version: 66.12
glider: 198
mission: 5
dive: 47
start: 8 1 114 22 23 18
data:
$ID,198
$MISSION,5
$DIVE,47
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,648.87579
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-3382.0244
$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,36
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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,3
$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
$GPS1,010814,220954,7130.753,-14411.997,45,0.8,65,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.2
$GPS2,010814,222300,7130.820,-14412.162,5,0.8,26,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,352.1,9676,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.70,-145.9,205,2678,471,525,0.0,0.0,0,65,0.00,0.00,-43.47,0.000,16386,0.000,0.000,204,2678,1612,1637,1588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.70,-145.9,206,2679,1638,1589,3.3,-4.1,4,129,11.27,2.03,-41.97,0.000,19204,0.461,0.148,2347,3790,3784,3845,3723,0,0,0,0,0,0,14.12,14.27,14.52
$GC,353,-0.61,-145.9,2348,3791,3846,3730,69.8,-19.7,58,362,0.17,1.85,0.00,0.000,3078,0.342,0.073,2385,2678,3787,3845,3730,0,0,0,0,0,0,14.28,14.44,28.83
$GC,666,-0.61,-145.9,2386,2684,3853,3730,118.7,-14.3,90,673,0.00,2.00,0.00,0.000,260,0.000,0.124,2376,3793,3787,3845,3729,0,0,0,0,0,0,28.83,14.45,28.83
$GC,898,-0.61,-145.9,2377,3793,3853,3729,154.5,-14.9,136,905,0.00,1.85,0.00,0.000,1030,0.000,0.075,2377,2683,3787,3845,3729,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1209,-0.61,-145.9,2378,2681,3846,3729,194.5,-11.6,168,1217,0.00,1.98,0.00,0.000,260,0.000,0.128,2374,3787,3786,3845,3728,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1441,-0.61,-145.9,2375,3787,3846,3728,222.7,-12.5,214,1450,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2676,3785,3845,3726,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1764,-0.61,-145.9,2375,2677,3846,3725,256.8,-10.4,243,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3786,3845,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2064,-0.63,-145.9,2375,2676,3845,3725,288.0,-10.2,253,2071,0.00,2.00,0.00,0.000,260,0.000,0.131,2374,3794,3784,3845,3724,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2105,-0.63,-145.9,2374,3795,3845,3724,292.5,-11.2,261,2113,0.00,1.90,0.00,0.000,1030,0.000,0.076,2374,2676,3784,3845,3723,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2428,-0.66,-145.9,2374,2676,3847,3722,324.3,-9.7,275,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3783,3845,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.68,-145.9,2375,2677,3846,3722,353.2,-9.7,285,2735,0.00,1.98,0.00,0.000,260,0.000,0.130,2374,3787,3782,3845,3720,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2764,-0.68,-145.9,2374,3787,3847,3721,357.0,-10.6,292,2772,0.00,1.85,0.00,0.000,1030,0.000,0.077,2374,2671,3782,3845,3720,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3091,-0.71,-145.9,2374,2672,3846,3722,388.1,-9.4,307,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2671,3779,3845,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,-0.74,-145.9,2375,2671,3846,3719,415.9,-9.2,317,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2671,3782,3845,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.77,-145.9,2375,2672,3846,3720,443.6,-9.1,327,3694,0.10,0.00,0.00,0.000,4102,0.179,0.000,2333,2669,3781,3845,3718,0,0,0,0,0,0,14.66,28.83,28.83
$GC,3991,-0.77,-145.9,2334,2671,3847,3719,476.6,-11.1,337,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2672,3780,3841,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-0.77,-145.9,2333,2670,3854,3718,509.7,-11.0,347,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2670,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.77,-145.9,2334,2671,3845,3719,542.8,-10.9,357,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2670,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-0.77,-145.9,2334,2671,3845,3719,575.4,-10.8,367,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2670,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5191,-0.77,-145.9,2334,2671,3845,3719,608.3,-10.9,377,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2671,3781,3845,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5491,-0.77,-145.9,2334,2673,3846,3718,641.0,-10.8,387,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2670,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,-0.77,-145.9,2334,2670,3846,3721,673.5,-10.9,397,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2671,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6092,-0.77,-145.9,2334,2671,3846,3718,705.4,-10.6,407,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2670,3781,3845,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-0.77,-145.9,2334,2670,3846,3717,737.0,-10.5,417,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2671,3781,3845,3717,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6540,begin apogee
$GC,6543,-0.14,0.0,2331,3052,3846,3716,753.1,-10.7,422,6729,0.80,0.00,179.25,1.490,10246,0.282,0.000,2537,3052,3180,3262,3099,0,0,0,0,0,0,14.47,28.83,13.26
$STATE,6730,end apogee,CONTROL_FINISHED_OK
$STATE,6731,begin climb
$GC,6732,0.70,145.9,2538,3052,3263,3098,757.5,0.0,428,6868,0.95,1.48,124.28,1.769,10500,0.193,0.122,2805,3787,2583,2655,2512,0,0,0,0,0,0,13.82,13.56,12.97
$GC,6948,0.66,145.9,2805,3787,2640,2503,736.4,14.1,464,6955,0.00,1.33,0.00,0.000,1030,0.000,0.078,2810,3054,2570,2638,2502,0,0,0,0,0,0,28.83,13.87,28.83
$MODEM_MSG,CACST,6,1,20140802000433.904808,3,785,22,0138,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,14.1,1.1,-100,1.9,-01,-0.2,24,900,0025*05
$GC,7283,0.63,145.9,2811,3054,2640,2501,692.0,13.3,480,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2569,2639,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7580,0.61,145.9,2811,3060,2640,2500,652.3,13.1,490,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3054,2569,2639,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7880,0.59,145.9,2811,3054,2638,2500,612.8,13.2,500,7884,0.12,0.00,0.00,0.000,4102,0.311,0.000,2785,3055,2569,2639,2499,0,0,0,0,0,0,14.33,28.83,28.83
$GC,8179,0.59,145.9,2786,3054,2639,2500,577.0,11.9,510,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2569,2639,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8479,0.59,145.9,2786,3054,2640,2499,541.5,11.8,520,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2568,2639,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8779,0.59,145.9,2786,3056,2639,2498,506.2,11.7,530,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2567,2638,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9079,0.59,145.9,2786,3055,2640,2498,470.8,11.8,540,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2568,2639,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9379,0.59,145.9,2786,3055,2638,2498,435.2,12.0,550,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2568,2639,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9679,0.59,145.9,2786,3055,2639,2499,399.4,11.9,560,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2568,2638,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9979,0.59,145.9,2786,3054,2640,2498,363.6,11.9,570,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2567,2638,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10280,0.59,145.9,2786,3054,2639,2499,328.5,11.6,580,10287,0.00,2.35,0.00,0.000,516,0.000,0.079,2795,1641,2567,2638,2497,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10326,0.60,158.9,2796,1641,2640,2498,323.3,10.9,589,10340,0.00,2.45,3.78,0.993,9222,0.000,0.110,2795,3049,2541,2619,2464,0,0,0,0,0,0,28.83,14.63,13.94
$GC,10644,0.60,159.5,2796,3050,2646,2465,286.3,11.6,602,10649,0.00,0.00,2.70,0.650,8198,0.000,0.000,2795,3049,2536,2611,2461,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10944,0.60,165.0,2797,3050,2646,2456,252.0,11.3,612,10959,0.00,0.00,11.52,1.176,8198,0.000,0.000,2795,3049,2512,2592,2433,0,0,0,0,0,0,28.83,28.83,14.08
$GC,11244,0.61,171.2,2796,3050,2576,2424,217.9,11.3,640,11248,0.00,0.00,1.38,0.229,8198,0.000,0.000,2795,3049,2485,2560,2410,0,0,0,0,0,0,28.83,28.83,14.52
$GC,11544,0.63,199.3,2795,3050,2585,2410,185.7,10.1,670,11579,0.00,0.00,29.52,1.090,8454,0.000,0.000,2791,3049,2364,2438,2290,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11875,0.68,238.1,2796,3050,2422,2283,153.2,9.6,704,11910,0.00,0.00,32.53,1.060,8198,0.000,0.000,2795,3049,2215,2286,2145,0,0,0,0,0,0,28.83,28.83,13.89
$GC,12205,0.74,281.6,2796,3049,2263,2128,122.0,9.3,737,12253,0.12,2.42,37.53,1.028,10756,0.149,0.081,2863,1641,2025,2089,1961,0,0,0,0,0,0,14.45,14.23,13.83
$GC,12297,0.74,281.6,2864,1641,2079,1964,110.9,12.1,753,12306,0.12,2.53,0.00,0.000,5126,0.272,0.109,2836,3047,2016,2078,1955,0,0,0,0,0,0,14.18,14.25,28.83
$GC,12610,0.77,291.6,2837,3048,2077,1949,75.2,11.1,785,12619,0.00,2.47,1.92,0.216,8708,0.000,0.080,2846,1632,1997,2065,1930,0,0,0,0,0,0,28.83,14.42,14.37
$GC,12663,0.84,328.5,2847,1632,2085,1930,70.1,9.7,795,12693,0.00,2.53,21.38,0.375,9222,0.000,0.111,2846,3054,1848,1913,1783,0,0,0,0,0,0,28.83,14.42,14.23
$GC,12988,0.94,405.2,2847,3054,1943,1783,39.4,7.5,829,13044,0.12,2.47,43.70,0.282,10756,0.151,0.081,2914,1634,1538,1601,1476,0,0,0,0,0,0,14.48,14.38,14.28
$GC,13099,0.98,422.3,2914,1634,1616,1476,28.2,10.7,848,13120,0.00,2.53,11.65,0.252,9222,0.000,0.111,2914,3052,1467,1526,1409,0,0,0,0,0,0,28.83,14.37,14.30
$FREEZE,11.89,4.159,-1.365,0,1,0
$STATE,13404,end climb,NO_VERTICAL_VELOCITY
$STATE,13404,begin surface
$SM_CCo,13407,128.02,0.209,0,0,499,659.12
$SM_GC,2.08,8.05,0.62,0.00,0.090,0.081,0.000,204,2675,501,-7.40,1.07,658.63,0,0,0,0,0,0,14.52,14.53,28.83
$RAFOS_CLK,512
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14328.07,010814,181614
$TT8_MAMPS,0.04494,0.04494
$HUMID,52.71
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3999328
$TM_FREEKB,7251488
$24V_AH,12.97,16.879
$10V_AH,12.68,0.000
$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,21.850,43.150,501.125,128.025,0.000,0.000,0.000,487.725,0.000,0.000,27.680,0.000,11104.342,739.809,2655.203,106.147,0.000,2010.454,0.000,1312.874,1423.000,0.535,0.000
$DEVICE_MAMPS,461.295,148.410,1768.680,208.845,0.000,0.000,0.000,209.610,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13433.000,13520.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.410,13.335,0.000,0.000
$MEM,291056
$DATA_FILE_SIZE,30030,880
$CAP_FILE_SIZE,157608,0
$CFSIZE,2097872896,2081292288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14305.69,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,13953,4292.180176,-8650.385742,11.893130,0.008795,0.048197,0.010819,0.000331,0.003296,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.037,300.51,1
$GPS,020814,021548,7132.326,-14411.106,73,0.7,93,22.6