version: 66.12
glider: 198
mission: 5
dive: 324
start: 9 15 114 12 42 24
data:
$ID,198
$MISSION,5
$DIVE,324
$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,-5801.1099
$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,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
$GPS1,140914,040738,7345.219,-14322.191,181,99.0,181,23.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-47.3
$GPS2,140914,040738,7345.219,-14322.191,181,99.0,181,23.4
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7400.000,-14100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,45.9,77576,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.70,-145.9,194,2672,472,528,0.0,0.0,0,41,0.00,0.00,-22.20,0.000,16386,0.000,0.000,193,2671,1082,1062,1103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.70,-145.9,194,2672,1064,1104,3.0,-0.6,2,162,10.90,2.12,-100.43,0.000,18692,0.432,0.145,2348,3795,3781,3836,3727,0,0,0,0,0,0,14.06,14.28,14.63
$GC,387,-0.63,-145.9,2348,3795,3837,3729,80.5,-23.1,71,394,0.15,1.95,0.00,0.000,3078,0.308,0.072,2379,2652,3782,3836,3729,0,0,0,0,0,0,14.10,14.40,28.83
$GC,692,-0.63,-145.9,2379,2652,3838,3730,130.8,-14.6,102,697,0.00,2.08,0.00,0.000,260,0.000,0.122,2373,3786,3783,3836,3730,0,0,0,0,0,0,28.83,14.35,28.83
$GC,732,-0.63,-145.9,2374,3786,3838,3730,137.0,-15.7,110,737,0.00,1.92,0.00,0.000,1030,0.000,0.071,2374,2680,3782,3836,3729,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1042,-0.63,-145.9,2375,2681,3837,3730,181.7,-13.4,142,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1342,-0.66,-145.9,2374,2680,3838,3730,219.9,-13.8,172,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1653,-0.68,-145.9,2373,2680,3838,3729,255.8,-9.7,199,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,-0.72,-145.9,2374,2681,3838,3730,285.8,-10.4,209,1957,0.00,2.03,0.00,0.000,260,0.000,0.125,2374,3788,3783,3837,3730,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2017,-0.75,-145.9,2374,3787,3838,3730,292.6,-10.3,222,2022,0.00,1.88,0.00,0.000,1030,0.000,0.073,2373,2679,3787,3844,3730,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2344,-0.79,-145.9,2374,2679,3838,3730,324.3,-9.3,237,2345,0.12,0.00,0.00,0.000,4102,0.146,0.000,2322,2679,3783,3837,3729,0,0,0,0,0,0,14.54,28.83,28.83
$GC,2642,-0.79,-145.9,2323,2679,3838,3729,358.7,-11.6,247,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2679,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-0.79,-145.9,2324,2680,3837,3730,392.1,-11.0,257,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2679,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3243,-0.79,-145.9,2323,2679,3837,3730,425.3,-10.9,267,3247,0.00,2.03,0.00,0.000,260,0.000,0.121,2318,3793,3783,3837,3729,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3302,-0.79,-145.9,2318,3794,3838,3729,432.6,-12.0,279,3308,0.00,1.90,0.00,0.000,1030,0.000,0.070,2318,2671,3783,3837,3729,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3634,-0.79,-145.9,2318,2672,3838,3730,470.1,-11.5,295,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2670,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-0.79,-145.9,2318,2670,3838,3730,504.5,-11.4,305,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2671,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4233,-0.79,-145.9,2319,2672,3839,3731,538.7,-11.3,315,4237,0.00,2.00,0.00,0.000,260,0.000,0.119,2309,3787,3783,3837,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4282,-0.79,-145.9,2310,3788,3837,3732,544.9,-12.8,325,4287,0.00,1.90,0.00,0.000,1030,0.000,0.070,2309,2679,3783,3836,3730,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4594,-0.79,-145.9,2309,2679,3838,3731,581.3,-11.6,337,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2679,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-0.79,-145.9,2310,2679,3837,3732,616.3,-11.6,347,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2679,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5193,-0.79,-145.9,2310,2680,3839,3732,651.0,-11.6,357,5197,0.00,2.00,0.00,0.000,260,0.000,0.119,2305,3788,3784,3837,3731,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5242,-0.79,-145.9,2306,3788,3838,3731,657.1,-12.9,367,5247,0.00,1.90,0.00,0.000,1030,0.000,0.069,2305,2677,3784,3837,3732,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5554,-0.79,-145.9,2305,2677,3838,3732,693.1,-11.5,379,5555,0.12,0.00,0.00,0.000,2054,0.303,0.000,2331,2676,3784,3837,3732,0,0,0,0,0,0,14.32,28.83,28.83
$GC,5853,-0.79,-145.9,2330,2677,3839,3731,723.8,-10.1,389,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6120,begin apogee
$GC,6126,-0.14,0.0,2330,3057,3837,3733,751.0,-10.1,398,6267,0.75,0.00,134.18,2.477,10246,0.250,0.000,2533,3056,3187,3289,3085,0,0,0,0,1,0,14.28,28.83,12.70
$STATE,6268,end apogee,CONTROL_FINISHED_OK
$STATE,6268,begin climb
$GC,6270,0.70,145.9,2534,3057,3295,3090,754.4,0.0,402,6409,0.95,0.00,135.98,1.706,10246,0.168,0.000,2804,3056,2589,2675,2504,0,0,0,0,0,0,13.56,28.83,12.66
$GC,6692,0.70,145.9,2805,3056,2662,2494,710.8,12.4,417,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2577,2662,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6992,0.70,145.9,2805,3056,2663,2492,673.7,12.4,427,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2577,2662,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7292,0.70,145.9,2805,3057,2663,2493,636.9,12.3,437,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2577,2662,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7592,0.70,145.9,2805,3056,2663,2492,600.4,12.1,447,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2577,2662,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,0.70,145.9,2805,3057,2662,2493,563.5,12.2,457,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2577,2662,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8192,0.70,145.9,2805,3056,2663,2492,527.1,12.2,467,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2577,2662,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8492,0.70,145.9,2805,3057,2662,2493,490.8,12.0,477,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2661,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8792,0.70,145.9,2804,3056,2663,2492,454.9,11.9,487,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2661,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9092,0.70,145.9,2805,3056,2662,2493,419.6,11.7,497,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2661,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,0.70,145.9,2805,3057,2661,2493,384.4,11.7,507,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2661,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9692,0.70,152.2,2805,3057,2662,2493,350.1,11.3,517,9695,0.00,0.00,1.17,0.254,8198,0.000,0.000,2804,3056,2564,2650,2479,0,0,0,0,0,0,28.83,28.83,14.38
$GC,9993,0.71,163.1,2804,3056,2669,2481,317.1,11.0,527,10008,0.00,0.00,14.52,1.280,8198,0.000,0.000,2804,3056,2519,2608,2431,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10293,0.71,164.0,2804,3056,2597,2423,281.6,11.6,537,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3055,2508,2595,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10593,0.73,198.2,2805,3056,2597,2423,251.1,9.8,547,10628,0.00,2.40,29.98,1.157,8708,0.000,0.075,2814,1650,2370,2455,2285,0,0,0,0,0,0,28.83,14.46,13.95
$GC,10660,0.78,221.7,2815,1650,2449,2283,244.3,10.4,560,10685,0.00,2.50,20.08,1.146,9222,0.000,0.103,2814,3053,2278,2361,2196,0,0,0,0,0,0,28.83,14.42,13.85
$GC,10983,0.83,252.4,2815,3053,2349,2186,210.0,10.0,595,11016,0.12,2.50,26.55,1.100,10756,0.136,0.075,2883,1644,2149,2230,2069,0,0,0,0,0,0,14.51,14.38,13.85
$GC,11052,0.83,252.4,2884,1644,2224,2068,201.8,11.7,607,11057,0.00,2.53,0.00,0.000,1030,0.000,0.102,2883,3056,2145,2222,2068,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11356,0.83,252.4,2884,3056,2221,2062,162.3,12.3,638,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,3056,2141,2220,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11656,0.83,263.8,2884,3056,2221,2060,127.6,11.0,668,11666,0.00,0.00,4.25,1.021,8198,0.000,0.000,2883,3056,2116,2201,2031,0,0,0,0,0,0,28.83,28.83,13.82
$GC,11970,0.88,324.2,2884,3056,2213,2031,94.9,8.4,699,12011,0.00,0.00,34.03,0.465,8710,0.000,0.000,2883,3053,1869,1948,1790,0,0,0,0,0,0,28.83,28.83,14.01
$GC,12311,0.93,398.6,2884,3057,1958,1791,61.2,7.7,735,12361,0.00,2.50,41.83,0.354,8708,0.000,0.074,2892,1653,1565,1634,1496,0,0,0,0,0,0,28.83,14.17,14.00
$GC,12421,1.04,464.4,2893,1653,1643,1496,52.6,8.1,755,12466,0.00,2.55,37.35,0.330,9222,0.000,0.102,2892,3060,1296,1349,1243,0,0,0,0,0,0,28.83,14.19,13.95
$GC,12771,1.19,565.7,2892,3060,1359,1243,30.0,6.2,795,12832,0.22,0.00,56.15,0.260,10758,0.103,0.000,2988,3060,882,896,868,0,0,0,0,0,0,14.22,28.83,14.03
$FREEZE,8.12,-1.433,-1.446,2,11,0
$STATE,12989,end climb,FINISH_DEPTH_REACHED
$STATE,12989,begin subsurface finish
$FINISH1,8.1,1.021253,349
$GC,12994,0.24,349.0,2989,3060,904,867,8.1,10.4,823,13026,1.12,2.47,-24.30,0.000,20996,0.216,0.093,2677,1648,1765,1801,1729,0,0,0,0,0,0,14.05,14.21,14.45
$FINISH2,7.0
$STATE,13027,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13027,begin surface
$RAFOS_CLK,82
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.080143,0.080143
$HUMID,48.07
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,3
$SC_FREEKB,3876672
$24V_AH,12.66,104.911
$10V_AH,12.79,0.000
$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,14.475,41.850,536.050,0.000,0.000,0.000,0.000,121.200,0.750,0.000,181.461,0.000,10760.641,656.472,2004.942,352.115,0.000,1443.073,0.000,1244.170,1493.000,0.536,0.000
$DEVICE_MAMPS,432.225,145.350,2477.070,0.000,0.000,0.000,0.000,48.960,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13076.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.103,0.000,0.000,0.000
$MEM,190820
$DATA_FILE_SIZE,26741,829
$CAP_FILE_SIZE,137834,0
$CFSIZE,2097872896,2023849984
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,13994.48,0x2378b6,7,5
$INTR,1,12991.81,0x2378b6,5,5
$SOUNDSPEED,1448.3
$GPS,140914,040738,7345.219,-14322.191,181,99.0,181,23.4