version: 66.12
glider: 198
mission: 5
dive: 356
start: 9 20 114 9 51 29
data:
$ID,198
$MISSION,5
$DIVE,356
$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,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
$GPS1,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.12
$_SM_ANGLEo,-17.0
$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,-145.9,2676,2686,1762,1687,0.0,0.0,0,30,0.00,0.00,-12.27,0.000,16386,0.000,0.000,2675,2685,2487,2543,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2675,2685,2545,2431,19.1,0.0,1,57,0.90,2.08,-19.25,0.000,20740,0.071,0.141,2344,3793,3783,3837,3729,0,0,0,0,0,0,14.34,14.26,14.59
$GC,282,-0.64,-145.9,2345,3794,3838,3733,85.4,-22.2,51,287,0.15,1.90,0.00,0.000,3078,0.298,0.070,2375,2677,3787,3843,3732,0,0,0,0,0,0,14.05,14.37,28.83
$GC,592,-0.64,-145.9,2376,2677,3838,3733,133.4,-14.5,83,596,0.00,2.05,0.00,0.000,260,0.000,0.123,2373,3793,3785,3838,3732,0,0,0,0,0,0,28.83,14.32,28.83
$GC,672,-0.64,-145.9,2374,3794,3839,3733,145.6,-15.6,99,676,0.00,1.90,0.00,0.000,1030,0.000,0.071,2374,2679,3784,3837,3732,0,0,0,0,0,0,28.83,14.45,28.83
$GC,982,-0.66,-145.9,2374,2679,3838,3732,187.5,-13.1,131,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.69,-145.9,2374,2679,3839,3732,223.1,-11.3,161,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2678,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.73,-145.9,2374,2679,3839,3732,256.6,-9.9,189,1607,0.00,2.42,0.00,0.000,516,0.000,0.083,2374,1267,3784,3838,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1662,-0.78,-145.9,2375,1268,3838,3733,262.6,-10.1,201,1667,0.12,2.55,0.00,0.000,5126,0.150,0.107,2324,2681,3784,3837,3732,0,0,0,0,0,0,14.46,14.38,28.83
$GC,1992,-0.78,-145.9,2324,2679,3839,3732,302.0,-12.1,217,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2681,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.78,-145.9,2325,2682,3838,3732,337.5,-11.7,227,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2681,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,-0.78,-145.9,2325,2682,3838,3733,371.6,-11.2,237,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2682,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2892,-0.78,-145.9,2325,2682,3838,3733,404.9,-10.9,247,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,-0.78,-145.9,2324,2682,3838,3732,437.6,-10.7,257,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3493,-0.78,-145.9,2325,2682,3838,3733,469.8,-10.7,267,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.78,-145.9,2325,2682,3839,3732,501.5,-10.5,277,3797,0.00,1.98,0.00,0.000,260,0.000,0.119,2315,3789,3785,3838,3732,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3837,-0.78,-145.9,2316,3789,3838,3732,506.7,-11.8,286,3842,0.00,1.92,0.00,0.000,1030,0.000,0.070,2315,2676,3784,3837,3732,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4154,-0.78,-145.9,2316,2676,3836,3733,541.1,-10.8,299,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,-0.78,-145.9,2316,2677,3838,3733,573.6,-10.8,309,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2676,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4752,-0.78,-145.9,2316,2677,3838,3734,606.1,-10.8,319,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2675,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5052,-0.78,-145.9,2315,2675,3839,3733,638.2,-10.8,329,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5352,-0.78,-145.9,2315,2676,3839,3733,670.2,-10.6,339,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2675,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5652,-0.78,-145.9,2315,2677,3838,3734,701.6,-10.5,349,5657,0.00,2.05,0.00,0.000,260,0.000,0.120,2307,3794,3785,3838,3733,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5712,-0.78,-145.9,2308,3795,3839,3734,708.5,-11.7,361,5718,0.10,1.92,0.00,0.000,3078,0.269,0.070,2332,2679,3785,3837,3733,0,0,0,0,0,0,14.18,14.52,28.83
$GC,6043,-0.81,-145.9,2334,2679,3839,3734,740.2,-9.5,377,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2679,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6160,begin apogee
$GC,6166,-0.14,0.0,2331,3057,3839,3734,751.4,-9.3,381,6359,0.80,0.00,191.00,1.404,10246,0.246,0.000,2541,3057,3187,3289,3086,0,0,0,0,0,0,14.21,28.83,13.25
$STATE,6360,end apogee,CONTROL_FINISHED_OK
$STATE,6360,begin climb
$GC,6362,0.70,145.9,2542,3057,3286,3082,756.0,0.0,387,6498,0.90,1.40,128.43,1.678,10500,0.165,0.112,2805,3783,2583,2666,2500,0,0,0,0,0,0,13.80,13.38,12.74
$GC,6708,0.66,145.9,2805,3783,2655,2491,718.5,13.3,459,6713,0.00,1.30,0.00,0.000,1030,0.000,0.073,2810,3057,2572,2654,2491,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7040,0.66,145.9,2810,3055,2655,2491,676.8,12.7,475,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2572,2654,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7338,0.66,145.9,2811,3055,2655,2489,638.3,13.0,485,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3056,2572,2654,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7638,0.66,145.9,2810,3055,2655,2490,600.4,12.7,495,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2571,2654,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,0.66,145.9,2811,3056,2654,2490,562.9,12.4,505,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3052,2571,2653,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8238,0.66,145.9,2811,3056,2655,2491,525.4,12.5,515,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2570,2653,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8538,0.66,145.9,2811,3056,2653,2490,488.3,12.2,525,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2571,2653,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8838,0.66,145.9,2811,3056,2654,2490,451.1,12.4,535,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2570,2652,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9138,0.66,145.9,2809,3056,2654,2490,414.4,12.2,545,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3055,2571,2653,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9438,0.66,145.9,2811,3055,2654,2490,378.1,12.0,555,9443,0.00,1.38,0.00,0.000,260,0.000,0.116,2810,3788,2571,2653,2489,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9473,0.63,145.9,2811,3789,2654,2490,373.5,13.4,562,9478,0.00,1.27,0.00,0.000,1030,0.000,0.073,2815,3050,2571,2653,2489,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9800,0.63,145.9,2816,3050,2654,2490,334.0,12.1,577,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3050,2571,2653,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10098,0.63,145.9,2817,3050,2654,2490,298.3,11.9,587,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3050,2571,2653,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10399,0.63,147.2,2817,3050,2654,2490,263.2,11.6,597,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3050,2571,2653,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10698,0.67,195.2,2816,3049,2652,2489,233.9,9.1,617,10741,0.00,0.00,41.25,1.112,8198,0.000,0.000,2816,3050,2390,2474,2306,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11040,0.70,246.0,2816,3049,2451,2289,202.2,8.9,651,11089,0.00,1.35,43.40,1.077,8452,0.000,0.113,2816,3790,2173,2251,2096,0,0,0,0,0,0,28.83,14.31,13.80
$GC,11124,0.71,256.1,2816,3791,2244,2086,193.5,11.1,668,11131,0.00,1.30,2.78,0.645,9222,0.000,0.073,2820,3048,2141,2221,2061,0,0,0,0,0,0,28.83,14.33,13.62
$GC,11431,0.77,299.0,2821,3049,2244,2062,164.2,9.3,699,11491,0.00,2.50,55.12,0.995,8708,0.000,0.078,2829,1648,1963,2038,1889,0,0,0,0,0,0,28.83,14.26,13.74
$GC,11562,0.86,345.4,2830,1648,2025,1888,151.9,9.2,725,11613,0.12,2.53,43.03,1.021,11270,0.145,0.104,2886,3047,1766,1829,1704,0,0,0,0,0,0,14.31,14.25,13.64
$GC,11911,0.86,345.4,2887,3048,1815,1691,105.4,12.8,765,11916,0.00,2.45,0.00,0.000,516,0.000,0.079,2894,1644,1752,1814,1690,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11966,0.89,345.4,2894,1645,1815,1691,98.9,11.7,776,11972,0.00,2.55,0.00,0.000,1030,0.000,0.103,2893,3054,1751,1814,1689,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12273,0.93,373.3,2895,3054,1813,1689,64.8,10.1,807,12293,0.00,2.50,11.45,0.340,8708,0.000,0.077,2902,1650,1670,1742,1598,0,0,0,0,0,0,28.83,14.24,14.02
$GC,12335,1.01,422.1,2903,1651,1759,1600,58.9,9.0,819,12374,0.00,2.53,30.38,0.342,9222,0.000,0.105,2902,3047,1468,1530,1406,0,0,0,0,0,0,28.83,14.19,14.04
$GC,12673,1.14,520.6,2902,3048,1550,1406,30.3,6.4,857,12734,0.17,0.00,57.25,0.261,11014,0.117,0.000,2978,3047,1063,1103,1024,0,0,0,0,0,0,14.33,28.83,14.07
$FREEZE,8.76,-1.452,-1.432,2,23,0
$STATE,12963,end climb,FINISH_DEPTH_REACHED
$STATE,12963,begin subsurface finish
$FINISH1,8.8,1.021030,361
$GC,12968,0.25,360.6,2979,3047,1124,1024,8.8,7.2,889,12991,1.10,2.47,-16.42,0.000,20996,0.224,0.095,2677,1639,1716,1751,1681,0,0,0,0,0,0,14.07,14.26,14.54
$FINISH2,8.5
$STATE,12991,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12991,begin surface
$RAFOS_CLK,348
$RAFOS_FIX,7336.426270,-14240.136719,190914,121205,2,255,0.24
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.03
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3862336
$24V_AH,12.74,114.484
$10V_AH,12.62,0.000
$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,4.375,48.925,604.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10543.489,596.520,1804.252,171.694,0.000,1310.308,0.000,1338.239,1485.000,0.535,0.000
$DEVICE_MAMPS,298.350,140.760,1677.645,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13046.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.864,0.000,0.000,0.000
$MEM,174608
$DATA_FILE_SIZE,30029,893
$CAP_FILE_SIZE,134115,0
$CFSIZE,2097872896,2017722368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12965.46,0x2378b6,5,5
$SOUNDSPEED,1449.8
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1