version: 66.12
glider: 198
mission: 5
dive: 94
start: 8 10 114 8 30 22
data:
$ID,198
$MISSION,5
$DIVE,94
$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,-3428.1331
$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,17
$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
$GPS1,100814,082124,7155.452,-14440.670,39,0.9,59,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-72.6
$GPS2,100814,082957,7155.451,-14440.932,6,0.9,26,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,130.8,40307,-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
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5ac97a76aa;,*58
$MODEM_MSG,CACST,6,0,20140810080310.736469,3,533,15,0301,0150,100,00,00,02,04,1,004,000,0,5,1,0,150,4.1,5.7,-100,-2.7,-01,0.3,22,900,0025*15
$MODEM_MSG,CACST,6,1,20140810080446.682947,3,237,23,0120,0150,100,00,00,00,03,-1,-01,-01,1,3,1,0,150,17.7,0.8,-100,2.2,-01,-0.7,24,900,0025*0B
$MODEM_MSG,CACST,6,1,20140810081636.600796,3,595,21,0107,0150,100,00,00,01,02,-1,-01,-01,1,3,1,0,150,18.1,3.3,-100,-0.3,-01,-0.0,22,900,0025*20
$GC,28,-0.70,-145.9,203,2674,457,532,0.0,0.0,0,114,0.00,0.00,-57.60,0.000,16386,0.000,0.000,202,2673,1921,1953,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,206,2674,1955,1891,3.5,-3.6,7,192,11.12,2.45,-29.83,0.000,18948,0.457,0.107,2356,1276,3785,3862,3708,0,0,0,0,0,0,14.14,14.35,14.58
$GC,337,-0.64,-145.9,2357,1276,3863,3713,54.2,-21.5,46,367,0.15,2.50,0.00,0.000,3078,0.344,0.103,2383,2685,3787,3862,3713,0,0,0,0,0,0,14.31,14.40,28.83
$GC,662,-0.64,-145.9,2378,2685,3863,3714,110.0,-16.1,77,690,0.00,2.40,0.00,0.000,516,0.000,0.081,2377,1265,3788,3862,3714,0,0,0,0,0,0,28.83,14.52,28.83
$GC,739,-0.64,-145.9,2378,1265,3862,3715,121.9,-14.5,88,769,0.00,2.50,0.00,0.000,1030,0.000,0.108,2373,2683,3788,3862,3714,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1063,-0.64,-145.9,2376,2682,3863,3714,169.2,-13.9,119,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3788,3862,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.64,-145.9,2375,2683,3862,3715,211.0,-11.7,150,1415,0.00,1.95,0.00,0.000,260,0.000,0.125,2374,3787,3788,3862,3714,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1549,-0.64,-145.9,2375,3786,3863,3714,231.9,-12.1,178,1577,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2676,3787,3861,3714,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1892,-0.67,-145.9,2374,2681,3861,3714,268.9,-10.3,199,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3787,3860,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2196,-0.69,-145.9,2375,2676,3859,3715,298.8,-9.7,209,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3786,3859,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.72,-145.9,2375,2676,3859,3715,328.4,-9.8,219,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3786,3858,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2804,-0.75,-145.9,2375,2676,3858,3715,357.7,-9.5,229,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3786,3858,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3108,-0.78,-145.9,2374,2675,3858,3714,386.9,-9.6,239,3137,0.12,1.98,0.00,0.000,4356,0.156,0.123,2313,3787,3787,3857,3718,0,0,0,0,0,0,14.72,14.67,28.83
$GC,3226,-0.75,-145.9,2314,3788,3857,3715,402.2,-13.4,258,3255,0.12,1.83,0.00,0.000,3078,0.309,0.075,2339,2678,3785,3857,3714,0,0,0,0,0,0,14.57,14.72,28.83
$GC,3574,-0.75,-145.9,2340,2679,3857,3715,442.2,-11.4,273,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3878,-0.75,-145.9,2340,2677,3858,3714,476.1,-11.1,283,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4181,-0.75,-145.9,2340,2678,3858,3715,509.8,-11.0,293,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3785,3857,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-0.75,-145.9,2340,2678,3858,3714,543.3,-11.0,303,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2678,3785,3857,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4789,-0.75,-145.9,2339,2678,3859,3714,576.5,-10.8,313,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3788,3864,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5092,-0.75,-145.9,2340,2678,3858,3714,608.8,-10.6,323,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5396,-0.75,-145.9,2339,2678,3859,3714,640.0,-10.2,333,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5700,-0.75,-145.9,2339,2679,3858,3714,671.1,-10.2,343,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2678,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6003,-0.75,-145.9,2339,2678,3858,3714,702.0,-10.2,353,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6307,-0.75,-145.9,2340,2678,3858,3714,732.3,-9.8,363,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2678,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6489,begin apogee
$GC,6492,-0.14,0.0,2337,3052,3858,3713,750.4,-9.9,369,6644,0.73,0.00,125.95,1.793,10246,0.274,0.000,2534,3052,3185,3262,3108,0,0,0,0,0,0,14.61,28.83,13.32
$STATE,6645,end apogee,CONTROL_FINISHED_OK
$STATE,6645,begin climb
$GC,6646,0.70,145.9,2535,3053,3254,3102,754.4,0.0,373,6814,0.95,0.00,124.07,1.779,10502,0.207,0.000,2801,3052,2579,2643,2516,0,0,0,0,0,0,13.97,28.83,13.06
$GC,7100,0.70,145.9,2802,3052,2641,2510,706.4,13.0,391,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2574,2639,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7435,0.70,145.9,2803,3053,2640,2510,663.1,13.0,402,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2574,2639,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7769,0.70,145.9,2802,3052,2640,2508,620.3,12.8,413,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2574,2640,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,0.70,145.9,2803,3052,2640,2509,578.0,12.5,424,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8439,0.70,145.9,2802,3053,2640,2509,536.0,12.5,435,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,0.70,145.9,2803,3052,2640,2509,494.0,12.7,446,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9108,0.70,145.9,2802,3052,2641,2508,452.4,12.5,457,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9443,0.70,145.9,2802,3053,2640,2509,410.3,12.6,468,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9777,0.70,145.9,2803,3053,2640,2509,368.8,12.3,479,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10112,0.70,145.9,2802,3052,2641,2508,328.6,11.9,490,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10446,0.70,147.5,2806,3052,2640,2508,289.4,11.5,501,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3052,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10781,0.70,154.2,2802,3052,2640,2509,252.1,11.3,512,10830,0.00,1.35,1.92,0.258,8452,0.000,0.122,2802,3794,2566,2648,2485,0,0,0,0,0,0,28.83,14.64,14.50
$GC,10965,0.68,154.2,2802,3794,2655,2490,230.4,12.3,521,11014,0.00,1.25,1.62,0.234,9222,0.000,0.077,2807,3055,2568,2649,2488,0,0,0,0,0,0,28.83,14.67,14.52
$GC,11522,0.73,226.8,2809,3056,2657,2489,182.2,7.8,552,11622,0.00,2.45,66.72,1.110,8708,0.000,0.077,2816,1641,2253,2317,2190,0,0,0,0,0,0,28.83,14.26,13.80
$GC,11892,0.82,283.0,2817,1640,2303,2186,149.5,8.6,572,11976,0.08,2.47,47.35,1.081,11270,0.108,0.108,2858,3047,2027,2088,1967,0,0,0,0,0,0,14.43,14.40,13.77
$GC,12499,0.82,289.2,2860,3048,2072,1955,79.6,11.3,606,12562,0.00,1.35,0.00,0.000,260,0.000,0.122,2860,3791,2012,2072,1953,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12783,0.88,368.8,2859,3790,2072,1950,51.8,7.4,620,12866,0.00,1.27,43.17,0.337,9222,0.000,0.079,2862,3048,1685,1744,1626,0,0,0,0,0,0,28.83,14.47,14.21
$GC,13387,1.13,596.6,2863,3049,1748,1628,15.1,-0.5,654,13556,0.25,2.38,120.88,0.228,10756,0.119,0.079,2968,1640,753,730,777,0,0,0,0,0,0,14.47,14.26,14.23
$FREEZE,8.41,3.312,-1.346,2,1,0
$FREEZE,7.66,3.325,-1.346,2,1,0
$FREEZE,6.79,3.325,-1.346,2,1,0
$FREEZE,5.70,3.318,-1.339,2,1,0
$FREEZE,4.90,3.318,-1.339,2,1,0
$FREEZE,4.12,3.442,-1.324,2,1,0
$FREEZE,3.23,3.442,-1.324,2,1,0
$FREEZE,2.25,3.461,-1.320,2,1,0
$FREEZE,1.43,3.461,-1.320,2,1,0
$STATE,13708,end climb,SURFACE_DEPTH_REACHED
$STATE,13708,begin surface coast
$FREEZE,1.26,3.328,-1.300,2,1,0
$FREEZE,1.26,3.328,-1.300,2,1,0
$FREEZE,1.23,3.180,-1.330,2,1,0
$FREEZE,1.19,3.180,-1.330,2,1,0
$FREEZE,1.26,3.422,-1.162,2,1,0
$FREEZE,1.29,3.422,-1.162,2,1,0
$FINISH,1.3,1.017033
$STATE,13736,end surface coast,CONTROL_FINISHED_OK
$STATE,13736,begin surface
$SM_CCo,13763,33.72,0.194,0,0,501,658.88
$SM_GC,2.08,8.30,1.92,33.72,0.092,0.115,0.194,206,2680,501,-7.38,-0.51,658.88,0,0,0,0,0,0,14.40,14.35,14.28
$RAFOS_CLK,74
$MODEM,4,1407657790,74.37260,-145.13519,189.736,275273.0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7125.74,-14447.95,100814,041712
$TT8_MAMPS,0.080143,0.080143
$HUMID,46.88
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3979744
$24V_AH,13.06,34.065
$10V_AH,12.86,0.000
$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,21.825,32.575,531.700,33.725,0.000,0.000,0.000,318.100,0.000,0.000,27.416,0.000,6723.006,398.575,7054.101,157.327,0.000,3007.397,0.000,1014.868,1488.000,0.535,0.000
$DEVICE_MAMPS,456.705,128.520,1793.160,193.545,0.000,0.000,0.000,190.485,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.103,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,318096
$DATA_FILE_SIZE,23455,677
$CAP_FILE_SIZE,186225,0
$CFSIZE,2097872896,2068709376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14208.64,0x2378b6,7,5
$SOUNDSPEED,1450.6
$GPS,100814,122218,7154.056,-14438.870,35,0.8,55,22.5
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0