version: 66.12
glider: 198
mission: 5
dive: 239
start: 9 2 114 6 57 17
data:
$ID,198
$MISSION,5
$DIVE,239
$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,15.66
$_SM_ANGLEo,-16.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-145.9,2677,2681,1792,1716,0.0,0.0,0,29,0.00,0.00,-12.10,0.000,16386,0.000,0.000,2677,2680,2470,2531,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2678,2681,2533,2412,17.6,0.0,1,60,0.90,2.05,-20.30,0.000,20740,0.072,0.150,2343,3786,3785,3840,3730,0,0,0,0,0,0,14.41,14.36,14.64
$GC,285,-0.65,-145.9,2344,3786,3840,3733,86.6,-20.7,52,291,0.12,1.92,0.00,0.000,3078,0.288,0.072,2375,2675,3786,3839,3733,0,0,0,0,0,0,14.21,14.45,28.83
$GC,590,-0.65,-145.9,2376,2675,3841,3733,135.5,-15.3,83,595,0.00,2.05,0.00,0.000,260,0.000,0.124,2374,3780,3786,3840,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,794,-0.65,-145.9,2374,3781,3840,3734,167.1,-15.2,124,801,0.00,1.90,0.00,0.000,1030,0.000,0.072,2373,2676,3786,3840,3732,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1100,-0.65,-145.9,2375,2677,3840,3733,207.6,-12.7,155,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,-0.67,-145.9,2374,2676,3841,3733,242.7,-11.1,185,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1711,-0.71,-145.9,2375,2676,3840,3733,276.0,-10.8,200,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2010,-0.75,-145.9,2374,2676,3841,3734,306.0,-9.9,210,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2675,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2310,-0.79,-145.9,2375,2677,3840,3733,335.1,-9.6,220,2315,0.12,2.03,0.00,0.000,4356,0.153,0.125,2317,3789,3785,3839,3732,0,0,0,0,0,0,14.66,14.52,28.83
$GC,2345,-0.79,-145.9,2318,3790,3840,3733,339.4,-12.9,227,2350,0.00,1.90,0.00,0.000,1030,0.000,0.073,2317,2678,3785,3839,3732,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2671,-0.79,-145.9,2318,2677,3841,3733,378.6,-12.0,242,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.79,-145.9,2318,2677,3841,3732,413.8,-11.7,252,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3270,-0.79,-145.9,2318,2678,3841,3733,448.6,-11.6,262,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3570,-0.79,-145.9,2317,2678,3841,3732,482.8,-11.4,272,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3871,-0.79,-145.9,2317,2678,3841,3732,516.9,-11.4,282,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4170,-0.79,-145.9,2318,2678,3841,3733,550.7,-11.2,292,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2678,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4470,-0.79,-145.9,2318,2677,3841,3733,584.3,-11.2,302,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2676,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4770,-0.79,-145.9,2317,2678,3841,3733,617.5,-11.1,312,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5070,-0.79,-145.9,2318,2677,3841,3733,650.2,-10.8,322,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,-0.79,-145.9,2317,2677,3840,3733,682.8,-11.0,332,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5670,-0.79,-145.9,2318,2678,3841,3734,715.4,-10.8,342,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5970,-0.79,-145.9,2317,2677,3841,3734,747.6,-10.8,352,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5998,begin apogee
$GC,6002,-0.14,0.0,2316,3058,3841,3734,750.7,-10.7,353,6137,0.82,0.00,131.45,1.798,10246,0.260,0.000,2535,3058,3185,3286,3085,0,0,0,0,0,0,14.42,28.83,13.24
$STATE,6138,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6139,0.70,145.9,2536,3057,3281,3077,753.7,0.0,357,6272,0.93,0.00,127.30,1.779,10502,0.175,0.000,2803,3058,2585,2669,2502,0,0,0,0,0,0,13.89,28.83,12.78
$GC,6570,0.70,145.9,2803,3058,2657,2492,706.3,12.7,377,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3058,2574,2656,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6870,0.70,145.9,2804,3058,2656,2492,668.3,12.6,387,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3057,2573,2656,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7170,0.70,145.9,2804,3058,2656,2492,630.8,12.5,397,7175,0.00,1.33,0.00,0.000,260,0.000,0.119,2803,3781,2573,2656,2491,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7250,0.66,145.9,2804,3782,2656,2492,619.7,13.6,413,7255,0.00,1.25,0.00,0.000,1030,0.000,0.074,2808,3052,2573,2655,2491,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7560,0.66,145.9,2809,3053,2656,2492,580.1,12.7,425,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3052,2573,2655,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7860,0.66,145.9,2810,3053,2656,2492,542.1,12.6,435,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3052,2573,2655,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8160,0.66,145.9,2809,3053,2656,2493,504.1,12.6,445,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3052,2573,2656,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8460,0.66,145.9,2809,3052,2657,2491,466.7,12.5,455,8465,0.00,1.35,0.00,0.000,260,0.000,0.119,2808,3786,2573,2655,2491,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8510,0.63,145.9,2809,3786,2657,2492,459.8,14.0,465,8515,0.00,1.25,0.00,0.000,1030,0.000,0.073,2815,3048,2573,2655,2491,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8820,0.63,145.9,2814,3049,2656,2492,420.2,12.8,477,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3048,2573,2655,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9120,0.63,145.9,2814,3049,2656,2492,382.4,12.6,487,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3048,2573,2655,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9420,0.63,145.9,2814,3048,2656,2491,345.4,12.3,497,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3048,2573,2655,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9720,0.63,145.9,2814,3047,2656,2491,309.3,11.9,507,9725,0.00,1.35,0.00,0.000,260,0.000,0.119,2813,3786,2573,2656,2491,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9810,0.59,145.9,2814,3787,2656,2492,297.6,13.2,525,9815,0.10,1.25,0.00,0.000,5126,0.255,0.074,2790,3050,2573,2655,2491,0,0,0,0,0,0,14.49,14.71,28.83
$GC,10140,0.62,182.6,2791,3050,2656,2491,264.6,9.7,541,10172,0.00,0.00,31.12,1.227,8198,0.000,0.000,2790,3050,2441,2528,2354,0,0,0,0,0,0,28.83,28.83,14.02
$GC,10470,0.68,236.5,2790,3050,2506,2339,232.1,8.8,564,10522,0.00,2.40,46.00,1.203,8708,0.000,0.075,2800,1652,2211,2290,2133,0,0,0,0,0,0,28.83,14.32,13.80
$GC,10571,0.77,290.7,2801,1651,2278,2130,223.2,8.7,584,10624,0.12,2.50,46.58,1.180,11270,0.146,0.105,2851,3050,1998,2072,1924,0,0,0,0,0,0,14.33,14.28,13.67
$GC,10921,0.77,290.7,2852,3050,2049,1904,179.5,12.1,624,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,3049,1976,2048,1905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11221,0.77,290.7,2852,3050,2049,1902,142.5,12.1,654,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,3049,1975,2048,1902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11522,0.78,299.2,2853,3050,2048,1902,108.5,11.2,684,11526,0.00,2.38,0.00,0.000,516,0.000,0.075,2859,1647,1974,2047,1901,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11582,0.84,339.2,2860,1647,2049,1902,102.5,9.5,696,11628,0.00,2.50,41.20,1.076,9222,0.000,0.102,2859,3059,1803,1872,1734,0,0,0,0,0,0,28.83,14.40,13.83
$GC,11932,0.91,385.7,2860,3059,1849,1713,67.5,9.2,736,11956,0.00,0.00,22.15,0.368,8198,0.000,0.000,2859,3059,1614,1678,1550,0,0,0,0,0,0,28.83,28.83,14.09
$GC,12254,1.08,510.9,2860,3059,1706,1550,44.9,5.0,768,12326,0.20,0.00,70.60,0.307,10502,0.116,0.000,2946,3059,1102,1143,1062,0,0,0,0,0,0,14.38,28.83,14.12
$FREEZE,8.65,-1.350,-1.442,2,4,0
$GC,12622,1.20,600.9,2947,3059,1166,1068,12.1,6.8,809,12676,0.00,2.50,49.28,0.212,8710,0.000,0.076,2953,1648,734,734,734,0,0,0,0,0,0,28.83,14.31,14.20
$STATE,12677,end climb,FINISH_DEPTH_REACHED
$STATE,12677,begin subsurface finish
$FINISH1,8.7,1.021188,352
$GC,12684,0.25,352.4,2953,3050,741,735,8.7,7.1,819,12717,0.98,2.42,-26.50,0.000,20996,0.195,0.098,2672,1645,1753,1791,1715,0,0,0,0,0,0,14.24,14.28,14.55
$FINISH2,7.9
$STATE,12718,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12718,begin surface
$RAFOS_CLK,583
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.48
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3914784
$24V_AH,12.78,78.246
$10V_AH,12.77,0.000
$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,4.300,39.500,565.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10435.158,592.500,1683.710,121.376,0.000,1236.763,0.000,1242.302,1485.000,0.535,0.000
$DEVICE_MAMPS,287.640,149.940,1797.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12765.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.101,0.000,0.000,0.000
$MEM,236800
$DATA_FILE_SIZE,26732,826
$CAP_FILE_SIZE,127610,0
$CFSIZE,2097872896,2040397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7