version: 66.12
glider: 198
mission: 5
dive: 241
start: 9 2 114 14 4 23
data:
$ID,198
$MISSION,5
$DIVE,241
$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,37
$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,14.90
$_SM_ANGLEo,-19.1
$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,-145.9,2671,2676,1787,1714,0.0,0.0,0,29,0.00,0.00,-12.02,0.000,16386,0.000,0.000,2671,2676,2443,2502,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2673,2677,2505,2386,16.8,0.0,1,60,0.88,2.40,-21.23,0.000,20996,0.074,0.106,2357,1278,3783,3837,3729,0,0,0,0,0,0,14.42,14.42,14.66
$GC,70,-0.58,-145.9,2358,1279,3839,3731,25.3,-27.6,9,75,0.22,2.50,0.00,0.000,3078,0.318,0.103,2396,2682,3784,3838,3731,0,0,0,0,0,0,14.19,14.34,28.83
$GC,380,-0.58,-145.9,2397,2682,3839,3732,91.8,-16.2,41,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,680,-0.58,-145.9,2396,2682,3840,3733,135.3,-13.6,71,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.61,-145.9,2397,2682,3839,3732,175.1,-12.6,101,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1280,-0.64,-145.9,2397,2683,3839,3732,212.5,-11.7,131,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1580,-0.69,-145.9,2397,2683,3839,3733,245.1,-10.0,161,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-0.74,-145.9,2397,2681,3839,3733,271.9,-8.8,175,1886,0.12,2.00,0.00,0.000,4356,0.149,0.118,2334,3792,3785,3838,3732,0,0,0,0,0,0,14.64,14.56,28.83
$GC,1977,-0.74,-145.9,2335,3792,3839,3735,284.0,-13.1,194,1981,0.00,1.85,0.00,0.000,1030,0.000,0.071,2334,2677,3785,3838,3732,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2302,-0.74,-145.9,2335,2678,3839,3732,322.1,-11.5,209,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.74,-145.9,2334,2678,3839,3732,355.8,-11.1,219,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.74,-145.9,2334,2678,3839,3732,388.6,-10.9,229,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3201,-0.74,-145.9,2335,2678,3839,3732,421.2,-11.0,239,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3501,-0.74,-145.9,2335,2677,3840,3732,453.6,-10.8,249,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3801,-0.74,-145.9,2335,2677,3839,3732,485.8,-10.7,259,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.74,-145.9,2335,2678,3839,3733,517.4,-10.5,269,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4401,-0.74,-145.9,2335,2678,3839,3733,548.3,-10.2,279,4406,0.00,1.98,0.00,0.000,260,0.000,0.119,2325,3789,3785,3838,3732,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4446,-0.74,-145.9,2326,3790,3839,3733,553.3,-11.0,288,4451,0.00,1.88,0.00,0.000,1030,0.000,0.070,2325,2681,3785,3838,3732,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4763,-0.74,-145.9,2326,2682,3839,3732,586.6,-10.5,301,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.74,-145.9,2327,2682,3839,3733,618.3,-10.5,311,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5361,-0.74,-145.9,2325,2682,3840,3730,649.6,-10.4,321,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-0.74,-145.9,2325,2682,3839,3734,680.6,-10.3,331,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5961,-0.74,-145.9,2326,2683,3838,3734,711.7,-10.4,341,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.74,-145.9,2326,2681,3840,3733,742.6,-10.2,351,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6349,begin apogee
$GC,6354,-0.14,0.0,2324,3056,3839,3734,751.9,-10.4,354,6542,0.80,0.00,186.07,1.478,10246,0.258,0.000,2535,3055,3185,3289,3082,0,0,0,0,0,0,14.49,28.83,13.32
$STATE,6543,end apogee,CONTROL_FINISHED_OK
$STATE,6543,begin climb
$GC,6545,0.70,145.9,2536,3055,3286,3078,756.5,0.0,360,6677,0.93,0.00,126.57,1.739,10502,0.174,0.000,2803,3054,2589,2675,2504,0,0,0,0,0,0,13.83,28.83,12.77
$GC,6951,0.70,145.9,2804,3054,2658,2489,713.5,12.4,394,6956,0.00,1.38,0.00,0.000,260,0.000,0.116,2803,3783,2572,2656,2488,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7012,0.66,145.9,2804,3784,2657,2489,705.1,13.5,406,7016,0.00,1.27,0.00,0.000,1030,0.000,0.071,2808,3055,2572,2657,2488,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7342,0.66,145.9,2809,3056,2657,2489,662.6,12.9,422,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,0.66,145.9,2809,3055,2657,2488,624.0,12.9,432,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3055,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,0.66,145.9,2809,3056,2656,2489,585.9,12.7,442,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3056,2571,2655,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,0.66,145.9,2809,3055,2657,2488,548.2,12.5,452,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3055,2571,2655,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,0.66,145.9,2809,3055,2657,2488,510.5,12.5,462,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3055,2571,2656,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8841,0.66,145.9,2808,3055,2657,2488,472.7,12.6,472,8846,0.00,1.33,0.00,0.000,260,0.000,0.116,2808,3779,2572,2656,2488,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8896,0.62,145.9,2807,3779,2657,2487,465.1,13.9,483,8903,0.00,1.25,0.00,0.000,1030,0.000,0.071,2813,3044,2572,2656,2488,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9201,0.62,145.9,2814,3046,2656,2488,426.1,12.7,494,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3044,2572,2656,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9501,0.62,145.9,2814,3044,2657,2488,388.4,12.5,504,9506,0.00,1.35,0.00,0.000,260,0.000,0.116,2813,3786,2572,2656,2488,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9551,0.59,145.9,2814,3786,2657,2488,381.5,13.4,514,9557,0.12,1.25,0.00,0.000,5126,0.253,0.071,2784,3050,2571,2655,2488,0,0,0,0,0,0,14.45,14.67,28.83
$GC,9863,0.60,162.7,2784,3050,2662,2488,347.5,10.7,526,9878,0.00,0.00,13.90,1.300,8198,0.000,0.000,2784,3050,2521,2609,2433,0,0,0,0,0,0,28.83,28.83,14.02
$GC,10162,0.61,182.5,2784,3050,2594,2421,315.5,10.6,536,10186,0.00,2.45,16.92,1.260,8708,0.000,0.076,2793,1642,2433,2521,2345,0,0,0,0,0,0,28.83,14.52,13.97
$GC,10222,0.66,206.8,2794,1641,2515,2342,309.2,10.3,548,10253,0.00,2.47,21.77,1.236,9222,0.000,0.102,2793,3048,2331,2415,2247,0,0,0,0,0,0,28.83,14.51,13.88
$GC,10552,0.69,219.3,2795,3048,2404,2241,271.6,11.0,564,10557,0.00,0.00,3.90,0.980,8198,0.000,0.000,2794,3048,2290,2374,2207,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10852,0.73,236.7,2794,3048,2401,2213,239.0,10.7,580,10883,0.00,2.45,22.90,1.174,8708,0.000,0.075,2803,1644,2210,2292,2129,0,0,0,0,0,0,28.83,14.44,13.92
$GC,10909,0.80,272.1,2801,1644,2287,2128,233.4,9.7,591,10945,0.15,2.50,31.15,1.154,11270,0.132,0.102,2867,3054,2076,2156,1996,0,0,0,0,0,0,14.46,14.41,13.79
$GC,11242,0.80,272.1,2867,3054,2133,1978,186.5,13.8,628,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3054,2054,2131,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11543,0.80,272.1,2868,3055,2130,1978,149.1,12.0,658,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3054,2053,2130,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11843,0.80,273.7,2868,3055,2130,1977,112.7,11.5,688,11844,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3054,2052,2129,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12143,0.83,307.8,2868,3055,2130,1976,81.1,9.8,718,12164,0.00,2.40,15.60,0.397,8708,0.000,0.073,2875,1648,1934,2017,1852,0,0,0,0,0,0,28.83,14.40,14.16
$GC,12205,0.89,347.1,2876,1649,2038,1856,75.1,9.5,730,12236,0.00,2.50,23.25,0.386,9222,0.000,0.103,2875,3055,1776,1849,1703,0,0,0,0,0,0,28.83,14.40,14.13
$GC,12534,1.02,464.4,2876,3056,1867,1704,47.1,5.4,766,12606,0.12,2.42,65.68,0.316,10756,0.143,0.073,2941,1646,1294,1347,1241,0,0,0,0,0,0,14.44,14.31,14.09
$GC,12697,1.11,522.0,2942,1647,1365,1242,35.3,8.6,798,12739,0.00,2.53,33.22,0.280,9222,0.000,0.104,2941,3051,1062,1098,1027,0,0,0,0,0,0,28.83,14.30,14.12
$FREEZE,8.96,-1.361,-1.441,2,6,0
$GC,13037,1.24,612.1,2942,3051,1112,1021,10.2,6.8,836,13056,0.15,0.00,16.55,0.211,10498,0.133,0.000,3004,3051,941,975,907,0,0,0,0,0,0,14.40,28.83,28.83
$STATE,13056,end climb,FINISH_DEPTH_REACHED
$STATE,13056,begin subsurface finish
$FINISH1,9.0,1.021157,354
$GC,13061,0.25,354.0,3005,3051,983,908,9.0,7.6,839,13087,1.17,1.33,-20.67,0.000,20740,0.223,0.159,2674,3787,1745,1778,1712,0,0,0,0,0,0,14.22,14.31,14.58
$FINISH2,7.9
$STATE,13088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13088,begin surface
$RAFOS_CLK,401
$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,49.88
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3913888
$24V_AH,12.77,78.838
$10V_AH,12.75,0.000
$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,4.675,44.075,577.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10753.934,589.617,1723.383,136.319,0.000,1267.736,0.000,1261.425,1488.000,0.535,0.000
$DEVICE_MAMPS,318.240,159.120,1738.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.001,0.000,0.000,0.000
$MEM,235768
$DATA_FILE_SIZE,30039,844
$CAP_FILE_SIZE,135196,0
$CFSIZE,2097872896,2040037376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13058.90,0x2378b6,5,5
$SOUNDSPEED,1449.5
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7