version: 66.12
glider: 198
mission: 5
dive: 240
start: 9 2 114 10 31 48
data:
$ID,198
$MISSION,5
$DIVE,240
$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,36
$R_STBD_OVSHOOT,19
$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,15.17
$_SM_ANGLEo,-17.1
$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,-145.9,2668,2689,1799,1715,0.0,0.0,0,29,0.00,0.00,-12.18,0.000,16386,0.000,0.000,2667,2688,2472,2532,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2668,2689,2534,2413,17.3,0.0,1,60,0.88,2.03,-20.25,0.000,20740,0.071,0.142,2343,3790,3784,3838,3731,0,0,0,0,0,0,14.40,14.35,14.64
$GC,285,-0.64,-145.9,2344,3790,3839,3733,86.8,-21.8,52,291,0.12,1.92,0.00,0.000,3078,0.282,0.070,2375,2672,3785,3838,3732,0,0,0,0,0,0,14.19,14.45,28.83
$GC,590,-0.64,-145.9,2376,2672,3839,3734,135.6,-14.3,83,595,0.00,2.05,0.00,0.000,260,0.000,0.121,2372,3784,3785,3838,3733,0,0,0,0,0,0,28.83,14.39,28.83
$GC,810,-0.64,-145.9,2371,3785,3839,3734,169.8,-15.5,127,815,0.00,1.88,0.00,0.000,1030,0.000,0.070,2373,2684,3785,3838,3733,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1120,-0.64,-145.9,2375,2685,3840,3734,210.1,-12.4,159,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2684,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,-0.67,-145.9,2374,2684,3840,3733,246.4,-11.5,189,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2684,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1731,-0.70,-145.9,2375,2685,3839,3734,279.9,-10.5,202,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2684,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-0.74,-145.9,2373,2684,3840,3732,310.1,-9.8,212,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2684,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2330,-0.78,-145.9,2374,2684,3840,3733,338.6,-9.2,222,2335,0.00,1.98,0.00,0.000,260,0.000,0.123,2371,3786,3785,3838,3733,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2415,-0.82,-145.9,2374,3786,3840,3732,346.7,-9.6,239,2421,0.08,1.88,0.00,0.000,5126,0.063,0.071,2313,2677,3786,3839,3733,0,0,0,0,0,0,14.66,14.66,28.83
$GC,2721,-0.82,-145.9,2314,2678,3840,3732,382.2,-11.7,250,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.82,-145.9,2314,2678,3839,3733,417.6,-11.8,260,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.82,-145.9,2313,2678,3839,3733,452.7,-11.8,270,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.82,-145.9,2314,2678,3840,3732,487.6,-11.6,280,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2678,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-0.82,-145.9,2314,2678,3839,3733,521.8,-11.3,290,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2678,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.82,-145.9,2314,2678,3840,3733,556.1,-11.5,300,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2678,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.82,-145.9,2314,2679,3838,3734,590.3,-11.5,310,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4820,-0.82,-145.9,2314,2678,3840,3734,624.4,-11.2,320,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2681,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5120,-0.82,-145.9,2314,2678,3840,3734,658.3,-11.2,330,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5421,-0.82,-145.9,2314,2678,3840,3733,691.8,-11.1,340,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5720,-0.82,-145.9,2314,2677,3840,3734,724.7,-10.9,350,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5958,begin apogee
$GC,5963,-0.14,0.0,2311,3059,3840,3733,750.7,-10.8,358,6097,0.88,0.00,131.30,1.789,10246,0.260,0.000,2539,3059,3184,3285,3083,0,0,0,0,0,0,14.36,28.83,13.22
$STATE,6098,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6100,0.70,145.9,2540,3060,3281,3076,753.6,0.0,362,6232,0.95,0.00,127.68,1.766,10246,0.172,0.000,2809,3058,2586,2670,2502,0,0,0,0,0,0,13.83,28.83,12.76
$GC,6530,0.70,145.9,2810,3059,2657,2490,705.1,13.2,377,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3059,2573,2656,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6830,0.70,145.9,2809,3059,2657,2491,666.1,12.9,387,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3059,2573,2656,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7130,0.70,145.9,2810,3059,2657,2491,627.5,12.9,397,7135,0.00,1.33,0.00,0.000,260,0.000,0.117,2809,3782,2573,2656,2490,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7225,0.66,145.9,2809,3782,2657,2490,614.0,14.5,416,7230,0.00,1.25,0.00,0.000,1030,0.000,0.072,2813,3051,2573,2656,2490,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7551,0.66,145.9,2813,3051,2656,2490,571.0,13.2,431,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3051,2573,2656,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7850,0.66,145.9,2814,3052,2656,2491,531.7,13.0,441,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3051,2572,2655,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8150,0.66,145.9,2814,3051,2657,2490,492.8,12.8,451,8155,0.00,1.35,0.00,0.000,260,0.000,0.116,2813,3784,2572,2655,2490,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8210,0.62,145.9,2814,3785,2656,2497,484.2,14.9,463,8215,0.00,1.25,0.00,0.000,1030,0.000,0.072,2819,3048,2572,2655,2490,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8541,0.60,145.9,2819,3048,2657,2490,440.9,13.1,479,8542,0.15,0.00,0.00,0.000,4102,0.285,0.000,2785,3048,2572,2655,2490,0,0,0,0,0,0,14.41,28.83,28.83
$GC,8840,0.60,152.5,2786,3048,2657,2490,406.8,11.3,489,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3049,2572,2655,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9140,0.61,162.0,2786,3049,2656,2491,373.4,11.1,499,9154,0.00,0.00,13.32,1.343,8198,0.000,0.000,2785,3048,2525,2611,2440,0,0,0,0,0,0,28.83,28.83,14.02
$GC,9440,0.61,168.9,2786,3047,2597,2427,339.4,11.3,509,9443,0.00,0.00,1.62,0.232,8198,0.000,0.000,2785,3048,2496,2582,2410,0,0,0,0,0,0,28.83,28.83,14.47
$GC,9740,0.62,185.7,2787,3049,2610,2412,306.8,10.7,519,9762,0.00,0.00,20.60,1.274,8198,0.000,0.000,2785,3048,2430,2520,2340,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10041,0.66,201.9,2786,3048,2499,2328,273.8,10.8,529,10057,0.00,0.00,14.48,1.241,8198,0.000,0.000,2785,3047,2362,2447,2277,0,0,0,0,0,0,28.83,28.83,13.94
$GC,10341,0.71,233.0,2785,3048,2431,2264,242.1,10.0,543,10372,0.00,2.47,26.80,1.200,8708,0.000,0.075,2795,1638,2230,2311,2149,0,0,0,0,0,0,28.83,14.38,13.89
$GC,10413,0.78,260.7,2796,1637,2300,2147,234.9,10.2,555,10444,0.15,2.50,24.52,1.178,11270,0.130,0.102,2856,3049,2118,2198,2038,0,0,0,0,0,0,14.45,14.40,13.78
$GC,10742,0.78,260.7,2857,3049,2182,2026,191.4,12.3,591,10743,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,3049,2103,2181,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11042,0.78,260.7,2857,3049,2182,2024,155.0,11.7,621,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,3049,2102,2181,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11342,0.79,272.8,2857,3049,2181,2024,120.9,11.0,651,11353,0.00,2.42,3.70,0.889,8708,0.000,0.077,2862,1651,2078,2165,1992,0,0,0,0,0,0,28.83,14.55,13.82
$GC,11409,0.84,314.0,2863,1651,2179,1993,114.4,9.4,664,11459,0.00,2.47,44.38,1.062,9222,0.000,0.103,2863,3050,1902,1977,1827,0,0,0,0,0,0,28.83,14.49,13.85
$GC,11764,0.89,337.5,2863,3050,1957,1812,75.6,10.4,705,11775,0.00,0.00,9.57,0.362,8198,0.000,0.000,2863,3050,1811,1884,1738,0,0,0,0,0,0,28.83,28.83,14.10
$GC,12075,1.03,469.6,2863,3050,1913,1740,50.6,4.6,736,12156,0.15,2.42,74.30,0.324,10756,0.131,0.074,2943,1648,1272,1321,1223,0,0,0,0,0,0,14.42,14.28,14.04
$GC,12257,1.12,531.4,2944,1649,1344,1224,36.5,8.3,772,12299,0.00,2.53,35.25,0.285,9222,0.000,0.103,2943,3052,1018,1047,989,0,0,0,0,0,0,28.83,14.30,14.10
$FREEZE,8.48,-1.359,-1.442,2,5,0
$STATE,12575,end climb,FINISH_DEPTH_REACHED
$STATE,12575,begin subsurface finish
$FINISH1,8.5,1.021183,353
$GC,12579,0.25,352.7,2944,3053,1067,989,8.5,7.6,808,12602,0.95,1.40,-18.52,0.000,20740,0.206,0.164,2671,3789,1750,1785,1715,0,0,0,0,0,0,14.20,14.27,14.59
$FINISH2,8.2
$STATE,12602,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12603,begin surface
$RAFOS_CLK,482
$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,50.27
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3914336
$24V_AH,12.76,78.540
$10V_AH,12.87,0.000
$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,4.300,35.725,527.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10369.573,564.234,1658.577,122.973,0.000,1184.015,0.000,1216.346,1494.000,0.535,0.000
$DEVICE_MAMPS,284.580,163.710,1788.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,16.887,0.000,0.000,0.000
$MEM,236256
$DATA_FILE_SIZE,26727,812
$CAP_FILE_SIZE,124556,0
$CFSIZE,2097872896,2040233984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12577.68,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7