version: 66.12
glider: 198
mission: 5
dive: 254
start: 9 4 114 13 17 4
data:
$ID,198
$MISSION,5
$DIVE,254
$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,33
$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
$GPS1,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.38
$_SM_ANGLEo,-17.5
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-145.9,2676,2682,1754,1669,0.0,0.0,0,30,0.00,0.00,-12.00,0.000,16386,0.000,0.000,2676,2682,2377,2436,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2677,2683,2437,2320,15.8,0.0,1,60,0.93,2.10,-23.02,0.000,20740,0.070,0.147,2340,3792,3783,3838,3728,0,0,0,0,0,0,14.40,14.33,14.63
$GC,135,-0.60,-145.9,2340,3792,3840,3730,48.5,-33.7,20,141,0.17,1.92,0.00,0.000,3078,0.301,0.070,2384,2679,3782,3834,3730,0,0,0,0,0,0,14.16,14.40,28.83
$GC,440,-0.60,-145.9,2385,2679,3840,3731,105.1,-16.4,51,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2678,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-0.60,-145.9,2385,2679,3839,3732,149.5,-14.4,81,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2678,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1040,-0.60,-145.9,2385,2679,3839,3732,189.6,-13.0,111,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2678,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-0.63,-145.9,2385,2678,3839,3733,226.4,-11.1,141,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2678,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1650,-0.66,-145.9,2385,2679,3839,3732,259.8,-10.2,166,1655,0.00,2.00,0.00,0.000,260,0.000,0.123,2375,3788,3784,3838,3731,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1725,-0.69,-145.9,2376,3788,3839,3732,268.2,-11.2,181,1730,0.00,1.90,0.00,0.000,1030,0.000,0.073,2375,2681,3782,3833,3731,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2041,-0.73,-145.9,2376,2681,3840,3732,300.2,-9.8,194,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2681,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.77,-145.9,2376,2681,3840,3731,328.7,-9.3,204,2341,0.12,0.00,0.00,0.000,4102,0.151,0.000,2325,2681,3784,3838,3730,0,0,0,0,0,0,14.65,28.83,28.83
$GC,2640,-0.77,-145.9,2325,2682,3839,3726,362.6,-11.2,214,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2682,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.77,-145.9,2326,2682,3839,3731,396.5,-11.3,224,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,-0.77,-145.9,2325,2681,3840,3730,430.4,-11.2,234,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-0.77,-145.9,2326,2687,3839,3731,464.0,-11.2,244,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2678,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3840,-0.77,-145.9,2325,2681,3840,3730,497.3,-11.0,254,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2681,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4140,-0.77,-145.9,2326,2682,3839,3731,529.9,-10.9,264,4145,0.00,2.03,0.00,0.000,260,0.000,0.121,2316,3790,3784,3838,3730,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4195,-0.77,-145.9,2317,3790,3840,3731,536.5,-12.5,275,4201,0.00,1.90,0.00,0.000,1030,0.000,0.070,2317,2674,3784,3838,3730,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4500,-0.77,-145.9,2317,2675,3840,3731,571.0,-11.3,286,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4800,-0.77,-145.9,2317,2675,3840,3731,604.8,-11.2,296,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5100,-0.77,-145.9,2318,2675,3838,3732,638.4,-11.1,306,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2674,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5400,-0.77,-145.9,2317,2675,3839,3733,671.7,-11.1,316,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2675,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5700,-0.77,-145.9,2317,2675,3840,3733,704.4,-10.8,326,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2675,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6000,-0.77,-145.9,2317,2675,3839,3734,737.0,-10.9,336,6005,0.00,2.00,0.00,0.000,260,0.000,0.119,2308,3795,3785,3838,3733,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6049,-0.77,-145.9,2308,3795,3840,3733,743.0,-12.3,346,6055,0.10,1.90,0.00,0.000,3078,0.275,0.070,2334,2672,3785,3838,3732,0,0,0,0,0,0,14.42,14.68,28.83
$STATE,6118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6118,begin apogee
$GC,6123,-0.14,0.0,2333,3056,3839,3733,750.4,-10.5,350,6320,0.77,0.00,194.68,1.392,10246,0.253,0.000,2539,3056,3187,3289,3085,0,0,0,0,0,0,14.45,28.83,13.33
$STATE,6321,end apogee,CONTROL_FINISHED_OK
$STATE,6321,begin climb
$GC,6323,0.70,145.9,2540,3056,3286,3079,755.7,0.0,356,6458,0.93,1.50,126.65,1.691,10500,0.171,0.116,2807,3789,2582,2667,2497,0,0,0,0,0,0,13.83,13.39,12.80
$GC,6653,0.66,145.9,2808,3789,2655,2489,719.1,13.8,425,6658,0.00,1.33,0.00,0.000,1030,0.000,0.070,2813,3050,2571,2654,2488,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6969,0.63,145.9,2818,3051,2654,2488,677.7,13.1,438,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3050,2570,2654,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7268,0.61,145.9,2814,3050,2654,2488,638.3,13.1,448,7273,0.00,1.38,0.00,0.000,260,0.000,0.119,2812,3789,2570,2653,2487,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7343,0.57,145.9,2814,3789,2653,2488,627.5,14.6,463,7348,0.15,1.27,0.00,0.000,5126,0.257,0.073,2778,3048,2570,2653,2487,0,0,0,0,0,0,14.31,14.52,28.83
$GC,7659,0.57,152.0,2778,3048,2654,2487,591.7,11.3,476,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,3048,2570,2653,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7958,0.58,158.9,2778,3048,2654,2487,557.9,11.3,486,7963,0.00,0.00,3.88,1.125,8198,0.000,0.000,2778,3048,2538,2624,2452,0,0,0,0,0,0,28.83,28.83,13.76
$GC,8258,0.58,164.5,2778,3049,2654,2462,523.9,11.3,496,8273,0.00,0.00,13.25,1.441,8198,0.000,0.000,2778,3048,2515,2603,2427,0,0,0,0,0,0,28.83,28.83,13.92
$GC,8558,0.58,165.4,2778,3049,2588,2415,489.3,11.6,506,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,3048,2500,2587,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8858,0.58,167.4,2778,3049,2587,2415,454.9,11.5,516,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,3048,2501,2587,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9158,0.59,169.9,2779,3049,2587,2416,420.4,11.5,526,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,3048,2500,2587,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9458,0.59,177.5,2779,3049,2587,2416,386.6,11.2,536,9470,0.00,0.00,10.80,1.294,8198,0.000,0.000,2778,3048,2464,2552,2376,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9758,0.60,187.4,2778,3049,2534,2366,352.9,11.1,546,9764,0.00,0.00,3.47,0.919,8198,0.000,0.000,2778,3049,2423,2512,2335,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10060,0.63,202.6,2775,3048,2545,2335,319.8,10.8,556,10083,0.00,0.00,21.33,1.215,8198,0.000,0.000,2778,3048,2358,2446,2270,0,0,0,0,0,0,28.83,28.83,13.92
$GC,10359,0.67,214.6,2778,3049,2425,2261,286.7,11.0,566,10368,0.00,2.40,3.88,0.964,8708,0.000,0.076,2788,1642,2315,2403,2227,0,0,0,0,0,0,28.83,14.48,13.73
$GC,10408,0.73,241.1,2789,1644,2426,2228,281.5,10.2,576,10444,0.12,2.50,30.77,1.156,11270,0.140,0.103,2844,3049,2202,2283,2121,0,0,0,0,0,0,14.49,14.43,13.80
$GC,10749,0.73,241.1,2844,3050,2263,2104,233.7,13.2,602,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,3049,2183,2262,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11049,0.73,241.1,2845,3049,2262,2105,197.4,12.1,632,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,3049,2182,2261,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11349,0.74,256.5,2845,3049,2260,2103,163.8,10.8,662,11362,0.00,0.00,12.40,1.064,8198,0.000,0.000,2844,3049,2140,2222,2058,0,0,0,0,0,0,28.83,28.83,13.94
$GC,11660,0.76,280.0,2845,3049,2207,2051,131.1,10.4,693,11682,0.00,0.00,21.12,1.014,8198,0.000,0.000,2844,3049,2045,2126,1965,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11980,0.80,313.6,2845,3049,2103,1950,97.8,9.8,725,12001,0.00,2.47,15.45,0.443,8708,0.000,0.077,2849,1648,1910,1989,1831,0,0,0,0,0,0,28.83,14.38,14.09
$GC,12042,0.89,366.8,2850,1648,2014,1831,92.2,8.8,737,12081,0.00,2.53,30.67,0.446,9222,0.000,0.105,2849,3060,1693,1762,1624,0,0,0,0,0,0,28.83,14.37,14.04
$GC,12381,0.99,434.2,2850,3060,1784,1624,60.3,8.0,775,12427,0.17,2.50,38.58,0.358,10756,0.122,0.077,2932,1650,1418,1481,1356,0,0,0,0,0,0,14.42,14.28,14.09
$GC,12466,1.04,447.3,2932,1650,1498,1356,50.8,10.9,792,12483,0.00,2.53,9.35,0.315,9222,0.000,0.105,2932,3049,1364,1426,1302,0,0,0,0,0,0,28.83,14.30,14.04
$GC,12783,1.13,513.4,2934,3049,1446,1304,23.7,8.1,825,12827,0.00,2.47,37.47,0.258,8708,0.000,0.076,2940,1648,1095,1148,1043,0,0,0,0,0,0,28.83,14.31,14.16
$FREEZE,8.53,-1.400,-1.447,2,9,0
$GC,12993,1.29,624.3,2940,1649,1164,1044,10.5,5.7,867,13021,0.20,2.53,22.35,0.217,11266,0.116,0.106,3019,3056,935,967,903,0,0,0,0,0,0,14.38,14.33,28.83
$STATE,13021,end climb,FINISH_DEPTH_REACHED
$STATE,13021,begin subsurface finish
$FINISH1,8.5,1.021254,349
$GC,13026,0.24,348.9,3020,3055,971,903,8.5,8.7,872,13051,1.25,0.00,-22.30,0.000,20486,0.230,0.000,2676,3056,1765,1801,1729,0,0,0,0,0,0,14.19,28.83,14.56
$FINISH2,7.2
$STATE,13051,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13051,begin surface
$RAFOS_CLK,216
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.33
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3908064
$24V_AH,12.80,82.747
$10V_AH,12.72,0.000
$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,4.925,42.475,596.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10636.383,612.266,1777.241,137.486,0.000,1302.500,0.000,1305.489,1490.000,0.535,0.000
$DEVICE_MAMPS,301.410,146.880,1691.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.782,0.000,0.000,0.000
$MEM,229016
$DATA_FILE_SIZE,30047,875
$CAP_FILE_SIZE,137179,0
$CFSIZE,2097872896,2037481472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13022.98,0x2378b6,5,5
$SOUNDSPEED,1449.7
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0