version: 66.12
glider: 198
mission: 5
dive: 410
start: 9 30 114 21 1 22
data:
$ID,198
$MISSION,5
$DIVE,410
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,300
$T_MISSION,330
$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,180
$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,5
$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,-6576.749
$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,37
$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
$GPS1,300914,204448,7200.583,-14726.282,36,0.7,56,21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.1
$GPS2,300914,210101,7200.727,-14726.149,5,0.7,25,21.5
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,a
$TGT_LATLONG,7200.000,-14730.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.1,2582,-30.8,-11.000,-35.00,997
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.91,-71.2,200,2676,457,526,0.0,0.0,0,82,0.00,0.00,-61.35,0.000,16386,0.000,0.000,198,2676,1893,1903,1883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.97,-163.8,199,2676,1906,1882,3.1,-1.5,6,166,10.80,2.05,-64.22,0.000,18692,0.439,0.139,2260,3792,3855,3906,3805,0,0,0,0,0,0,13.88,14.19,14.53
$GC,393,-0.97,-163.8,2261,3795,3906,3810,84.0,-26.7,68,398,0.00,1.90,0.00,0.000,1030,0.000,0.067,2260,2681,3858,3906,3810,0,0,0,0,0,0,28.83,14.23,28.83
$GC,703,-1.00,-163.8,2261,2678,3908,3810,154.0,-21.2,100,708,0.00,2.03,0.00,0.000,260,0.000,0.114,2251,3792,3858,3907,3809,0,0,0,0,0,0,28.83,14.28,28.83
$GC,828,-1.00,-163.8,2252,3792,3909,3810,182.1,-21.6,125,834,0.00,1.90,0.00,0.000,1030,0.000,0.067,2251,2667,3861,3913,3809,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1133,-1.04,-163.8,2253,2668,3907,3810,239.6,-17.9,156,1138,0.00,2.40,0.00,0.000,516,0.000,0.082,2252,1273,3857,3907,3808,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1225,-1.10,-163.8,2253,1274,3907,3809,254.6,-16.5,174,1230,0.00,2.53,0.00,0.000,1030,0.000,0.106,2251,2681,3857,3907,3808,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1557,-1.15,-163.8,2252,2681,3907,3809,310.3,-16.6,190,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2681,3857,3907,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-1.21,-163.8,2252,2682,3908,3808,359.0,-16.2,200,1860,0.12,2.42,0.00,0.000,4612,0.160,0.080,2200,1279,3856,3907,3806,0,0,0,0,0,0,14.47,14.40,28.83
$GC,1900,-1.24,-163.8,2200,1279,3908,3807,367.0,-17.8,209,1905,0.00,2.53,0.00,0.000,1030,0.000,0.103,2195,2684,3856,3907,3806,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2216,-1.24,-163.8,2193,2685,3907,3807,425.7,-18.5,222,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2685,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,-1.24,-163.8,2196,2686,3908,3807,480.8,-18.3,232,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2685,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-1.24,-163.8,2196,2685,3908,3807,535.2,-18.1,242,2820,0.00,2.42,0.00,0.000,516,0.000,0.081,2195,1270,3856,3907,3806,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2860,-1.27,-163.8,2196,1270,3908,3806,543.1,-17.1,251,2865,0.00,2.53,0.00,0.000,1030,0.000,0.103,2195,2681,3856,3907,3806,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3177,-1.29,-163.8,2196,2681,3908,3806,599.5,-17.9,264,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3476,-1.29,-163.8,2196,2681,3908,3806,652.9,-17.7,274,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-1.31,-163.8,2195,2681,3909,3806,705.7,-17.5,284,3780,0.00,2.42,0.00,0.000,516,0.000,0.080,2195,1269,3856,3907,3806,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3821,-1.34,-163.8,2196,1270,3907,3807,713.4,-16.8,293,3826,0.12,2.53,0.00,0.000,5126,0.162,0.103,2150,2680,3856,3907,3806,0,0,0,0,0,0,14.40,14.35,28.83
$GC,4138,-1.34,-163.8,2151,2681,3908,3806,774.9,-19.4,306,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2681,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4436,-1.34,-163.8,2152,2682,3907,3807,832.9,-19.3,316,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2681,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4736,-1.34,-163.8,2152,2682,3908,3806,890.4,-19.0,326,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2681,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5036,-1.34,-163.8,2151,2682,3908,3807,946.9,-18.9,336,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2681,3856,3907,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5273,begin apogee
$GC,5279,-0.14,0.0,2149,3056,3908,3806,992.2,-18.8,344,5501,1.65,0.00,218.23,1.601,10246,0.316,0.000,2537,3057,3187,3282,3093,0,0,0,0,0,0,13.98,28.83,13.02
$STATE,5502,end apogee,CONTROL_FINISHED_OK
$STATE,5502,begin climb
$GC,5505,0.97,163.8,2538,3058,3278,3090,998.4,0.0,351,5667,1.25,1.48,152.05,1.987,10500,0.163,0.111,2895,3784,2511,2584,2438,0,0,0,0,0,0,13.59,13.21,12.50
$GC,5892,0.97,163.8,2896,3785,2577,2434,936.9,19.9,432,5897,0.00,1.30,0.00,0.000,1030,0.000,0.067,2901,3051,2505,2576,2434,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6207,0.97,163.8,2901,3051,2577,2434,878.7,18.3,445,6212,0.00,1.38,0.00,0.000,260,0.000,0.112,2901,3785,2505,2577,2433,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6437,0.97,163.8,2901,3785,2576,2434,832.7,19.9,491,6442,0.00,1.25,0.00,0.000,1030,0.000,0.068,2906,3052,2505,2576,2434,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6747,0.97,163.8,2907,3052,2577,2434,775.5,18.4,503,6752,0.00,1.35,0.00,0.000,260,0.000,0.112,2906,3781,2504,2576,2432,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6977,0.95,163.8,2907,3781,2578,2433,729.2,20.4,549,6982,0.00,1.25,0.00,0.000,1030,0.000,0.070,2912,3049,2504,2576,2432,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7287,0.95,163.8,2913,3049,2577,2433,671.8,18.4,561,7292,0.00,1.38,0.00,0.000,260,0.000,0.113,2912,3789,2504,2576,2432,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7517,0.93,163.8,2913,3788,2578,2432,625.2,20.9,607,7522,0.00,1.27,0.00,0.000,1030,0.000,0.069,2918,3044,2504,2576,2432,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7827,0.93,163.8,2919,3045,2577,2433,567.4,18.6,619,7832,0.00,1.38,0.00,0.000,260,0.000,0.112,2918,3786,2504,2576,2432,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8057,0.90,163.8,2918,3785,2578,2432,520.6,20.4,665,8062,0.15,1.25,0.00,0.000,5126,0.306,0.069,2887,3055,2504,2577,2432,0,0,0,0,0,0,14.00,14.48,28.83
$GC,8369,0.92,163.8,2887,3054,2577,2432,468.4,16.6,677,8374,0.00,1.35,0.00,0.000,260,0.000,0.113,2887,3782,2504,2576,2432,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8598,0.92,163.8,2887,3782,2577,2429,425.4,18.8,723,8603,0.00,1.27,0.00,0.000,1030,0.000,0.068,2892,3047,2504,2576,2432,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8910,0.95,163.8,2892,3047,2577,2432,372.4,16.9,735,8915,0.00,1.38,0.00,0.000,260,0.000,0.113,2893,3786,2504,2576,2432,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9140,0.95,163.8,2893,3787,2577,2433,329.7,18.5,781,9145,0.00,1.27,0.00,0.000,1030,0.000,0.069,2898,3047,2504,2576,2432,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9450,0.95,163.8,2898,3047,2577,2432,277.8,16.6,793,9455,0.00,1.38,0.00,0.000,260,0.000,0.113,2898,3784,2504,2576,2432,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9680,0.95,163.8,2898,3784,2577,2438,235.8,17.4,839,9685,0.00,1.25,0.00,0.000,1030,0.000,0.068,2903,3056,2503,2575,2432,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9990,0.97,163.8,2905,3057,2577,2433,189.5,13.9,871,9995,0.00,2.42,0.00,0.000,516,0.000,0.076,2914,1644,2504,2576,2432,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10040,1.01,163.8,2914,1644,2577,2432,183.5,11.6,881,10045,0.00,2.50,0.00,0.000,1030,0.000,0.102,2914,3048,2504,2576,2432,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10352,1.04,166.7,2915,3048,2577,2433,148.1,10.7,913,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,3047,2504,2576,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10651,1.08,197.4,2914,3048,2577,2432,120.8,7.8,943,10686,0.00,2.45,27.67,1.056,8708,0.000,0.078,2924,1653,2375,2449,2301,0,0,0,0,0,0,28.83,14.46,13.90
$GC,10803,1.15,210.7,2925,1653,2443,2300,107.3,9.6,971,10824,0.10,2.53,12.15,1.089,11270,0.168,0.103,2963,3049,2318,2389,2247,0,0,0,0,0,0,14.23,14.21,13.81
$GC,11123,1.15,213.5,2964,3049,2388,2243,69.5,10.7,1005,11127,0.00,1.38,0.00,0.000,260,0.000,0.115,2963,3786,2312,2382,2242,0,0,0,0,0,0,28.83,14.07,28.83
$GC,11168,1.15,217.0,2964,3786,2383,2242,64.8,10.6,1014,11174,0.00,1.27,1.23,0.229,9222,0.000,0.063,2969,3050,2301,2374,2229,0,0,0,0,0,0,28.83,14.14,14.03
$GC,11475,1.20,288.7,2970,3050,2391,2230,45.5,3.6,1045,11524,0.00,1.42,41.08,0.315,8452,0.000,0.116,2969,3789,2010,2081,1940,0,0,0,0,0,0,28.83,14.19,14.00
$GC,11749,1.23,327.6,2970,3789,2087,1940,23.0,7.0,1100,11775,0.00,1.30,22.38,0.246,9222,0.000,0.064,2974,3048,1850,1915,1785,0,0,0,0,0,0,28.83,14.13,14.01
$GC,12074,1.37,431.7,2975,3048,1926,1784,18.2,0.3,1135,12136,0.15,1.45,57.05,0.234,10500,0.124,0.116,3038,3797,1426,1475,1378,0,0,0,0,0,0,14.15,14.16,14.04
$FREEZE,8.28,1.511,-1.504,2,1,0
$FREEZE,7.63,1.511,-1.503,2,1,0
$FREEZE,7.10,1.502,-1.501,2,1,0
$FREEZE,6.44,1.502,-1.501,2,1,0
$FREEZE,5.88,1.500,-1.500,2,1,0
$FREEZE,5.28,1.500,-1.499,2,1,0
$FREEZE,4.81,1.499,-1.499,2,1,0
$FREEZE,4.15,1.499,-1.498,2,1,0
$FREEZE,3.59,1.499,-1.497,2,1,0
$FREEZE,2.97,1.499,-1.497,2,1,0
$FREEZE,2.37,1.500,-1.496,2,1,0
$FREEZE,1.65,1.500,-1.496,2,1,0
$STATE,12248,end climb,SURFACE_DEPTH_REACHED
$STATE,12249,begin surface coast
$FREEZE,1.51,1.493,-1.496,2,1,0
$FREEZE,1.57,1.493,-1.496,2,1,0
$FINISH,1.6,1.021963
$STATE,12259,end surface coast,CONTROL_FINISHED_OK
$STATE,12259,begin surface
$SM_CCo,12278,123.95,0.188,0,0,498,658.88
$SM_GC,2.51,8.82,1.95,123.95,0.106,0.067,0.188,197,2679,498,-7.40,1.30,658.88,0,0,0,0,0,0,14.37,14.33,14.12
$RAFOS_CLK,109
$RAFOS_FIX,7256.729004,-14417.802734,230914,161619,2,255,3.09
$IRIDIUM_FIX,7118.99,-14718.39,300914,152427
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.55
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3838144
$24V_AH,12.50,135.572
$10V_AH,12.38,0.000
$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,23.175,68.175,531.825,123.950,0.000,0.000,0.000,645.450,0.000,0.000,28.804,0.000,9295.735,767.042,2901.584,398.316,0.000,2310.844,0.000,1725.530,1440.000,0.535,0.000
$DEVICE_MAMPS,439.110,139.230,1986.705,188.190,0.000,0.000,0.000,199.665,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12322.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.784,0.000,0.000,0.000
$MEM,147296
$DATA_FILE_SIZE,39963,1172
$CAP_FILE_SIZE,160808,0
$CFSIZE,2097872896,2007203840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,19517.48,0x2378b6,7,5
$SOUNDSPEED,1453.1
$GPS,011014,002924,7200.149,-14729.480,23,0.8,43,21.5