version: 66.12
glider: 198
mission: 5
dive: 81
start: 8 7 114 3 6 55
data:
$ID,198
$MISSION,5
$DIVE,81
$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,-3416.1501
$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,31
$R_STBD_OVSHOOT,14
$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
$GPS1,070814,025954,7146.090,-14417.854,27,0.7,47,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.4
$GPS2,070814,030636,7146.063,-14418.038,4,0.8,25,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,342.8,48250,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.70,-145.9,202,2695,490,596,0.0,0.0,0,123,0.00,0.00,-67.25,0.000,16386,0.000,0.000,201,2690,2168,2207,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.70,-145.9,202,2691,2210,2131,3.6,-2.5,8,194,10.85,2.00,-27.92,0.000,18692,0.449,0.148,2345,3799,3781,3846,3716,0,0,0,0,0,0,14.18,14.35,14.59
$GC,418,-0.63,-145.9,2345,3799,3847,3722,75.5,-19.8,62,448,0.17,1.90,0.00,0.000,3078,0.323,0.078,2382,2665,3784,3846,3723,0,0,0,0,0,0,14.33,14.49,28.83
$GC,752,-0.63,-145.9,2382,2665,3847,3722,128.2,-15.0,94,781,0.00,2.03,0.00,0.000,260,0.000,0.127,2374,3792,3784,3846,3722,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1005,-0.63,-145.9,2375,3794,3847,3723,166.8,-13.7,140,1034,0.00,1.88,0.00,0.000,1030,0.000,0.080,2374,2677,3784,3846,3722,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1338,-0.63,-145.9,2375,2676,3847,3722,208.3,-11.7,172,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3784,3846,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.65,-145.9,2375,2677,3847,3723,243.9,-10.7,203,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3784,3846,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1995,-0.67,-145.9,2375,2677,3847,3723,279.6,-10.5,217,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3783,3845,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2299,-0.70,-145.9,2374,2676,3847,3722,310.8,-10.1,227,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2676,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,-0.73,-145.9,2374,2676,3847,3721,341.2,-9.9,237,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2676,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.76,-145.9,2375,2676,3848,3721,370.7,-9.8,247,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-0.79,-145.9,2374,2675,3847,3721,400.2,-9.6,257,3238,0.12,0.00,0.00,0.000,4102,0.151,0.000,2323,2676,3782,3845,3720,0,0,0,0,0,0,14.67,28.83,28.83
$GC,3513,-0.79,-145.9,2323,2677,3847,3717,436.1,-12.0,267,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3815,-0.79,-145.9,2324,2677,3847,3721,471.8,-11.7,277,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2676,3783,3846,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4118,-0.79,-145.9,2324,2676,3844,3720,507.0,-11.6,287,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3783,3846,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4422,-0.79,-145.9,2324,2677,3847,3721,541.8,-11.4,297,4450,0.00,2.38,0.00,0.000,516,0.000,0.088,2323,1267,3783,3846,3721,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4489,-0.79,-145.9,2324,1266,3847,3721,549.6,-11.4,306,4518,0.00,2.50,0.00,0.000,1030,0.000,0.111,2318,2682,3785,3846,3724,0,0,0,0,0,0,28.83,14.52,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;5746ea6e6a;,*3C
$MODEM_MSG,CACST,6,0,20140807040447.008013,3,459,26,0185,0150,100,00,00,00,02,1,013,000,0,5,1,0,150,18.7,4.9,-100,-1.9,-01,0.1,21,900,0025*2B
$MODEM_MSG,CACST,6,1,20140807041622.355304,3,842,29,0287,0150,100,00,00,00,03,1,013,000,2,5,1,0,150,18.0,5.1,-100,-2.1,-01,0.3,25,900,0025*21
$GC,4827,-0.79,-145.9,2318,2683,3847,3721,589.2,-11.9,319,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2682,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5130,-0.79,-145.9,2318,2683,3847,3721,624.6,-11.7,329,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2682,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5433,-0.79,-145.9,2318,2683,3848,3721,660.4,-11.8,339,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2686,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,-0.79,-145.9,2318,2683,3847,3721,696.1,-11.8,349,5764,0.00,2.38,0.00,0.000,516,0.000,0.086,2317,1266,3783,3846,3721,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5808,-0.79,-145.9,2317,1266,3847,3721,704.5,-10.2,359,5837,0.00,2.50,0.00,0.000,1030,0.000,0.112,2318,2682,3783,3846,3720,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6142,-0.79,-145.9,2318,2683,3847,3721,742.8,-11.4,371,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2683,3783,3846,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6203,begin apogee
$GC,6207,-0.14,0.0,2318,3059,3847,3722,750.2,-11.4,373,6415,0.82,0.00,181.15,1.455,10246,0.276,0.000,2535,3059,3184,3264,3104,0,0,0,0,0,0,14.55,28.83,13.34
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6416,begin climb
$GC,6417,0.70,145.9,2532,3058,3262,3099,756.1,0.0,379,6583,0.93,1.42,125.22,1.783,10500,0.181,0.120,2803,3780,2579,2647,2512,0,0,0,0,0,0,13.92,13.53,12.93
$GC,6685,0.66,145.9,2804,3781,2644,2509,731.6,14.4,393,6734,0.00,1.30,0.00,0.000,1030,0.000,0.080,2807,3060,2575,2642,2509,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7083,0.64,145.9,2808,3060,2644,2509,678.4,13.2,407,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3059,2575,2642,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7418,0.61,145.9,2808,3060,2643,2508,634.6,13.1,418,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2575,2642,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7752,0.59,145.9,2809,3060,2643,2509,590.8,13.0,429,7801,0.00,1.35,0.00,0.000,260,0.000,0.126,2808,3787,2575,2642,2508,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7904,0.55,145.9,2806,3788,2643,2509,569.9,14.4,436,7953,0.15,1.27,0.00,0.000,5126,0.258,0.082,2772,3047,2575,2642,2508,0,0,0,0,0,0,14.40,14.53,28.83
$GC,8319,0.56,152.4,2773,3047,2643,2508,521.8,11.3,451,8367,0.00,0.00,1.02,0.262,8198,0.000,0.000,2772,3047,2570,2647,2494,0,0,0,0,0,0,28.83,28.83,14.48
$GC,8654,0.56,159.8,2773,3048,2653,2495,484.0,11.2,462,8702,0.00,0.00,11.57,1.513,8198,0.000,0.000,2772,3047,2526,2600,2453,0,0,0,0,0,0,28.83,28.83,13.90
$GC,8989,0.56,165.6,2772,3047,2596,2451,446.1,11.3,473,9037,0.00,0.00,1.48,0.241,8710,0.000,0.000,2772,3047,2521,2606,2437,0,0,0,0,0,0,28.83,28.83,14.46
$GC,9420,0.57,173.9,2773,3047,2607,2438,397.7,11.2,489,9470,0.00,2.42,12.95,1.407,8708,0.000,0.081,2782,1638,2469,2544,2394,0,0,0,0,0,0,28.83,14.50,13.94
$GC,9505,0.58,182.4,2783,1639,2539,2394,388.8,11.2,492,9553,0.00,2.47,2.97,0.882,9222,0.000,0.112,2782,3042,2453,2538,2369,0,0,0,0,0,0,28.83,14.48,13.60
$GC,9885,0.58,182.4,2783,3043,2546,2370,343.4,11.9,505,9934,0.00,1.38,1.83,0.246,8452,0.000,0.126,2782,3793,2453,2542,2364,0,0,0,0,0,0,28.83,14.53,14.44
$GC,9969,0.58,182.4,2782,3787,2549,2364,333.2,12.5,508,10018,0.00,1.27,1.90,0.236,9222,0.000,0.080,2787,3045,2452,2541,2364,0,0,0,0,0,0,28.83,14.57,14.40
$GC,10350,0.58,182.4,2787,3046,2549,2364,286.3,12.0,521,10399,0.00,2.40,1.75,0.245,8708,0.000,0.084,2795,1647,2452,2540,2364,0,0,0,0,0,0,28.83,14.58,14.47
$GC,10417,0.58,182.4,2796,1648,2549,2361,278.8,11.9,523,10466,0.00,2.45,1.92,0.232,9222,0.000,0.112,2795,3048,2452,2541,2364,0,0,0,0,0,0,28.83,14.56,14.43
$GC,10899,0.58,186.7,2800,3047,2550,2364,222.5,11.4,546,10948,0.00,1.35,10.00,1.261,8452,0.000,0.122,2795,3787,2416,2493,2339,0,0,0,0,0,0,28.83,14.47,14.02
$GC,11101,0.58,186.7,2798,3788,2489,2340,198.2,12.0,556,11149,0.00,1.27,0.00,0.000,1030,0.000,0.081,2799,3046,2414,2489,2339,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11673,0.64,248.8,2801,3046,2490,2338,145.6,8.3,588,11774,0.00,2.42,53.17,1.068,8708,0.000,0.081,2807,1638,2161,2227,2095,0,0,0,0,0,0,28.83,14.23,13.82
$GC,11826,0.73,308.7,2808,1638,2216,2092,132.8,8.4,595,11926,0.00,2.55,51.62,1.048,9222,0.000,0.114,2807,3054,1914,1975,1853,0,0,0,0,0,0,28.83,14.31,13.66
$GC,12446,0.82,361.1,2808,3053,1967,1844,73.0,8.8,630,12513,0.12,2.47,24.50,0.388,10756,0.152,0.083,2877,1642,1720,1784,1657,0,0,0,0,0,0,14.44,14.38,14.22
$GC,12531,0.88,395.2,2878,1642,1793,1657,64.3,9.8,633,12597,0.00,2.53,20.62,0.355,9222,0.000,0.116,2877,3050,1578,1641,1516,0,0,0,0,0,0,28.83,14.38,14.18
$FREEZE,8.58,1.579,-1.431,2,1,0
$GC,13121,1.06,555.4,2878,3050,1647,1516,12.5,3.1,666,13258,0.15,1.40,85.88,0.214,10500,0.143,0.132,2945,3787,921,930,913,0,0,0,0,0,0,14.46,14.35,14.31
$FREEZE,6.09,4.552,-1.367,2,1,0
$FREEZE,5.58,2.279,-1.369,2,1,0
$FREEZE,5.05,2.279,-1.368,2,1,0
$FREEZE,4.56,2.591,-1.339,2,1,0
$FREEZE,3.97,2.591,-1.339,2,1,0
$FREEZE,3.34,2.642,-1.326,2,1,0
$FREEZE,2.65,2.642,-1.325,2,1,0
$FREEZE,2.05,2.647,-1.320,2,1,0
$FREEZE,1.54,2.647,-1.320,2,1,0
$STATE,13409,end climb,SURFACE_DEPTH_REACHED
$STATE,13409,begin surface coast
$FREEZE,1.19,2.590,-0.863,2,1,0
$FREEZE,1.19,2.590,-0.863,2,1,0
$FREEZE,1.10,2.519,-0.875,2,1,0
$FREEZE,1.11,2.519,-0.875,2,1,0
$FREEZE,1.21,2.517,-0.759,2,1,0
$FREEZE,1.25,2.517,-0.759,2,1,0
$FREEZE,1.24,2.474,-0.816,2,1,0
$FREEZE,1.22,2.474,-0.816,2,1,0
$FREEZE,1.27,2.502,-0.745,2,1,0
$FREEZE,1.16,2.502,-0.745,2,1,0
$FINISH,1.2,1.010965
$STATE,13457,end surface coast,CONTROL_FINISHED_OK
$STATE,13457,begin surface
$SM_CCo,13485,50.25,0.190,0,0,538,649.80
$SM_GC,2.31,8.15,1.95,50.25,0.089,0.080,0.190,201,2678,538,-7.40,0.82,649.80,0,0,0,0,0,0,14.47,14.47,14.35
$RAFOS_CLK,612
$MODEM,13,1407384287,71.49720,-145.98000,46.008,66768.3
$RAFOS_FIX,7144.370605,-14415.987305,070814,000032,2,255,0.21
$IRIDIUM_FIX,7112.27,-14420.56,060814,230339
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.64
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3985120
$24V_AH,12.93,27.950
$10V_AH,12.72,0.000
$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,21.475,51.925,589.575,50.250,0.000,0.000,0.000,216.900,0.000,0.000,26.945,0.000,6195.866,476.089,7144.592,130.631,0.000,3072.956,0.000,1027.802,1478.000,0.536,0.000
$DEVICE_MAMPS,449.055,148.410,1783.215,190.485,0.000,0.000,0.000,179.775,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13485.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.132,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,315480
$DATA_FILE_SIZE,23404,691
$CAP_FILE_SIZE,193540,0
$CFSIZE,2097872896,2072510464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14354.41,0x2378b6,7,5
$SOUNDSPEED,1450.6
$GPS,070814,065424,7147.784,-14418.338,38,0.8,58,22.6