version: 66.12
glider: 198
mission: 5
dive: 92
start: 8 9 114 23 39 20
data:
$ID,198
$MISSION,5
$DIVE,92
$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,-3425.6091
$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,34
$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
$GPS1,090814,232654,7158.143,-14445.041,38,0.8,59,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.7
$GPS2,090814,233902,7158.188,-14445.196,6,0.8,26,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,130.9,45955,-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,-145.9,197,2677,444,548,0.0,0.0,0,104,0.00,0.00,-47.67,0.000,16386,0.000,0.000,195,2677,1697,1731,1663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.70,-145.9,196,2677,1734,1662,3.2,-2.8,6,183,11.05,0.00,-35.58,0.000,18950,0.451,0.000,2353,2677,3781,3876,3687,0,0,0,0,0,0,14.12,28.83,14.56
$GC,477,-0.65,-145.9,2356,2678,3876,3695,83.7,-18.6,46,506,0.00,2.38,0.00,0.000,516,0.000,0.086,2354,1273,3784,3875,3694,0,0,0,0,0,0,28.83,14.47,28.83
$GC,531,-0.62,-145.9,2356,1273,3876,3694,93.3,-17.9,52,560,0.17,2.50,0.00,0.000,3078,0.323,0.106,2386,2688,3784,3875,3694,0,0,0,0,0,0,14.33,14.45,28.83
$GC,865,-0.62,-145.9,2386,2689,3876,3695,143.6,-14.4,84,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2688,3784,3875,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1187,-0.62,-145.9,2386,2688,3875,3694,186.5,-12.3,115,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2688,3781,3873,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.65,-145.9,2386,2688,3872,3691,223.7,-10.9,146,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2688,3782,3871,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,-0.67,-145.9,2386,2689,3870,3696,259.3,-10.3,173,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2688,3782,3870,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-0.71,-145.9,2386,2694,3869,3695,289.0,-9.7,183,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2688,3781,3868,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,-0.74,-145.9,2386,2688,3869,3693,318.1,-9.4,193,2493,0.12,1.98,0.00,0.000,4356,0.157,0.123,2323,3792,3780,3866,3694,0,0,0,0,0,0,14.55,14.49,28.83
$GC,2549,-0.72,-145.9,2323,3792,3867,3694,328.5,-13.8,205,2578,0.15,1.88,0.00,0.000,3078,0.301,0.078,2355,2669,3779,3865,3694,0,0,0,0,0,0,14.40,14.56,28.83
$MODEM_MSG,CACST,6,1,20140810000449.599269,3,245,23,0123,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,15.4,0.8,-100,2.2,-01,0.5,26,900,0025*25
$MODEM_MSG,CACST,6,1,20140810001640.857517,3,4496,24,0203,0150,100,00,00,02,03,1,000,000,2,5,1,0,150,13.8,3.3,-100,-0.3,-01,-0.3,26,900,0025*3A
$GC,2902,-0.72,-145.9,2355,2669,3866,3694,366.2,-10.5,221,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2669,3779,3865,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3206,-0.72,-145.9,2355,2669,3866,3694,397.4,-10.2,231,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2669,3779,3864,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-0.72,-145.9,2356,2669,3865,3694,428.1,-10.1,241,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2669,3779,3864,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-0.72,-145.9,2356,2670,3865,3695,458.3,-9.9,251,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2674,3779,3864,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-0.72,-145.9,2355,2669,3865,3694,488.6,-10.1,261,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2669,3778,3863,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4421,-0.72,-145.9,2355,2668,3864,3694,519.0,-10.1,271,4450,0.00,1.98,0.00,0.000,260,0.000,0.125,2347,3789,3778,3863,3694,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4489,-0.72,-145.9,2348,3789,3864,3695,526.4,-10.9,280,4518,0.00,1.83,0.00,0.000,1030,0.000,0.077,2347,2678,3778,3863,3694,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4827,-0.72,-145.9,2349,2678,3863,3695,560.6,-10.0,293,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3778,3863,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5131,-0.72,-145.9,2348,2678,3863,3695,590.8,-9.8,303,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2678,3778,3863,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5435,-0.72,-145.9,2348,2678,3865,3694,620.8,-9.8,313,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2678,3778,3863,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5739,-0.72,-145.9,2348,2678,3864,3695,650.9,-9.9,323,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3778,3863,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6043,-0.72,-145.9,2348,2677,3862,3694,681.1,-10.1,333,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3778,3863,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6347,-0.72,-145.9,2348,2678,3864,3694,711.6,-10.0,343,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3778,3863,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6650,-0.72,-145.9,2348,2678,3864,3694,742.1,-10.1,353,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3779,3864,3694,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6742,begin apogee
$GC,6746,-0.14,0.0,2347,3061,3864,3694,751.3,-10.1,356,6894,0.73,0.00,123.18,1.788,10246,0.269,0.000,2540,3060,3185,3262,3109,0,0,0,0,0,0,14.59,28.83,13.33
$STATE,6895,end apogee,CONTROL_FINISHED_OK
$STATE,6895,begin climb
$GC,6897,0.70,145.9,2541,3060,3255,3108,755.4,0.0,360,7067,0.90,0.00,123.53,1.786,10502,0.186,0.000,2801,3060,2581,2643,2520,0,0,0,0,0,0,14.00,28.83,13.05
$GC,7353,0.70,145.9,2802,3061,2641,2517,709.0,12.5,378,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3060,2577,2640,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7687,0.70,145.9,2801,3060,2641,2515,667.5,12.3,389,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3060,2577,2640,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8022,0.70,145.9,2802,3060,2641,2514,626.1,12.4,400,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3060,2577,2640,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8357,0.70,145.9,2802,3061,2641,2514,584.8,12.3,411,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3060,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8691,0.70,145.9,2802,3060,2641,2512,544.0,12.2,422,8740,0.00,2.38,0.00,0.000,516,0.000,0.083,2810,1645,2576,2640,2513,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8758,0.70,145.9,2811,1646,2641,2514,536.2,12.3,424,8807,0.00,2.45,0.00,0.000,1030,0.000,0.109,2810,3047,2576,2640,2513,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9156,0.70,145.9,2811,3047,2641,2512,486.0,12.6,438,9205,0.00,1.33,0.00,0.000,260,0.000,0.119,2806,3784,2576,2640,2513,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9241,0.67,145.9,2811,3784,2641,2513,475.0,13.3,441,9289,0.00,1.25,0.00,0.000,1030,0.000,0.076,2815,3048,2576,2640,2512,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9622,0.65,145.9,2816,3047,2640,2514,424.9,12.9,454,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3048,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9956,0.65,145.9,2816,3048,2641,2513,381.8,12.8,465,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3048,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10291,0.65,145.9,2817,3049,2640,2514,338.4,12.9,476,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3048,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10625,0.65,145.9,2816,3048,2641,2513,295.6,12.8,487,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3048,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10960,0.65,145.9,2816,3048,2641,2513,254.5,12.0,498,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3048,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11479,0.69,198.1,2816,3047,2641,2513,200.4,8.8,527,11562,0.00,1.38,42.58,1.154,8452,0.000,0.116,2815,3787,2369,2432,2307,0,0,0,0,0,0,28.83,14.35,13.90
$GC,11900,0.71,230.8,2817,3787,2426,2303,155.8,9.9,550,11966,0.00,1.27,28.08,1.138,9222,0.000,0.077,2821,3048,2236,2298,2175,0,0,0,0,0,0,28.83,14.50,13.85
$GC,12490,0.77,287.3,2820,3048,2290,2169,101.6,8.6,583,12573,0.00,2.47,47.85,1.057,8708,0.000,0.078,2830,1639,2006,2065,1948,0,0,0,0,0,0,28.83,14.23,13.82
$GC,12709,0.86,334.8,2831,1639,2055,1947,81.9,9.1,594,12775,0.12,2.53,22.88,0.426,11270,0.152,0.109,2884,3052,1825,1883,1767,0,0,0,0,0,0,14.40,14.36,14.12
$GC,13296,0.93,390.9,2886,3052,1887,1768,22.8,8.6,627,13361,0.00,0.00,30.70,0.251,8454,0.000,0.000,2884,3052,1589,1645,1533,0,0,0,0,0,0,28.83,28.83,14.34
$GC,13868,1.19,605.6,2886,3053,1650,1539,14.2,0.2,659,14019,0.22,2.45,114.20,0.228,10756,0.130,0.079,2970,1648,717,693,742,0,0,0,0,0,0,14.52,14.37,14.28
$FREEZE,8.83,4.158,-1.309,2,1,0
$FREEZE,8.20,4.158,-1.309,2,1,0
$FREEZE,7.47,4.203,-1.307,2,1,0
$FREEZE,6.65,4.203,-1.306,2,1,0
$FREEZE,6.00,4.296,-1.301,2,1,0
$FREEZE,5.28,4.296,-1.301,2,1,0
$FREEZE,4.43,4.336,-1.298,2,1,0
$FREEZE,3.56,4.336,-1.298,2,1,0
$FREEZE,3.06,4.337,-1.298,2,1,0
$FREEZE,2.28,4.337,-1.297,2,1,0
$FREEZE,1.51,4.251,-1.300,2,1,0
$STATE,14238,end climb,SURFACE_DEPTH_REACHED
$STATE,14238,begin surface coast
$FREEZE,1.22,4.251,-1.300,2,1,0
$FREEZE,1.21,4.265,-0.731,2,1,0
$FREEZE,1.20,4.265,-0.731,2,1,0
$FINISH,1.2,1.010701
$STATE,14251,end surface coast,CONTROL_FINISHED_OK
$STATE,14251,begin surface
$SM_CCo,14279,29.02,0.194,0,0,499,658.88
$SM_GC,2.52,8.35,1.90,29.02,0.102,0.112,0.194,203,2687,499,-7.40,-0.42,658.88,0,0,0,0,0,0,14.49,14.45,14.38
$RAFOS_CLK,780
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7125.74,-14442.27,090814,193021
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.43
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,13.30
$XPDR_PINGS,0
$SC_FREEKB,3980640
$24V_AH,13.05,33.230
$10V_AH,12.84,0.000
$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,21.825,32.625,532.975,29.025,0.000,0.000,0.000,516.575,0.000,0.000,27.226,0.000,6833.730,390.751,7628.309,192.476,0.000,3237.691,0.000,1027.408,1432.000,0.536,0.000
$DEVICE_MAMPS,451.350,133.110,1787.805,193.545,0.000,0.000,0.000,198.900,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14279.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.379,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,319268
$DATA_FILE_SIZE,23363,682
$CAP_FILE_SIZE,197244,0
$CFSIZE,2097872896,2066415616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14564.32,0x2378b6,7,5
$INTR,1,6979.64,0x234482,1,24
$SOUNDSPEED,1451.2
$GPS,100814,033942,7156.733,-14442.294,37,0.8,58,22.5
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0