version: 66.12
glider: 198
mission: 5
dive: 79
start: 8 6 114 19 12 11
data:
$ID,198
$MISSION,5
$DIVE,79
$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,648.87579
$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,-3413.6287
$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,33
$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,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
$GPS1,060814,190450,7142.393,-14416.534,35,0.8,56,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-74.8
$GPS2,060814,191153,7142.405,-14416.641,5,1.0,25,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,341.3,54938,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.70,-145.9,205,2676,478,601,0.0,0.0,0,124,0.00,0.00,-67.40,0.000,16386,0.000,0.000,204,2675,2192,2227,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.70,-145.9,205,2676,2229,2158,3.7,-2.6,8,201,11.00,2.08,-30.27,0.000,18692,0.455,0.152,2349,3786,3784,3856,3712,0,0,0,0,0,0,14.17,14.30,14.59
$GC,425,-0.62,-145.9,2349,3786,3858,3721,75.5,-21.5,63,455,0.15,1.88,0.00,0.000,3078,0.330,0.075,2379,2668,3786,3856,3716,0,0,0,0,0,0,14.32,14.47,28.83
$GC,750,-0.62,-145.9,2380,2669,3857,3717,127.8,-14.7,94,779,0.00,2.00,0.00,0.000,260,0.000,0.125,2374,3787,3788,3859,3717,0,0,0,0,0,0,28.83,14.45,28.83
$GC,853,-0.62,-145.9,2376,3788,3858,3717,144.1,-16.3,110,882,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2680,3786,3856,3717,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1187,-0.62,-145.9,2375,2680,3857,3718,188.6,-12.3,142,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-0.62,-145.9,2375,2680,3858,3716,225.4,-11.1,173,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2677,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1843,-0.65,-145.9,2375,2680,3857,3717,259.9,-10.0,199,1872,0.00,2.00,0.00,0.000,260,0.000,0.130,2374,3795,3786,3856,3716,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1921,-0.65,-145.9,2375,3796,3857,3717,268.3,-10.6,210,1950,0.00,1.85,0.00,0.000,1030,0.000,0.077,2374,2683,3786,3856,3716,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2227,-0.67,-145.9,2375,2683,3856,3717,299.0,-10.1,221,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.70,-145.9,2374,2682,3858,3715,328.6,-9.7,231,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-0.73,-145.9,2382,2682,3857,3716,358.0,-9.5,241,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3785,3856,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3164,-0.76,-145.9,2375,2683,3857,3716,389.6,-9.6,252,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.80,-145.9,2374,2681,3858,3715,418.2,-9.4,262,3497,0.12,0.00,0.00,0.000,4102,0.150,0.000,2322,2681,3785,3856,3715,0,0,0,0,0,0,14.61,28.83,28.83
$GC,3772,-0.80,-145.9,2323,2682,3857,3715,452.7,-11.4,272,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2682,3784,3856,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4075,-0.80,-145.9,2324,2683,3856,3716,487.5,-11.6,282,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2682,3784,3856,3713,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;57489a6de7;,*6D
$MODEM_MSG,CACST,6,0,20140806200446.597569,3,3221,23,0134,0150,100,00,00,02,03,1,013,000,0,5,1,0,150,17.3,6.4,-100,-3.4,-01,-0.2,22,900,0025*31
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;57414a7fce;,*39
$MODEM_MSG,CACST,6,0,20140806201618.939671,3,1138,30,0314,0150,100,00,00,00,02,1,014,000,0,5,1,0,150,19.5,6.0,-100,-3.0,-01,0.1,25,900,0025*15
$GC,4378,-0.80,-145.9,2323,2682,3857,3715,522.5,-11.6,292,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2682,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4681,-0.80,-145.9,2324,2682,3857,3715,557.2,-11.4,302,4710,0.00,2.38,0.00,0.000,516,0.000,0.085,2323,1263,3789,3863,3715,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4744,-0.80,-145.9,2324,1264,3857,3716,564.3,-10.8,310,4773,0.00,2.50,0.00,0.000,1030,0.000,0.110,2318,2685,3785,3856,3715,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5087,-0.80,-145.9,2318,2685,3857,3715,603.7,-11.5,324,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2685,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5391,-0.80,-145.9,2318,2686,3857,3716,638.4,-11.5,334,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2685,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.80,-145.9,2319,2686,3857,3716,672.7,-11.2,344,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2685,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,-0.80,-145.9,2319,2686,3857,3715,706.2,-11.0,354,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2685,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,-0.80,-145.9,2318,2686,3857,3715,739.8,-11.1,364,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2685,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6393,begin apogee
$GC,6396,-0.14,0.0,2316,3058,3857,3722,750.2,-11.1,367,6602,0.82,0.00,179.55,1.483,10246,0.275,0.000,2535,3052,3187,3270,3105,0,0,0,0,0,0,14.59,28.83,13.31
$STATE,6603,end apogee,CONTROL_FINISHED_OK
$STATE,6603,begin climb
$GC,6605,0.70,145.9,2535,3053,3261,3101,755.6,0.0,373,6771,0.93,1.42,124.62,1.760,10500,0.181,0.118,2803,3779,2580,2647,2513,0,0,0,0,0,0,13.91,13.56,12.97
$GC,6923,0.66,145.9,2804,3779,2643,2510,723.0,14.8,390,6972,0.00,1.30,0.00,0.000,1030,0.000,0.079,2807,3051,2576,2643,2509,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7258,0.64,145.9,2810,3052,2644,2509,677.8,13.2,401,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3051,2575,2643,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7592,0.62,145.9,2808,3051,2644,2508,634.3,13.0,412,7641,0.00,1.38,0.00,0.000,260,0.000,0.124,2808,3789,2575,2643,2508,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7694,0.58,145.9,2808,3789,2644,2505,620.7,14.1,416,7742,0.10,1.27,0.00,0.000,5126,0.264,0.080,2785,3051,2575,2642,2508,0,0,0,0,0,0,14.32,14.45,28.83
$GC,8058,0.58,145.9,2785,3051,2643,2509,576.1,11.8,428,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3051,2575,2643,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,0.58,145.9,2786,3051,2643,2509,536.9,11.8,439,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3051,2575,2642,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8727,0.58,149.1,2790,3051,2644,2508,498.2,11.5,450,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3050,2575,2642,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9061,0.58,149.1,2786,3050,2643,2507,459.4,11.7,461,9110,0.00,1.33,0.00,0.000,260,0.000,0.124,2785,3780,2579,2652,2507,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9163,0.58,149.1,2787,3781,2644,2508,447.3,12.4,465,9211,0.00,1.25,0.00,0.000,1030,0.000,0.082,2790,3050,2575,2643,2507,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9527,0.58,149.1,2791,3050,2645,2507,403.7,11.8,477,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3050,2575,2643,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9861,0.58,149.1,2791,3050,2643,2508,363.8,12.0,488,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,3050,2575,2643,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10196,0.58,149.1,2792,3051,2643,2508,324.6,11.6,499,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3050,2575,2643,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10531,0.59,151.8,2791,3050,2642,2507,285.8,11.5,510,10579,0.00,1.33,0.00,0.000,260,0.000,0.125,2790,3781,2575,2643,2508,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10648,0.59,151.8,2792,3782,2644,2508,271.9,12.3,515,10697,0.00,1.25,0.00,0.000,1030,0.000,0.082,2796,3050,2575,2643,2508,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11065,0.60,172.1,2797,3050,2644,2507,226.0,10.5,534,11131,0.00,0.00,21.20,1.195,8198,0.000,0.000,2797,3049,2475,2546,2404,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11639,0.63,220.0,2797,3050,2544,2403,168.0,9.1,566,11722,0.00,0.00,40.40,1.095,8198,0.000,0.000,2796,3049,2278,2346,2211,0,0,0,0,0,0,28.83,28.83,13.85
$GC,12230,0.71,279.2,2797,3050,2338,2205,115.3,8.5,599,12313,0.00,1.38,50.20,1.032,8452,0.000,0.123,2796,3792,2040,2106,1975,0,0,0,0,0,0,28.83,14.21,13.80
$GC,12347,0.78,331.7,2797,3792,2097,1967,104.9,8.8,604,12432,0.10,1.30,45.45,1.009,11270,0.090,0.082,2857,3055,1822,1879,1765,0,0,0,0,0,0,14.31,14.28,13.71
$GC,12937,0.88,408.6,2858,3055,1868,1756,42.2,7.5,637,13020,0.00,2.47,38.88,0.299,8708,0.000,0.083,2863,1643,1524,1584,1464,0,0,0,0,0,0,28.83,14.33,14.23
$GC,13122,1.00,477.2,2863,1643,1590,1464,27.5,8.0,646,13205,0.15,2.53,38.15,0.252,11270,0.132,0.114,2935,3049,1243,1289,1197,0,0,0,0,0,0,14.44,14.38,14.26
$FREEZE,8.86,1.280,-1.451,2,1,0
$FREEZE,7.93,1.264,-1.450,2,1,0
$FREEZE,7.25,1.242,-1.448,2,1,0
$FREEZE,6.37,1.248,-1.447,2,1,0
$FREEZE,5.55,1.243,-1.446,2,1,0
$FREEZE,4.68,1.566,-1.427,2,1,0
$FREEZE,3.79,1.558,-1.421,2,1,0
$FREEZE,2.84,1.643,-1.414,2,1,0
$FREEZE,2.18,2.516,-1.387,2,1,0
$FREEZE,1.55,2.853,-1.364,2,1,0
$STATE,13456,end climb,SURFACE_DEPTH_REACHED
$STATE,13456,begin surface coast
$FREEZE,1.22,1.658,-1.363,2,1,0
$FREEZE,1.26,1.624,-1.355,2,1,0
$FREEZE,1.18,1.574,-1.354,2,1,0
$FREEZE,1.24,1.579,-1.350,2,1,0
$FINISH,1.2,1.019858
$STATE,13489,end surface coast,CONTROL_FINISHED_OK
$STATE,13489,begin surface
$SM_CCo,13515,90.50,0.186,0,0,539,649.06
$SM_GC,2.17,8.32,0.65,90.50,0.110,0.083,0.186,198,2671,539,-7.41,0.68,649.06,0,0,0,0,0,0,14.47,14.49,14.33
$RAFOS_CLK,640
$MODEM,14,1407356178,71.47920,-144.19920,17.940,26030.9
$MODEM,13,1407355486,71.50260,-146.03239,45.598,66163.3
$RAFOS_FIX,7142.355469,-14415.417969,060814,202032,2,255,0.20
$IRIDIUM_FIX,7105.60,-14409.43,060814,151231
$TT8_MAMPS,0.04494,0.04494
$HUMID,48.58
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.10
$XPDR_PINGS,1
$SC_FREEKB,3986016
$24V_AH,12.97,27.262
$10V_AH,12.74,0.000
$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,21.700,36.025,538.450,90.500,0.000,0.000,0.000,238.925,0.250,0.000,26.637,0.000,6447.534,519.595,6940.021,132.952,0.000,3069.192,0.000,999.261,1477.000,0.536,0.000
$DEVICE_MAMPS,455.175,152.235,1760.265,185.895,0.000,0.000,0.000,170.595,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13517.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.930,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,316596
$DATA_FILE_SIZE,23429,668
$CAP_FILE_SIZE,188587,0
$CFSIZE,2097872896,2072903680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14108.88,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,060814,230049,7144.227,-14417.252,34,0.8,55,22.6