version: 66.12
glider: 198
mission: 5
dive: 354
start: 9 20 114 2 27 42
data:
$ID,198
$MISSION,5
$DIVE,354
$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,34
$R_STBD_OVSHOOT,14
$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,4.38
$_SM_ANGLEo,-4.7
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-145.9,2676,2679,633,559,0.0,0.0,0,31,0.00,0.00,-12.00,0.000,16386,0.000,0.000,2675,2678,981,1009,953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2676,2679,1011,950,4.4,0.0,1,120,0.93,2.50,-77.10,0.000,21252,0.113,0.109,2373,1273,3784,3838,3730,0,0,0,0,0,0,14.28,14.29,14.61
$GC,347,-0.70,-145.9,2374,1270,3839,3733,72.3,-17.4,64,353,0.00,2.55,0.00,0.000,1030,0.000,0.107,2373,2683,3785,3838,3732,0,0,0,0,0,0,28.83,14.26,28.83
$GC,652,-0.70,-145.9,2374,2684,3839,3733,122.7,-15.1,95,657,0.00,2.45,0.00,0.000,516,0.000,0.082,2373,1266,3784,3838,3731,0,0,0,0,0,0,28.83,14.37,28.83
$GC,807,-0.70,-145.9,2374,1267,3839,3733,144.2,-13.3,126,813,0.00,2.55,0.00,0.000,1030,0.000,0.106,2373,2687,3785,3838,3732,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1112,-0.70,-145.9,2374,2687,3839,3733,185.9,-12.4,157,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2687,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1412,-0.72,-145.9,2374,2688,3839,3732,222.7,-11.6,187,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2687,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,-0.75,-145.9,2374,2686,3840,3732,256.0,-9.7,215,1737,0.00,2.03,0.00,0.000,260,0.000,0.125,2373,3790,3784,3838,3731,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1824,-0.79,-145.9,2374,3791,3839,3733,265.8,-10.9,233,1829,0.12,1.88,0.00,0.000,5126,0.153,0.073,2323,2677,3785,3838,3732,0,0,0,0,0,0,14.46,14.51,28.83
$GC,2154,-0.79,-145.9,2323,2678,3839,3733,306.2,-12.2,249,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2454,-0.79,-145.9,2323,2677,3840,3732,342.0,-12.1,259,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2754,-0.79,-145.9,2323,2677,3839,3733,377.7,-11.8,269,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-0.79,-145.9,2324,2678,3839,3733,411.5,-11.1,279,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,-0.79,-145.9,2323,2677,3840,3733,444.4,-11.1,289,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.79,-145.9,2324,2678,3839,3733,477.5,-11.0,299,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,-0.79,-145.9,2323,2677,3839,3732,509.9,-10.8,309,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4254,-0.79,-145.9,2323,2677,3840,3733,541.9,-10.6,319,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4554,-0.79,-145.9,2324,2678,3839,3734,573.6,-10.5,329,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.79,-145.9,2324,2678,3839,3734,605.3,-10.6,339,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5154,-0.79,-145.9,2323,2677,3840,3734,637.3,-10.7,349,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,-0.79,-145.9,2323,2677,3840,3733,668.7,-10.4,359,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2677,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-0.79,-145.9,2323,2678,3839,3734,699.6,-10.2,369,5760,0.00,2.03,0.00,0.000,260,0.000,0.119,2314,3788,3786,3838,3734,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5830,-0.79,-145.9,2314,3787,3840,3734,708.4,-11.5,384,5835,0.00,1.88,0.00,0.000,1030,0.000,0.071,2312,2679,3786,3838,3734,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6147,-0.79,-145.9,2314,2680,3840,3734,742.2,-10.7,397,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2680,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6233,begin apogee
$GC,6238,-0.14,0.0,2312,3053,3840,3735,751.9,-10.7,400,6432,0.85,0.00,190.52,1.412,10246,0.252,0.000,2534,3053,3188,3294,3083,0,0,0,0,0,0,14.08,28.83,13.20
$STATE,6433,end apogee,CONTROL_FINISHED_OK
$STATE,6433,begin climb
$GC,6435,0.70,145.9,2536,3053,3290,3077,756.8,0.0,406,6573,0.93,1.48,129.23,1.688,10500,0.167,0.115,2803,3779,2581,2670,2493,0,0,0,0,0,0,13.70,13.31,12.69
$GC,6693,0.66,145.9,2804,3780,2660,2487,731.9,13.4,461,6698,0.00,1.33,0.00,0.000,1030,0.000,0.070,2808,3054,2572,2659,2486,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7022,0.66,145.9,2808,3055,2660,2487,692.0,12.2,476,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3054,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,0.66,145.9,2809,3054,2659,2487,655.4,12.3,486,7323,0.00,1.38,0.00,0.000,260,0.000,0.116,2808,3786,2572,2658,2487,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7353,0.63,145.9,2808,3786,2659,2487,650.6,13.9,493,7358,0.00,1.27,0.00,0.000,1030,0.000,0.074,2813,3051,2572,2658,2486,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7679,0.63,145.9,2814,3051,2659,2488,609.4,12.7,508,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3051,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7978,0.63,145.9,2814,3051,2658,2487,571.8,12.6,518,7983,0.00,1.38,0.00,0.000,260,0.000,0.118,2813,3788,2571,2656,2487,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8013,0.59,145.9,2813,3788,2660,2487,567.0,14.2,525,8018,0.12,1.27,0.00,0.000,5126,0.249,0.073,2784,3050,2572,2658,2487,0,0,0,0,0,0,14.21,14.52,28.83
$GC,8340,0.60,159.7,2785,3050,2659,2486,531.1,10.9,540,8352,0.00,0.00,11.62,1.455,8198,0.000,0.000,2785,3050,2533,2623,2443,0,0,0,0,0,0,28.83,28.83,13.86
$GC,8638,0.61,168.1,2785,3050,2611,2432,497.6,11.2,550,8642,0.00,0.00,2.55,0.649,8198,0.000,0.000,2785,3050,2499,2589,2410,0,0,0,0,0,0,28.83,28.83,13.64
$GC,8938,0.61,171.7,2786,3050,2614,2419,463.3,11.4,560,8944,0.00,0.00,4.07,1.121,8198,0.000,0.000,2785,3050,2486,2579,2393,0,0,0,0,0,0,28.83,28.83,13.77
$GC,9238,0.61,171.7,2785,3050,2606,2405,428.6,11.7,570,9242,0.00,0.00,2.42,0.571,8198,0.000,0.000,2784,3050,2486,2580,2392,0,0,0,0,0,0,28.83,28.83,13.66
$GC,9538,0.61,178.7,2786,3050,2602,2402,394.6,11.3,580,9553,0.00,0.00,13.55,1.316,8198,0.000,0.000,2784,3050,2457,2552,2363,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9838,0.62,190.3,2785,3050,2534,2352,361.1,11.0,590,9848,0.00,2.42,3.88,1.022,8708,0.000,0.077,2794,1624,2415,2512,2318,0,0,0,0,0,0,28.83,14.56,13.70
$GC,9868,0.67,220.6,2795,1624,2527,2321,357.9,10.0,596,9908,0.00,2.53,34.35,1.268,9222,0.000,0.103,2794,3049,2280,2368,2193,0,0,0,0,0,0,28.83,14.45,13.79
$GC,10228,0.70,225.8,2795,3049,2351,2181,316.5,11.4,618,10233,0.00,2.40,0.00,0.000,516,0.000,0.077,2805,1647,2265,2350,2181,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10259,0.76,252.5,2805,1646,2350,2181,313.2,10.2,624,10294,0.00,2.50,30.67,1.153,9222,0.000,0.103,2805,3050,2157,2243,2072,0,0,0,0,0,0,28.83,14.39,13.84
$GC,10619,0.78,252.5,2805,3050,2228,2058,269.5,11.9,646,10624,0.12,2.42,0.00,0.000,2564,0.142,0.076,2869,1637,2142,2227,2058,0,0,0,0,0,0,14.47,14.40,28.83
$GC,10644,0.78,252.5,2870,1637,2227,2059,266.1,13.9,651,10650,0.00,2.53,0.00,0.000,1030,0.000,0.101,2869,3056,2142,2227,2057,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10949,0.78,252.5,2869,3056,2226,2058,223.1,13.4,674,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,3056,2141,2224,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11249,0.78,252.5,2870,3056,2225,2058,184.8,12.5,704,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,3056,2141,2225,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11549,0.78,252.5,2869,3056,2225,2057,149.4,11.6,734,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,3056,2140,2224,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11849,0.80,271.3,2870,3056,2224,2057,114.1,10.6,764,11870,0.00,0.00,16.95,1.045,8198,0.000,0.000,2869,3056,2072,2157,1987,0,0,0,0,0,0,28.83,28.83,13.95
$GC,12171,0.83,320.2,2870,3057,2145,1980,82.5,9.0,796,12201,0.00,2.45,24.10,0.407,8708,0.000,0.074,2879,1647,1885,1971,1800,0,0,0,0,0,0,28.83,14.34,14.02
$GC,12221,0.91,388.1,2880,1647,1986,1802,77.8,8.0,806,12266,0.00,2.53,38.88,0.399,9222,0.000,0.105,2879,3047,1604,1671,1538,0,0,0,0,0,0,28.83,14.22,14.00
$GC,12571,1.03,490.6,2880,3047,1692,1539,47.4,6.2,846,12637,0.12,2.50,57.55,0.314,10756,0.140,0.079,2945,1646,1190,1239,1142,0,0,0,0,0,0,14.32,14.21,14.03
$GC,12704,1.11,522.2,2948,1646,1253,1143,34.7,9.9,872,12729,0.00,2.55,19.48,0.274,9222,0.000,0.105,2945,3050,1058,1096,1020,0,0,0,0,0,0,28.83,14.19,14.02
$FREEZE,8.85,-1.438,-1.433,2,21,0
$GC,13034,1.26,645.1,2945,3050,1117,1021,10.0,5.1,908,13058,0.15,0.00,22.10,0.207,10754,0.138,0.000,3010,3050,907,937,877,0,0,0,0,0,0,14.28,28.83,28.83
$STATE,13059,end climb,FINISH_DEPTH_REACHED
$STATE,13059,begin subsurface finish
$FINISH1,8.8,1.021048,360
$GC,13064,0.25,359.7,3013,3051,941,878,8.8,6.1,912,13091,1.20,2.45,-21.02,0.000,20996,0.218,0.095,2680,1642,1721,1756,1686,0,0,0,0,0,0,14.09,14.18,14.53
$FINISH2,8.1
$STATE,13092,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13092,begin surface
$RAFOS_CLK,493
$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,50.59
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3863232
$24V_AH,12.69,113.875
$10V_AH,12.54,0.000
$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,4.550,54.550,601.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10542.137,649.332,1852.333,174.676,0.000,1392.091,0.000,1369.442,1497.000,0.535,0.000
$DEVICE_MAMPS,251.685,124.695,1687.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13149.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.897,0.000,0.000,0.000
$MEM,175628
$DATA_FILE_SIZE,30090,917
$CAP_FILE_SIZE,140666,0
$CFSIZE,2097872896,2018115584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13061.12,0x2378b6,5,5
$SOUNDSPEED,1449.4
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1