version: 66.12
glider: 198
mission: 5
dive: 90
start: 8 9 114 15 38 38
data:
$ID,198
$MISSION,5
$DIVE,90
$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,-3423.0872
$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,30
$R_STBD_OVSHOOT,15
$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
$GPS1,090814,145854,7201.033,-14449.836,36,0.8,56,22.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.7
$GPS2,090814,153817,7201.220,-14449.687,4,0.8,24,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,131.1,52152,-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,-145.9,187,2672,448,540,0.0,0.0,0,114,0.00,0.00,-57.88,0.000,16386,0.000,0.000,185,2670,1943,1974,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,187,2672,1976,1914,3.4,-2.6,7,191,11.00,2.47,-33.53,0.000,18948,0.446,0.106,2355,1265,3792,3892,3692,0,0,0,0,0,0,14.14,14.37,14.56
$GC,416,-0.65,-145.9,2356,1269,3878,3703,67.6,-19.1,62,446,0.12,2.50,0.00,0.000,3078,0.349,0.103,2371,2685,3793,3878,3709,0,0,0,0,0,0,14.31,14.42,28.83
$GC,741,-0.65,-145.9,2372,2685,3879,3703,121.7,-16.2,93,770,0.00,2.40,0.00,0.000,516,0.000,0.082,2371,1263,3790,3878,3703,0,0,0,0,0,0,28.83,14.51,28.83
$GC,994,-0.65,-145.9,2372,1263,3885,3703,157.3,-13.3,139,1023,0.00,2.50,0.00,0.000,1030,0.000,0.106,2362,2681,3789,3876,3703,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1330,-0.65,-145.9,2362,2682,3874,3704,203.9,-13.5,171,1359,0.00,2.42,0.00,0.000,516,0.000,0.086,2362,1260,3786,3870,3703,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1413,-0.65,-145.9,2362,1260,3874,3703,214.3,-12.2,183,1442,0.00,2.50,0.00,0.000,1030,0.000,0.109,2361,2678,3787,3872,3703,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1747,-0.65,-145.9,2362,2679,3871,3703,254.2,-11.3,213,1776,0.00,1.98,0.00,0.000,260,0.000,0.126,2361,3792,3786,3870,3702,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1840,-0.65,-145.9,2362,3793,3870,3704,265.4,-12.4,227,1869,0.00,1.88,0.00,0.000,1030,0.000,0.076,2361,2664,3786,3869,3703,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2183,-0.65,-145.9,2361,2664,3869,3703,303.6,-10.9,241,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2664,3787,3868,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2487,-0.65,-145.9,2361,2663,3869,3703,335.5,-10.4,251,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2663,3784,3865,3703,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140809160452.608301,3,507,21,0091,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,8.6,0.9,-100,2.1,-01,-0.1,31,900,0025*30
$MODEM_MSG,CACST,6,1,20140809161646.109034,3,312,18,0127,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,8.3,1.5,-100,1.5,-01,0.1,28,900,0025*1D
$GC,2790,-0.65,-145.9,2361,2663,3860,3703,366.6,-10.2,261,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2663,3783,3864,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,-0.67,-145.9,2362,2664,3864,3703,397.7,-10.3,271,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2664,3783,3863,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3398,-0.69,-145.9,2361,2663,3865,3703,428.8,-10.1,281,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2664,3782,3861,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3701,-0.72,-145.9,2362,2665,3863,3704,459.4,-10.1,291,3730,0.00,2.00,0.00,0.000,260,0.000,0.128,2361,3792,3782,3862,3703,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3764,-0.72,-145.9,2362,3793,3863,3704,466.3,-11.1,299,3793,0.00,1.85,0.00,0.000,1030,0.000,0.076,2361,2673,3782,3862,3703,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4108,-0.74,-145.9,2362,2674,3862,3704,500.2,-9.8,313,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2673,3782,3862,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.76,-145.9,2361,2673,3863,3702,529.5,-9.7,323,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2673,3782,3861,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4715,-0.79,-145.9,2361,2673,3862,3703,558.7,-9.5,333,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2670,3782,3861,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.81,-145.9,2361,2674,3862,3703,587.5,-9.4,343,5048,0.00,1.98,0.00,0.000,260,0.000,0.128,2361,3790,3782,3862,3703,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5087,-0.81,-145.9,2361,3790,3861,3703,594.5,-10.8,352,5116,0.00,1.83,0.00,0.000,1030,0.000,0.076,2361,2679,3781,3859,3703,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5426,-0.84,-145.9,2361,2678,3860,3703,626.5,-9.4,365,5455,0.12,0.00,0.00,0.000,4102,0.161,0.000,2312,2678,3780,3859,3701,0,0,0,0,0,0,14.76,28.83,28.83
$GC,5730,-0.84,-145.9,2312,2678,3860,3701,661.3,-11.6,375,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2678,3781,3859,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6033,-0.84,-145.9,2313,2678,3859,3701,696.5,-11.7,385,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2678,3781,3859,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6337,-0.84,-145.9,2312,2678,3860,3702,731.6,-11.6,395,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2684,3778,3854,3703,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6518,begin apogee
$GC,6522,-0.14,0.0,2306,3063,3859,3703,752.9,-11.6,401,6672,0.88,0.00,124.05,1.821,10246,0.290,0.000,2537,3063,3185,3260,3111,0,0,0,0,0,0,14.62,28.83,13.33
$STATE,6673,end apogee,CONTROL_FINISHED_OK
$STATE,6673,begin climb
$GC,6674,0.70,145.9,2538,3060,3253,3106,757.5,0.0,405,6840,0.93,1.40,123.45,1.812,10500,0.191,0.119,2803,3780,2582,2643,2522,0,0,0,0,0,0,14.00,13.64,13.06
$GC,6858,0.68,160.8,2804,3781,2641,2520,744.9,10.8,414,6907,0.00,1.30,14.15,1.767,9222,0.000,0.079,2808,3060,2524,2586,2462,0,0,0,0,0,0,28.83,13.88,13.16
$GC,7239,0.68,160.8,2814,3060,2580,2457,693.5,13.5,427,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2518,2579,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7573,0.68,160.8,2809,3060,2580,2455,649.3,13.1,438,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2517,2579,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7908,0.68,160.8,2808,3060,2580,2454,604.9,13.3,449,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2517,2580,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8243,0.68,160.8,2809,3060,2585,2455,560.7,13.4,460,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2516,2579,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8577,0.68,160.8,2809,3061,2579,2455,516.0,13.4,471,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2520,2587,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8912,0.68,160.8,2808,3060,2579,2455,470.7,13.5,482,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2516,2578,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9246,0.68,160.8,2809,3060,2580,2454,425.9,13.2,493,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2517,2580,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9581,0.68,160.8,2809,3060,2580,2454,381.6,13.2,504,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2516,2579,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9916,0.68,160.8,2809,3061,2580,2452,338.3,12.8,515,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2516,2578,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10250,0.68,160.8,2809,3060,2580,2454,295.8,12.6,526,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2516,2578,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10585,0.68,160.8,2809,3060,2579,2455,254.2,12.0,537,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2516,2579,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11104,0.70,197.1,2809,3060,2580,2454,198.2,9.7,566,11170,0.00,1.33,30.17,1.184,8452,0.000,0.119,2808,3776,2374,2437,2311,0,0,0,0,0,0,28.83,14.42,13.95
$GC,11222,0.72,215.5,2809,3776,2427,2308,186.0,10.6,571,11271,0.00,1.25,16.02,1.218,9222,0.000,0.080,2813,3051,2303,2365,2242,0,0,0,0,0,0,28.83,14.48,13.90
$GC,11779,0.77,260.3,2815,3051,2356,2234,132.0,9.2,602,11862,0.00,2.47,37.53,1.112,8708,0.000,0.085,2820,1648,2116,2176,2056,0,0,0,0,0,0,28.83,14.31,13.85
$GC,11897,0.84,306.0,2821,1648,2172,2056,121.1,9.2,607,11981,0.12,2.53,39.05,1.090,11270,0.152,0.110,2874,3056,1929,1985,1873,0,0,0,0,0,0,14.38,14.35,13.75
$GC,12484,0.88,338.2,2875,3057,1978,1866,51.3,9.9,640,12533,0.00,2.42,15.10,0.344,8708,0.000,0.081,2881,1646,1808,1866,1750,0,0,0,0,0,0,28.83,14.44,14.28
$GC,12669,1.00,428.9,2882,1648,1878,1751,37.9,6.8,649,12752,0.00,2.50,49.53,0.288,9222,0.000,0.111,2881,3056,1437,1482,1392,0,0,0,0,0,0,28.83,14.45,14.28
$GC,13257,1.29,656.6,2883,3056,1490,1392,13.1,-0.5,682,13427,0.35,1.38,120.43,0.219,10500,0.126,0.129,3002,3785,508,472,545,0,0,0,0,0,0,14.45,14.34,14.30
$FREEZE,7.52,4.218,-1.301,2,3,0
$FREEZE,6.18,4.310,-1.298,2,3,0
$FREEZE,4.67,4.310,-1.297,2,3,0
$FREEZE,2.98,4.313,-1.296,2,3,0
$FREEZE,1.56,4.313,-1.295,2,3,0
$STATE,13512,end climb,SURFACE_DEPTH_REACHED
$STATE,13512,begin surface coast
$FREEZE,1.23,4.239,-0.233,2,3,0
$FINISH,1.2,1.003358
$STATE,13514,end surface coast,CONTROL_FINISHED_OK
$STATE,13514,begin surface
$SM_CCo,13542,0.70,0.280,0,0,499,658.88
$SM_GC,2.98,8.35,1.95,0.70,0.089,0.080,0.280,202,2677,499,-7.40,0.79,658.88,0,0,0,0,0,0,14.46,14.45,14.38
$RAFOS_CLK,734
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7125.74,-14453.64,090814,152006
$TT8_MAMPS,0.042693,0.042693
$HUMID,48.74
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.30
$XPDR_PINGS,3
$SC_FREEKB,3981536
$24V_AH,13.06,32.535
$10V_AH,12.71,0.000
$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,21.875,45.525,569.475,0.700,0.000,0.000,0.000,1959.050,0.750,0.000,25.957,0.000,6631.581,377.121,8617.216,289.329,0.000,4684.994,0.000,1043.746,1497.000,0.538,0.000
$DEVICE_MAMPS,445.995,129.285,1821.465,279.990,0.000,0.000,0.000,222.615,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13543.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.202,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,320504
$DATA_FILE_SIZE,23396,696
$CAP_FILE_SIZE,201992,0
$CFSIZE,2097872896,2066513920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16574.56,0x2378b6,7,5
$SOUNDSPEED,1450.6
$GPS,090814,192718,7159.685,-14447.300,100,0.8,121,22.5
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0