,1.194,8198,0.000,0.000,2802,3049,2212,2292,2132,0,0,0,0,0,0,28.83,28.83,13.88
$GC,10862,0.79,285.6,2803,3050,2276,2119,196.5,9.1,605,10906,0.12,0.00,41.42,1.158,10758,0.142,0.000,2863,3050,2021,2098,1945,0,0,0,0,0,0,14.52,28.83,13.80
$GC,11201,0.79,285.6,2864,3049,2076,1926,153.5,12.3,642,11206,0.00,2.40,0.00,0.000,516,0.000,0.078,2871,1648,2000,2075,1926,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11236,0.79,288.6,2872,1649,2075,1926,149.4,11.5,649,11242,0.00,2.50,0.00,0.000,1030,0.000,0.106,2871,3053,2001,2075,1927,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11541,0.79,288.6,2871,3053,2075,1931,112.5,11.8,680,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,3054,1999,2073,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11841,0.81,308.7,2869,3053,2073,1926,79.9,10.6,710,11857,0.00,2.47,9.02,0.370,8708,0.000,0.078,2879,1646,1934,2016,1853,0,0,0,0,0,0,28.83,14.42,14.16
$GC,11887,0.87,351.2,2880,1646,2033,1853,75.4,9.4,719,11917,0.00,2.53,24.98,0.391,9222,0.000,0.106,2880,3057,1756,1825,1687,0,0,0,0,0,0,28.83,14.40,14.12
$GC,12222,1.02,507.0,2881,3058,1848,1688,48.4,3.3,756,12315,0.12,1.33,85.65,0.320,10500,0.144,0.119,2936,3787,1120,1156,1085,0,0,0,0,0,0,14.45,14.23,14.08
$GC,12505,1.08,547.5,2938,3788,1170,1086,21.0,9.5,812,12531,0.00,1.27,23.12,0.240,9222,0.000,0.074,2941,3051,955,986,925,0,0,0,0,0,0,28.83,14.37,14.19
$FREEZE,8.99,-1.358,-1.443,2,3,0
$STATE,12674,end climb,FINISH_DEPTH_REACHED
$STATE,12674,begin subsurface finish
$FINISH1,9.0,1.021190,352
$GC,12678,0.25,352.3,2942,3052,1005,924,9.0,7.0,832,12705,0.93,2.42,-19.48,0.000,20996,0.207,0.103,2677,1647,1752,1789,1715,0,0,0,0,0,0,14.23,14.34,14.58
$FINISH2,8.9
$STATE,12706,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12706,begin surface
$RAFOS_CLK,686
$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,50.23
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3915232
$24V_AH,12.81,77.945
$10V_AH,12.78,0.000
$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,4.300,42.000,525.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10438.520,543.566,1715.316,125.225,0.000,1202.047,0.000,1250.156,1498.000,0.536,0.000
$DEVICE_MAMPS,297.585,126.225,1792.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12755.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.843,0.000,0.000,0.000
$MEM,237288
$DATA_FILE_SIZE,30075,837
$CAP_FILE_SIZE,131995,0
$CFSIZE,2097872896,2040561664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12676.24,0x2378b6,5,5
$SOUNDSPEED,1449.3
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7