version: 66.12
glider: 198
mission: 5
dive: 366
start: 9 21 114 22 37 55
data:
$ID,198
$MISSION,5
$DIVE,366
$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,-6535.2744
$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,38
$R_STBD_OVSHOOT,13
$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
$GPS1,210914,000427,7322.305,-14320.208,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.75
$_SM_ANGLEo,-17.1
$GPS2,210914,000427,7322.305,-14320.208,181,99.0,181,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,183.4,46589,-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,-145.9,2678,2691,1760,1675,0.0,0.0,0,31,0.00,0.00,-12.25,0.000,16386,0.000,0.000,2677,2691,2465,2530,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.70,-145.9,2677,2691,2533,2401,18.9,0.0,1,63,0.93,2.08,-19.62,0.000,20740,0.070,0.138,2338,3800,3784,3839,3730,0,0,0,0,0,0,14.33,14.26,14.58
$GC,288,-0.64,-145.9,2338,3801,3840,3732,90.0,-22.3,52,294,0.12,1.95,0.00,0.000,3078,0.275,0.067,2370,2680,3788,3845,3731,0,0,0,0,0,0,13.98,14.31,28.83
$GC,593,-0.64,-145.9,2370,2679,3841,3732,137.6,-14.9,83,597,0.00,2.03,0.00,0.000,260,0.000,0.117,2363,3793,3785,3839,3732,0,0,0,0,0,0,28.83,14.30,28.83
$GC,823,-0.64,-145.9,2364,3793,3839,3733,174.2,-15.4,129,827,0.00,1.90,0.00,0.000,1030,0.000,0.069,2365,2673,3785,3839,3732,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1133,-0.64,-145.9,2362,2673,3840,3732,216.2,-12.3,161,1137,0.00,2.05,0.00,0.000,260,0.000,0.119,2361,3793,3785,3839,3732,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1233,-0.64,-145.9,2361,3794,3840,3732,229.3,-13.4,181,1238,0.00,1.92,0.00,0.000,1030,0.000,0.069,2362,2684,3785,3839,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1543,-0.67,-145.9,2362,2689,3840,3733,263.5,-10.8,205,1548,0.00,2.40,0.00,0.000,516,0.000,0.080,2361,1277,3785,3839,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1623,-0.71,-145.9,2362,1277,3840,3732,272.0,-10.6,221,1628,0.00,2.53,0.00,0.000,1030,0.000,0.103,2361,2688,3785,3839,3732,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1935,-0.75,-145.9,2362,2689,3840,3733,304.8,-10.3,233,1939,0.00,1.98,0.00,0.000,260,0.000,0.120,2361,3787,3785,3839,3732,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2020,-0.78,-145.9,2362,3785,3840,3732,314.1,-10.5,250,2025,0.00,1.88,0.00,0.000,1030,0.000,0.069,2361,2670,3785,3839,3732,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2326,-0.82,-145.9,2361,2671,3840,3732,342.3,-9.1,261,2331,0.12,2.05,0.00,0.000,4356,0.149,0.116,2304,3789,3785,3839,3732,0,0,0,0,0,0,14.52,14.35,28.83
$GC,2381,-0.82,-145.9,2305,3789,3840,3732,349.4,-13.6,272,2387,0.00,1.92,0.00,0.000,1030,0.000,0.069,2304,2676,3785,3839,3732,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2686,-0.82,-145.9,2305,2676,3840,3729,386.9,-12.2,283,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,-0.82,-145.9,2305,2676,3840,3732,422.3,-11.7,293,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-0.82,-145.9,2305,2676,3840,3732,456.8,-11.5,303,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-0.82,-145.9,2305,2676,3840,3732,491.3,-11.5,313,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3886,-0.82,-145.9,2304,2676,3841,3732,525.7,-11.6,323,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.82,-145.9,2305,2676,3841,3732,559.6,-11.3,333,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,-0.82,-145.9,2305,2677,3838,3734,593.6,-11.2,343,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-0.82,-145.9,2305,2677,3840,3733,626.9,-11.1,353,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5088,-0.82,-145.9,2304,2676,3841,3734,660.2,-11.1,363,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-0.82,-145.9,2305,2674,3840,3734,693.4,-11.0,373,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2675,3788,3839,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,-0.82,-145.9,2305,2676,3840,3734,726.2,-11.0,383,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5924,begin apogee
$GC,5930,-0.14,0.0,2301,3052,3841,3734,752.2,-10.8,391,6078,0.93,0.00,137.82,2.352,10246,0.254,0.000,2539,3052,3190,3287,3093,0,0,0,0,1,0,14.03,28.83,12.59
$STATE,6079,end apogee,CONTROL_FINISHED_OK
$STATE,6079,begin climb
$GC,6081,0.70,145.9,2540,3053,3291,3095,755.8,0.0,396,6221,0.95,0.00,135.07,1.694,10502,0.157,0.000,2810,3052,2590,2669,2511,0,0,0,0,0,0,13.47,28.83,12.63
$GC,6497,0.70,145.9,2811,3053,2658,2503,712.1,12.6,430,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2580,2658,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6796,0.70,145.9,2811,3052,2657,2502,674.8,12.3,440,6801,0.00,1.38,0.00,0.000,260,0.000,0.115,2810,3790,2579,2658,2501,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6841,0.66,145.9,2811,3790,2659,2501,668.7,13.9,449,6846,0.00,1.30,0.00,0.000,1030,0.000,0.070,2816,3044,2579,2658,2501,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7156,0.66,145.9,2817,3045,2659,2501,629.5,12.3,462,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3044,2579,2658,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,0.66,145.9,2817,3043,2659,2501,591.7,12.6,472,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3044,2579,2658,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7756,0.66,145.9,2817,3044,2659,2501,553.4,12.8,482,7761,0.00,1.38,0.00,0.000,260,0.000,0.115,2816,3783,2579,2658,2501,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7801,0.62,145.9,2816,3783,2659,2501,547.3,13.6,491,7806,0.10,1.25,0.00,0.000,5126,0.256,0.073,2795,3057,2579,2657,2501,0,0,0,0,0,0,14.20,14.51,28.83
$GC,8118,0.62,153.5,2796,3056,2658,2501,511.2,11.2,504,8121,0.00,0.00,2.38,0.631,8198,0.000,0.000,2795,3056,2560,2640,2480,0,0,0,0,0,0,28.83,28.83,13.47
$GC,8417,0.63,160.6,2795,3056,2668,2484,477.5,11.2,514,8430,0.00,0.00,12.57,1.482,8198,0.000,0.000,2795,3056,2530,2612,2448,0,0,0,0,0,0,28.83,28.83,13.87
$GC,8717,0.63,164.4,2795,3056,2602,2441,443.2,11.4,524,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3056,2522,2602,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,0.64,173.2,2796,3057,2602,2442,409.5,11.2,534,9029,0.00,0.00,11.45,1.410,8198,0.000,0.000,2795,3056,2480,2561,2399,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9317,0.64,173.2,2796,3056,2552,2393,374.8,11.6,544,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3055,2472,2552,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9616,0.64,174.4,2795,3056,2552,2392,340.1,11.6,554,9621,0.00,2.40,0.00,0.000,516,0.000,0.073,2805,1641,2472,2552,2392,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9641,0.66,203.7,2806,1639,2552,2393,337.5,10.1,559,9677,0.00,2.50,26.83,1.271,9222,0.000,0.101,2805,3049,2346,2424,2269,0,0,0,0,0,0,28.83,14.44,13.88
$GC,9976,0.66,203.7,2806,3049,2419,2266,297.0,11.8,576,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3049,2342,2418,2266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10276,0.66,203.7,2806,3050,2418,2267,261.5,12.2,586,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3049,2342,2418,2266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10577,0.71,244.7,2806,3049,2418,2267,227.6,9.4,608,10617,0.00,0.00,35.42,1.132,8198,0.000,0.000,2805,3049,2179,2255,2104,0,0,0,0,0,0,28.83,28.83,13.88
$GC,10918,0.77,282.7,2806,3049,2249,2099,195.1,9.6,642,10958,0.00,2.42,32.90,1.099,8708,0.000,0.076,2815,1650,2026,2097,1955,0,0,0,0,0,0,28.83,14.38,13.83
$GC,10994,0.85,311.9,2815,1650,2093,1954,187.8,10.1,657,11029,0.15,2.53,26.42,1.081,11270,0.129,0.102,2880,3052,1906,1973,1839,0,0,0,0,0,0,14.38,14.31,13.73
$GC,11328,0.85,311.9,2881,3052,1963,1836,141.8,13.5,694,11333,0.00,2.42,0.00,0.000,516,0.000,0.076,2887,1641,1896,1963,1830,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11368,0.87,311.9,2888,1641,1964,1829,136.8,12.3,702,11373,0.00,2.53,0.00,0.000,1030,0.000,0.100,2888,3054,1896,1963,1830,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11678,0.87,311.9,2888,3054,1963,1829,97.5,12.2,734,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,3054,1895,1962,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11978,0.90,355.2,2888,3054,1963,1828,65.4,9.3,764,12000,0.00,0.00,20.85,0.366,8198,0.000,0.000,2888,3054,1736,1802,1671,0,0,0,0,0,0,28.83,28.83,14.03
$GC,12300,1.04,484.6,2888,3054,1819,1671,44.4,4.7,796,12379,0.12,1.33,73.40,0.301,10500,0.137,0.112,2951,3786,1210,1251,1170,0,0,0,0,0,0,14.30,14.19,14.03
$GC,12476,1.05,500.9,2952,3786,1260,1171,25.8,10.8,831,12492,0.00,1.27,9.82,0.249,9222,0.000,0.072,2956,3053,1144,1189,1100,0,0,0,0,0,0,28.83,14.26,14.02
$FREEZE,8.64,-1.435,-1.430,2,33,0
$STATE,12759,end climb,FINISH_DEPTH_REACHED
$STATE,12761,begin subsurface finish
$FINISH1,8.6,1.021014,361
$GC,12766,0.25,361.4,2956,3054,1200,1100,8.6,5.3,861,12789,1.00,2.42,-14.48,0.000,20996,0.216,0.100,2679,1646,1715,1752,1678,0,0,0,0,0,0,14.05,14.21,14.54
$FINISH2,8.7
$STATE,12789,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12789,begin surface
$RAFOS_CLK,509
$RAFOS_FIX,7322.304688,-14320.208008,210914,000027,2,255,0.26
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.59
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3857856
$24V_AH,12.59,117.465
$10V_AH,12.27,0.000
$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,4.425,52.425,524.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10423.208,563.458,1758.991,168.907,0.000,1246.961,0.000,1294.534,1431.000,0.536,0.000
$DEVICE_MAMPS,274.635,137.700,2352.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12842.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.206,0.000,0.000,0.000
$MEM,169520
$DATA_FILE_SIZE,30073,865
$CAP_FILE_SIZE,132357,0
$CFSIZE,2097872896,2015821824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,12763.11,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,210914,000427,7322.305,-14320.208,181,99.0,181,24.1