version: 66.12
glider: 198
mission: 5
dive: 253
start: 9 4 114 9 40 8
data:
$ID,198
$MISSION,5
$DIVE,253
$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,-5023.6465
$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,34
$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
$GPS1,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.87
$_SM_ANGLEo,-17.7
$GPS2,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,172.3,353001,-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,-145.9,2671,2682,1812,1728,0.0,0.0,0,29,0.00,0.00,-11.85,0.000,16386,0.000,0.000,2671,2682,2478,2533,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2672,2682,2534,2420,17.8,0.0,1,58,0.88,0.00,-20.25,0.000,20998,0.074,0.000,2357,2682,3782,3837,3728,0,0,0,0,0,0,14.39,28.83,14.64
$GC,358,-0.67,-145.9,2358,2683,3838,3731,94.8,-18.3,36,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2682,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,657,-0.67,-145.9,2358,2683,3838,3731,144.7,-16.1,66,662,0.00,2.40,0.00,0.000,516,0.000,0.083,2357,1269,3784,3837,3731,0,0,0,0,0,0,28.83,14.51,28.83
$GC,697,-0.67,-145.9,2358,1269,3839,3731,150.8,-14.3,74,702,0.00,2.53,0.00,0.000,1030,0.000,0.106,2353,2685,3784,3838,3731,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1007,-0.67,-145.9,2354,2686,3838,3732,197.3,-14.6,106,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2685,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-0.67,-145.9,2354,2685,3839,3731,238.8,-12.8,136,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2685,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1617,-0.67,-145.9,2354,2686,3838,3732,275.1,-11.4,153,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2685,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.69,-145.9,2353,2686,3838,3731,308.5,-11.1,163,1922,0.00,1.98,0.00,0.000,260,0.000,0.123,2347,3788,3783,3837,3730,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1961,-0.69,-145.9,2348,3788,3839,3731,313.9,-12.5,172,1967,0.00,1.90,0.00,0.000,1030,0.000,0.073,2347,2678,3783,3837,3730,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2278,-0.71,-145.9,2348,2679,3839,3731,348.2,-10.6,185,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,-0.74,-145.9,2348,2679,3839,3731,379.1,-10.2,195,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2878,-0.77,-145.9,2348,2679,3838,3731,409.9,-10.2,205,2882,0.00,2.00,0.00,0.000,260,0.000,0.125,2347,3792,3783,3837,3730,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2957,-0.77,-145.9,2348,3792,3840,3730,418.8,-11.7,221,2962,0.00,1.90,0.00,0.000,1030,0.000,0.072,2347,2679,3784,3838,3730,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3269,-0.79,-145.9,2347,2679,3834,3731,450.1,-10.0,233,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3567,-0.82,-145.9,2348,2679,3838,3731,479.8,-9.9,243,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3867,-0.85,-145.9,2348,2679,3839,3730,509.5,-9.9,253,3872,0.00,2.00,0.00,0.000,260,0.000,0.123,2345,3792,3783,3837,3730,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3952,-0.85,-145.9,2346,3792,3839,3730,518.4,-10.7,270,3958,0.00,1.90,0.00,0.000,1030,0.000,0.070,2345,2677,3783,3837,3730,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4258,-0.88,-145.9,2346,2678,3839,3730,548.3,-9.7,281,4259,0.12,0.00,0.00,0.000,4102,0.154,0.000,2296,2677,3783,3837,3730,0,0,0,0,0,0,14.69,28.83,28.83
$GC,4557,-0.88,-145.9,2298,2678,3839,3732,584.2,-12.0,291,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2677,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.88,-145.9,2296,2678,3834,3732,619.8,-11.8,301,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2678,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.88,-145.9,2297,2678,3838,3733,654.9,-11.6,311,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2677,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,-0.88,-145.9,2298,2679,3838,3733,689.8,-11.7,321,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2678,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,-0.88,-145.9,2297,2678,3838,3733,724.7,-11.7,331,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5995,begin apogee
$GC,6000,-0.14,0.0,2295,3060,3838,3733,752.6,-11.6,339,6187,0.93,0.00,185.10,1.426,10246,0.271,0.000,2536,3059,3187,3287,3087,0,0,0,0,0,0,14.45,28.83,13.34
$STATE,6188,end apogee,CONTROL_FINISHED_OK
$STATE,6188,begin climb
$GC,6190,0.70,145.9,2537,3060,3282,3083,757.2,0.0,345,6324,0.93,1.48,126.45,1.693,10500,0.173,0.116,2804,3784,2585,2667,2503,0,0,0,0,0,0,13.85,13.40,12.81
$GC,6354,0.66,145.9,2805,3785,2655,2496,743.9,13.4,375,6360,0.00,1.35,0.00,0.000,1030,0.000,0.070,2810,3054,2574,2654,2495,0,0,0,0,0,0,28.83,13.59,28.83
$GC,6659,0.66,145.9,2811,3054,2653,2493,703.9,13.2,386,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3054,2572,2652,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,0.66,145.9,2810,3053,2653,2491,664.9,13.1,396,6964,0.00,1.35,0.00,0.000,260,0.000,0.119,2810,3780,2572,2653,2491,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7034,0.62,145.9,2811,3780,2653,2492,654.2,14.5,411,7039,0.00,1.27,0.00,0.000,1030,0.000,0.072,2815,3046,2571,2652,2491,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7350,0.59,145.9,2816,3047,2653,2492,612.3,13.2,424,7351,0.12,0.00,0.00,0.000,4102,0.295,0.000,2788,3045,2571,2652,2491,0,0,0,0,0,0,14.38,28.83,28.83
$GC,7649,0.59,146.9,2789,3045,2653,2491,577.0,11.6,434,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3046,2573,2655,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7949,0.59,146.9,2789,3046,2653,2491,542.0,11.6,444,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3046,2571,2652,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8249,0.60,147.2,2789,3047,2652,2491,507.2,11.6,454,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3046,2571,2652,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8550,0.60,149.5,2785,3047,2653,2491,472.7,11.5,464,8554,0.00,1.35,0.00,0.000,260,0.000,0.118,2788,3784,2571,2652,2491,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8594,0.60,149.5,2789,3784,2653,2490,467.0,12.8,473,8599,0.00,1.27,0.00,0.000,1030,0.000,0.072,2794,3041,2571,2652,2490,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8909,0.60,149.5,2801,3042,2653,2491,430.3,11.6,486,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3041,2572,2653,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9209,0.60,152.9,2795,3042,2648,2492,396.0,11.4,496,9211,0.00,0.00,0.85,0.276,8198,0.000,0.000,2793,3046,2561,2643,2480,0,0,0,0,0,0,28.83,28.83,14.42
$GC,9509,0.60,160.2,2795,3043,2662,2480,362.1,11.2,506,9519,0.00,1.38,5.25,1.157,8452,0.000,0.119,2793,3781,2541,2630,2453,0,0,0,0,0,0,28.83,14.52,13.85
$GC,9559,0.58,160.2,2795,3782,2649,2454,355.9,12.4,516,9565,0.00,1.25,2.35,0.502,9222,0.000,0.072,2799,3051,2531,2618,2445,0,0,0,0,0,0,28.83,14.54,13.74
$GC,9872,0.59,165.9,2800,3052,2648,2451,320.1,11.3,528,9886,0.00,0.00,12.18,1.232,8198,0.000,0.000,2800,3051,2509,2596,2423,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10170,0.59,171.1,2799,3052,2581,2412,285.8,11.4,538,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3051,2496,2581,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10469,0.61,203.5,2800,3051,2582,2411,254.1,9.9,548,10503,0.00,0.00,32.85,1.141,8198,0.000,0.000,2799,3051,2355,2437,2273,0,0,0,0,0,0,28.83,28.83,13.92
$GC,10801,0.66,234.9,2800,3052,2415,2260,220.2,10.0,577,10831,0.00,0.00,26.85,1.102,8710,0.000,0.000,2799,3051,2221,2299,2144,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11131,0.73,281.0,2800,3051,2285,2131,188.4,9.2,611,11175,0.00,2.40,40.05,1.063,8708,0.000,0.074,2808,1647,2031,2106,1956,0,0,0,0,0,0,28.83,14.32,13.82
$GC,11206,0.82,316.5,2809,1647,2093,1954,181.5,9.7,626,11242,0.15,2.53,31.10,1.045,11270,0.133,0.104,2868,3050,1893,1962,1825,0,0,0,0,0,0,14.38,14.32,13.73
$GC,11540,0.82,316.5,2872,3051,1939,1806,136.9,12.6,663,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,3050,1870,1935,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11840,0.82,316.5,2869,3051,1936,1805,98.3,12.9,693,11845,0.00,2.40,0.00,0.000,516,0.000,0.078,2876,1650,1870,1936,1804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11890,0.86,326.5,2877,1649,1937,1804,92.4,11.1,703,11896,0.00,2.53,1.67,0.236,9222,0.000,0.106,2877,3059,1858,1928,1788,0,0,0,0,0,0,28.83,14.42,14.34
$GC,12202,0.92,389.9,2877,3058,1942,1788,61.0,8.3,735,12243,0.00,2.50,35.70,0.362,8708,0.000,0.075,2886,1650,1599,1667,1532,0,0,0,0,0,0,28.83,14.35,14.17
$GC,12264,1.02,456.5,2886,1650,1684,1532,55.9,8.1,747,12308,0.00,2.53,38.17,0.348,9222,0.000,0.107,2886,3050,1328,1385,1272,0,0,0,0,0,0,28.83,14.32,14.06
$GC,12613,1.15,543.5,2886,3050,1407,1272,29.6,7.0,787,12668,0.22,2.40,49.10,0.271,10756,0.109,0.077,2985,1644,971,1006,937,0,0,0,0,0,0,14.42,14.26,14.15
$GC,12734,1.24,607.4,2985,1645,1026,936,18.2,8.2,810,12779,0.00,2.55,36.12,0.235,9222,0.000,0.107,2985,3054,708,706,711,0,0,0,0,0,0,28.83,14.29,14.15
$FREEZE,8.54,-1.373,-1.429,2,8,0
$STATE,12827,end climb,FINISH_DEPTH_REACHED
$STATE,12827,begin subsurface finish
$FINISH1,8.5,1.020992,363
$GC,12832,0.25,362.6,2986,3055,722,712,8.5,11.4,824,12860,1.10,0.00,-25.65,0.000,20742,0.214,0.000,2676,3055,1708,1749,1668,0,0,0,0,0,0,14.17,28.83,14.54
$FINISH2,7.9
$STATE,12861,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12861,begin surface
$RAFOS_CLK,295
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.70
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3908512
$24V_AH,12.81,82.448
$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,4.450,48.450,623.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10501.264,632.355,1694.074,144.570,0.000,1307.146,0.000,1237.949,1495.000,0.535,0.000
$DEVICE_MAMPS,294.525,125.460,1692.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12907.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.348,0.000,0.000,0.000
$MEM,229548
$DATA_FILE_SIZE,26713,829
$CAP_FILE_SIZE,133495,0
$CFSIZE,2097872896,2037678080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12659.04,0x234484,1,24
$INTR,1,12830.04,0x2378b6,5,5
$SOUNDSPEED,1450.0
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0