version: 66.12
glider: 198
mission: 5
dive: 268
start: 9 6 114 16 36 0
data:
$ID,198
$MISSION,5
$DIVE,268
$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,-5391.5137
$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,31
$R_STBD_OVSHOOT,18
$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
$GPS1,060914,092027,7407.505,-14308.573,5,0.8,25,23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.84
$_SM_ANGLEo,-16.3
$GPS2,060914,092027,7407.505,-14308.573,5,0.8,25,23.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,170.6,289427,-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,-145.9,2678,2678,1803,1693,0.0,0.0,0,29,0.00,0.00,-11.73,0.000,16386,0.000,0.000,2678,2678,2397,2463,2331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2678,2678,2466,2332,15.6,0.0,1,60,0.90,2.03,-22.60,0.000,20740,0.070,0.142,2345,3785,3784,3842,3727,0,0,0,0,0,0,14.38,14.30,14.62
$GC,115,-0.60,-145.9,2345,3786,3841,3729,42.1,-33.0,18,121,0.15,1.95,0.00,0.000,3078,0.295,0.075,2382,2676,3784,3840,3729,0,0,0,0,0,0,14.13,14.35,28.83
$GC,420,-0.60,-145.9,2383,2675,3840,3730,99.4,-16.0,49,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2675,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,720,-0.60,-145.9,2383,2675,3840,3730,144.5,-14.5,79,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2675,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-0.62,-145.9,2383,2675,3840,3731,185.3,-13.4,109,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2675,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-0.65,-145.9,2388,2675,3840,3731,222.6,-11.3,139,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2675,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-0.69,-145.9,2384,2675,3840,3731,256.3,-10.1,167,1645,0.00,2.03,0.00,0.000,260,0.000,0.127,2374,3786,3784,3839,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1705,-0.72,-145.9,2375,3787,3840,3731,263.5,-11.0,180,1710,0.00,1.92,0.00,0.000,1030,0.000,0.077,2374,2679,3784,3839,3730,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2032,-0.76,-145.9,2375,2679,3848,3730,295.8,-9.7,195,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2679,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2331,-0.80,-145.9,2375,2680,3840,3731,323.9,-9.3,205,2332,0.15,0.00,0.00,0.000,4102,0.133,0.000,2314,2679,3784,3839,3730,0,0,0,0,0,0,14.65,28.83,28.83
$GC,2630,-0.80,-145.9,2315,2680,3840,3731,359.9,-11.9,215,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-0.80,-145.9,2315,2679,3841,3730,395.5,-11.8,225,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3230,-0.80,-145.9,2315,2680,3840,3731,430.6,-11.6,235,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-0.80,-145.9,2315,2680,3840,3731,465.1,-11.4,245,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.80,-145.9,2315,2679,3841,3730,499.5,-11.5,255,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4130,-0.80,-145.9,2315,2679,3841,3730,533.7,-11.3,265,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4430,-0.80,-145.9,2315,2679,3841,3731,567.3,-11.2,275,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-0.80,-145.9,2315,2679,3841,3732,600.5,-11.0,285,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3788,3846,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,-0.80,-145.9,2315,2680,3840,3733,633.8,-11.0,295,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5330,-0.80,-145.9,2315,2679,3840,3732,666.6,-11.0,305,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5630,-0.80,-145.9,2315,2680,3840,3733,699.7,-11.1,315,5635,0.00,2.38,0.00,0.000,516,0.000,0.085,2316,1272,3786,3840,3732,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5680,-0.80,-145.9,2315,1272,3840,3733,705.2,-10.2,325,5685,0.00,2.50,0.00,0.000,1030,0.000,0.107,2305,2679,3786,3840,3732,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5991,-0.80,-145.9,2305,2680,3842,3733,740.7,-11.4,337,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6078,begin apogee
$GC,6083,-0.14,0.0,2303,3058,3840,3733,751.0,-11.5,340,6214,0.90,0.00,128.35,1.730,10246,0.269,0.000,2538,3057,3187,3283,3092,0,0,0,0,0,0,14.42,28.83,13.29
$STATE,6215,end apogee,CONTROL_FINISHED_OK
$STATE,6215,begin climb
$GC,6217,0.70,145.9,2538,3058,3278,3085,754.1,0.0,344,6354,0.93,1.45,124.95,1.692,10500,0.171,0.118,2807,3782,2581,2660,2503,0,0,0,0,0,0,13.91,13.47,12.88
$GC,6398,0.65,145.9,2808,3781,2655,2500,738.2,14.1,383,6403,0.00,1.35,0.00,0.000,1030,0.000,0.074,2813,3050,2577,2654,2500,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6715,0.63,145.9,2813,3050,2654,2499,697.2,13.0,396,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3050,2576,2653,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7013,0.61,145.9,2814,3051,2653,2500,658.0,13.1,406,7015,0.10,0.00,0.00,0.000,4102,0.307,0.000,2793,3050,2575,2652,2499,0,0,0,0,0,0,14.28,28.83,28.83
$GC,7313,0.61,145.9,2794,3050,2653,2500,621.8,12.0,416,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2575,2652,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7613,0.61,145.9,2794,3050,2653,2499,585.9,12.0,426,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2575,2652,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7914,0.61,145.9,2794,3050,2654,2498,550.3,11.8,436,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2575,2652,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8213,0.61,145.9,2794,3051,2653,2499,514.4,11.9,446,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2573,2648,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8513,0.61,145.9,2794,3050,2653,2499,479.1,11.9,456,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2575,2652,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8813,0.61,145.9,2794,3050,2654,2498,444.1,11.6,466,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2575,2652,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9113,0.61,147.9,2794,3051,2653,2499,409.4,11.5,476,9119,0.00,1.35,0.00,0.000,260,0.000,0.121,2793,3787,2575,2653,2498,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9158,0.59,147.9,2794,3787,2653,2498,403.7,13.1,485,9163,0.00,1.27,0.00,0.000,1030,0.000,0.076,2798,3048,2575,2652,2498,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9475,0.59,147.9,2799,3049,2653,2499,367.0,11.6,498,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,3048,2575,2652,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9773,0.59,154.7,2799,3048,2654,2498,332.4,11.3,508,9777,0.00,0.00,2.45,0.588,8198,0.000,0.000,2799,3048,2554,2634,2475,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10074,0.61,172.6,2799,3049,2658,2482,299.9,10.7,518,10097,0.00,0.00,21.83,1.210,8198,0.000,0.000,2798,3048,2481,2566,2396,0,0,0,0,0,0,28.83,28.83,14.02
$GC,10374,0.62,188.5,2799,3049,2549,2387,267.1,10.8,528,10388,0.00,0.00,13.60,1.178,8198,0.000,0.000,2798,3048,2417,2499,2335,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10673,0.64,222.8,2799,3048,2485,2325,236.1,9.8,546,10705,0.00,0.00,29.75,1.108,8198,0.000,0.000,2798,3048,2276,2354,2198,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11005,0.70,255.5,2800,3049,2331,2188,203.8,9.9,579,11039,0.00,2.47,28.23,1.069,8708,0.000,0.080,2807,1643,2137,2212,2062,0,0,0,0,0,0,28.83,14.37,13.88
$GC,11066,0.78,302.2,2808,1643,2207,2060,197.8,9.1,589,11116,0.10,2.53,41.55,1.034,11270,0.168,0.107,2853,3049,1943,2010,1876,0,0,0,0,0,0,14.40,14.37,13.75
$GC,11414,0.78,302.2,2854,3049,1998,1867,153.4,12.4,629,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,3049,1932,1998,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11715,0.80,302.6,2855,3050,1997,1865,117.4,11.6,659,11719,0.00,2.42,0.00,0.000,516,0.000,0.081,2861,1643,1931,1997,1865,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11764,0.86,327.2,2862,1644,1996,1866,112.1,10.3,669,11790,0.00,2.53,20.45,0.995,9222,0.000,0.108,2861,3056,1847,1914,1781,0,0,0,0,0,0,28.83,14.42,13.93
$GC,12095,0.90,350.8,2862,3057,1899,1772,75.8,10.4,705,12111,0.00,1.38,10.40,0.383,8452,0.000,0.123,2861,3787,1759,1830,1689,0,0,0,0,0,0,28.83,14.33,14.09
$GC,12141,0.93,352.7,2862,3788,1843,1690,70.8,11.5,714,12147,0.00,1.30,3.08,0.278,9222,0.000,0.076,2863,3048,1749,1820,1679,0,0,0,0,0,0,28.83,14.36,14.08
$GC,12450,1.10,507.0,2864,3048,1842,1680,48.8,3.4,745,12547,0.22,2.50,86.75,0.327,10756,0.106,0.081,2965,1650,1123,1160,1087,0,0,0,0,0,0,14.35,14.19,14.02
$GC,12597,1.14,516.2,2966,1651,1169,1089,35.0,11.1,774,12608,0.00,2.55,6.53,0.275,9222,0.000,0.108,2970,3049,1080,1111,1050,0,0,0,0,0,0,28.83,14.20,14.03
$FREEZE,8.66,-1.395,-1.439,2,3,0
$STATE,12871,end climb,FINISH_DEPTH_REACHED
$STATE,12871,begin subsurface finish
$FINISH1,8.7,1.021144,355
$GC,12877,0.25,354.7,2967,3049,1131,1050,8.7,6.8,803,12899,1.05,2.53,-16.75,0.000,20996,0.224,0.102,2677,1647,1743,1783,1704,0,0,0,0,0,0,14.13,14.26,14.50
$FINISH2,8.3
$STATE,12900,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12900,begin surface
$RAFOS_CLK,50
$RAFOS_FIX,7236.470703,-14818.450195,060914,161617,3,255,9.86
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.078645,0.078645
$HUMID,48.93
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3901760
$24V_AH,12.88,86.950
$10V_AH,12.80,0.000
$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,4.500,39.750,517.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10693.557,524.179,1663.271,136.039,0.000,1170.191,0.000,1212.782,1497.000,0.535,0.000
$DEVICE_MAMPS,306.765,142.290,1729.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12952.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.640,0.000,0.000,0.000
$MEM,221812
$DATA_FILE_SIZE,26744,807
$CAP_FILE_SIZE,130305,0
$CFSIZE,2097872896,2034761728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12874.63,0x2378b6,5,5
$SOUNDSPEED,1449.4
$GPS,060914,092027,7407.505,-14308.573,5,0.8,25,23.6