version: 66.12
glider: 198
mission: 5
dive: 351
start: 9 19 114 15 28 52
data:
$ID,198
$MISSION,5
$DIVE,351
$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,-6169.3325
$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,35
$R_STBD_OVSHOOT,15
$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
$GPS1,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.66
$_SM_ANGLEo,-18.4
$GPS2,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,188.6,80131,-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,17,-0.70,-145.9,2678,2680,1749,1669,0.0,0.0,0,30,0.00,0.00,-11.90,0.000,16386,0.000,0.000,2677,2680,2371,2428,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2681,2431,2316,15.9,0.0,1,62,0.90,2.03,-22.62,0.000,20740,0.072,0.139,2347,3794,3782,3836,3729,0,0,0,0,0,0,14.32,14.29,14.63
$GC,286,-0.65,-145.9,2348,3795,3837,3732,85.5,-21.4,52,293,0.08,1.95,0.00,0.000,3078,0.280,0.071,2367,2676,3784,3836,3732,0,0,0,0,0,0,14.08,14.35,28.83
$GC,592,-0.65,-145.9,2367,2676,3838,3732,136.0,-15.4,83,596,0.00,2.05,0.00,0.000,260,0.000,0.122,2361,3795,3783,3835,3732,0,0,0,0,0,0,28.83,14.34,28.83
$GC,656,-0.65,-145.9,2361,3795,3838,3733,146.7,-16.1,96,662,0.00,1.92,0.00,0.000,1030,0.000,0.072,2361,2684,3784,3836,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,962,-0.65,-145.9,2361,2684,3838,3732,191.9,-14.6,127,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2685,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.65,-145.9,2361,2684,3837,3732,232.4,-12.9,157,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1582,-0.68,-145.9,2361,2684,3838,3732,270.3,-10.9,177,1586,0.00,2.03,0.00,0.000,260,0.000,0.125,2361,3790,3784,3837,3732,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1637,-0.68,-145.9,2362,3791,3837,3733,276.4,-11.3,188,1643,0.00,1.90,0.00,0.000,1030,0.000,0.073,2361,2672,3784,3836,3732,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1942,-0.71,-145.9,2361,2672,3837,3732,307.2,-9.5,199,1946,0.00,2.08,0.00,0.000,260,0.000,0.125,2365,3796,3783,3836,3731,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2012,-0.74,-145.9,2362,3797,3837,3732,313.9,-9.5,213,2016,0.00,1.90,0.00,0.000,1030,0.000,0.073,2361,2679,3783,3836,3731,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2334,-0.78,-145.9,2361,2679,3837,3731,344.1,-9.6,227,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2679,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-0.82,-145.9,2361,2679,3837,3738,372.6,-9.5,237,2633,0.12,0.00,0.00,0.000,4102,0.154,0.000,2312,2679,3783,3836,3731,0,0,0,0,0,0,14.40,28.83,28.83
$GC,2932,-0.82,-145.9,2312,2679,3838,3736,406.9,-11.5,247,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.82,-145.9,2313,2680,3837,3731,441.3,-11.5,257,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2679,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-0.82,-145.9,2312,2679,3838,3731,475.4,-11.5,267,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2679,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-0.82,-145.9,2312,2679,3838,3731,509.9,-11.5,277,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4132,-0.82,-145.9,2312,2679,3838,3731,544.4,-11.5,287,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2678,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4432,-0.82,-145.9,2312,2679,3838,3732,578.0,-11.2,297,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2682,3787,3836,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-0.82,-145.9,2313,2679,3837,3733,611.1,-10.9,307,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2679,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.82,-145.9,2313,2680,3837,3734,643.3,-10.8,317,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5332,-0.82,-145.9,2313,2680,3837,3734,674.8,-10.3,327,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5632,-0.82,-145.9,2313,2680,3838,3734,706.4,-10.5,337,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2678,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5932,-0.82,-145.9,2313,2679,3837,3734,737.7,-10.5,347,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6050,begin apogee
$GC,6055,-0.14,0.0,2310,3056,3837,3734,750.4,-10.5,351,6187,0.88,0.00,130.20,1.722,10246,0.265,0.000,2535,3057,3185,3282,3088,0,0,0,0,0,0,14.22,28.83,13.23
$STATE,6188,end apogee,CONTROL_FINISHED_OK
$STATE,6189,begin climb
$GC,6191,0.70,145.9,2536,3056,3275,3082,753.4,0.0,355,6323,0.93,0.00,126.07,1.695,10502,0.168,0.000,2805,3056,2587,2667,2508,0,0,0,0,0,0,13.87,28.83,12.80
$GC,6629,0.70,145.9,2806,3057,2655,2500,706.5,12.4,395,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3056,2576,2654,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6929,0.70,145.9,2806,3057,2662,2500,669.3,12.4,405,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3056,2576,2654,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7229,0.70,145.9,2806,3057,2656,2499,632.5,12.3,415,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3056,2576,2654,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,0.70,145.9,2806,3056,2655,2499,596.5,11.9,425,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3057,2578,2658,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7829,0.70,145.9,2806,3057,2656,2498,560.9,11.8,435,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3056,2576,2654,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8129,0.70,145.9,2807,3055,2655,2498,525.2,11.9,445,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3055,2576,2654,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8429,0.70,145.9,2806,3057,2656,2495,489.7,11.7,455,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3057,2575,2653,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8729,0.70,145.9,2806,3057,2655,2499,454.0,12.0,465,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3057,2576,2654,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9029,0.70,145.9,2806,3057,2655,2500,418.2,11.9,475,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3056,2576,2654,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9329,0.70,145.9,2806,3057,2655,2499,382.9,11.7,485,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3056,2576,2654,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9629,0.70,145.9,2806,3057,2657,2500,347.5,11.8,495,9634,0.00,2.42,0.00,0.000,516,0.000,0.076,2816,1644,2576,2654,2498,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9654,0.71,158.3,2817,1644,2655,2499,344.7,11.0,500,9669,0.00,2.50,10.20,1.282,9222,0.000,0.103,2816,3053,2538,2618,2459,0,0,0,0,0,0,28.83,14.48,13.94
$GC,9989,0.71,158.3,2817,3053,2611,2451,304.0,11.8,517,9994,0.00,2.40,0.00,0.000,516,0.000,0.076,2825,1650,2530,2610,2451,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10024,0.72,176.7,2826,1650,2611,2452,300.1,10.6,524,10050,0.00,2.50,16.77,1.227,9222,0.000,0.103,2825,3053,2457,2539,2376,0,0,0,0,0,0,28.83,14.45,13.93
$GC,10349,0.72,176.7,2831,3054,2532,2373,260.5,12.3,539,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,3052,2452,2531,2373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10649,0.75,228.3,2826,3054,2532,2373,227.5,8.9,563,10700,0.00,0.00,44.65,1.118,8198,0.000,0.000,2825,3053,2245,2321,2170,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11001,0.78,262.8,2826,3053,2312,2163,190.0,9.8,598,11035,0.00,2.45,30.10,1.091,8708,0.000,0.074,2834,1639,2106,2181,2032,0,0,0,0,0,0,28.83,14.37,13.83
$GC,11082,0.84,293.0,2834,1639,2171,2031,182.0,10.0,614,11116,0.00,2.55,26.80,1.077,9222,0.000,0.103,2834,3055,1982,2052,1913,0,0,0,0,0,0,28.83,14.22,13.73
$GC,11421,0.90,326.2,2834,3055,2039,1902,146.8,9.9,652,11453,0.15,0.00,28.80,1.045,10246,0.130,0.000,2899,3055,1852,1917,1787,0,0,0,0,0,0,14.45,28.83,13.82
$GC,11752,0.90,326.2,2899,3056,1899,1774,100.4,13.5,685,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,3055,1835,1898,1773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12051,0.90,329.0,2899,3055,1899,1773,63.0,11.5,715,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,3055,1835,1898,1772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12351,1.05,491.4,2899,3060,1898,1771,46.5,3.0,745,12446,0.00,2.50,88.18,0.312,8708,0.000,0.077,2904,1650,1185,1227,1143,0,0,0,0,0,0,28.83,14.23,14.04
$GC,12498,1.19,575.9,2904,1650,1240,1143,37.7,7.1,772,12554,0.20,2.55,47.85,0.283,11270,0.114,0.106,2980,3051,840,844,836,0,0,0,0,0,0,14.28,14.20,14.00
$FREEZE,8.58,-1.438,-1.432,2,18,0
$STATE,12763,end climb,FINISH_DEPTH_REACHED
$STATE,12763,begin subsurface finish
$FINISH1,8.6,1.021031,361
$GC,12768,0.25,360.5,2985,3051,856,836,8.6,9.7,804,12800,1.10,2.50,-22.67,0.000,20996,0.204,0.099,2675,1649,1720,1758,1682,0,0,0,0,0,0,14.09,14.18,14.52
$FINISH2,8.5
$STATE,12801,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12801,begin surface
$RAFOS_CLK,714
$RAFOS_FIX,7336.426270,-14240.136719,190914,121205,2,255,0.24
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.043442,0.043442
$HUMID,50.55
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3864576
$24V_AH,12.80,112.982
$10V_AH,12.67,0.000
$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,4.350,40.850,549.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10557.146,549.919,1660.037,158.651,0.000,1206.469,0.000,1222.736,1489.000,0.536,0.000
$DEVICE_MAMPS,279.990,139.230,1722.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12853.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.697,0.000,0.000,0.000
$MEM,177136
$DATA_FILE_SIZE,26721,810
$CAP_FILE_SIZE,128124,0
$CFSIZE,2097872896,2018705408
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6210.93,0x234482,1,24
$INTR,1,12765.08,0x2378b6,5,5
$SOUNDSPEED,1449.0
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1