version: 66.12
glider: 198
mission: 5
dive: 99
start: 8 11 114 4 30 6
data:
$ID,198
$MISSION,5
$DIVE,99
$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,-3434.4329
$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,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
$GPS1,110814,042218,7153.680,-14433.809,38,0.9,58,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-71.4
$GPS2,110814,042947,7153.680,-14433.918,3,0.9,23,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,359.2,36531,-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,CACST,6,1,20140811040447.199954,3,760,22,0096,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,7.3,0.8,-100,2.2,-01,0.0,32,900,0025*1A
$MODEM_MSG,CARDP,9,0,1,0,0,1;5;5a8fea4f45;,*5C
$MODEM_MSG,CACST,6,0,20140811041126.778626,3,139,09,0140,0150,100,00,00,02,05,1,009,000,0,5,1,0,150,-1.9,1.9,-100,1.1,-01,-0.1,22,900,0025*37
$MODEM_MSG,CACST,6,1,20140811041633.780180,3,406,20,0126,0150,100,00,00,01,03,-1,-01,-01,1,3,1,0,150,9.6,1.2,-100,1.8,-01,-0.0,26,900,0025*31
$GC,28,-0.70,-145.9,205,2675,446,545,0.0,0.0,0,114,0.00,0.00,-57.83,0.000,16386,0.000,0.000,203,2674,1894,1920,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,204,2675,1921,1869,3.1,-2.1,7,196,10.93,2.08,-36.05,0.000,18692,0.450,0.151,2345,3784,3784,3878,3691,0,0,0,0,0,0,14.14,14.34,14.58
$GC,421,-0.62,-145.9,2346,3785,3878,3697,78.0,-23.0,63,450,0.17,1.88,0.00,0.000,3078,0.322,0.073,2378,2668,3786,3877,3696,0,0,0,0,0,0,14.29,14.46,28.83
$GC,755,-0.62,-145.9,2382,2667,3878,3697,130.8,-14.7,95,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2668,3787,3878,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-0.62,-145.9,2382,2668,3878,3695,177.2,-14.0,126,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2668,3787,3877,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,-0.62,-145.9,2383,2669,3881,3697,217.7,-11.3,157,1429,0.00,2.00,0.00,0.000,260,0.000,0.125,2375,3787,3786,3876,3697,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1653,-0.62,-145.9,2376,3789,3876,3697,248.3,-11.8,203,1682,0.00,1.88,0.00,0.000,1030,0.000,0.076,2375,2676,3785,3874,3697,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1987,-0.64,-145.9,2375,2677,3873,3697,283.4,-10.3,215,2016,0.00,2.00,0.00,0.000,260,0.000,0.129,2374,3787,3785,3873,3697,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2110,-0.64,-145.9,2375,3788,3873,3697,296.8,-10.8,235,2139,0.00,1.88,0.00,0.000,1030,0.000,0.076,2374,2671,3784,3872,3697,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2453,-0.67,-145.9,2375,2671,3872,3696,330.7,-9.8,249,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2671,3784,3871,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-0.71,-145.9,2375,2672,3872,3697,360.5,-9.8,259,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2671,3781,3866,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-0.74,-145.9,2373,2672,3872,3698,389.3,-9.4,269,3090,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3790,3783,3871,3696,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3165,-0.76,-145.9,2374,3791,3872,3696,399.7,-10.0,285,3194,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2677,3783,3870,3696,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3499,-0.80,-145.9,2375,2676,3872,3697,430.9,-9.1,297,3528,0.12,0.00,0.00,0.000,4102,0.155,0.000,2325,2676,3783,3870,3697,0,0,0,0,0,0,14.71,28.83,28.83
$GC,3803,-0.80,-145.9,2326,2679,3871,3698,465.0,-11.3,307,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3783,3870,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,-0.80,-145.9,2326,2677,3871,3697,499.0,-11.2,317,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3783,3870,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.80,-145.9,2326,2676,3871,3697,532.7,-10.9,327,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3782,3869,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4715,-0.80,-145.9,2326,2677,3871,3698,566.0,-10.9,337,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3783,3870,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-0.80,-145.9,2326,2676,3871,3696,599.8,-11.1,347,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3783,3870,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.80,-145.9,2326,2676,3872,3697,633.9,-11.2,357,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3783,3870,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5626,-0.80,-145.9,2325,2676,3871,3697,667.2,-10.9,367,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2679,3783,3870,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5930,-0.80,-145.9,2326,2677,3870,3697,699.3,-10.5,377,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2676,3783,3870,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,-0.80,-145.9,2326,2676,3872,3697,730.8,-10.5,387,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3783,3870,3697,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6445,begin apogee
$GC,6449,-0.14,0.0,2323,3061,3867,3697,752.9,-10.3,394,6600,0.82,0.00,124.95,1.757,10246,0.280,0.000,2538,3061,3183,3263,3103,0,0,0,0,0,0,14.62,28.83,13.33
$STATE,6601,end apogee,CONTROL_FINISHED_OK
$STATE,6601,begin climb
$GC,6602,0.70,145.9,2535,3062,3256,3100,756.7,0.0,398,6768,0.93,0.00,123.28,1.761,10502,0.185,0.000,2806,3061,2580,2644,2517,0,0,0,0,0,0,14.00,28.83,13.03
$GC,7133,0.70,145.9,2806,3061,2642,2512,697.2,13.3,420,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2574,2641,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7468,0.70,145.9,2806,3062,2642,2511,651.9,13.6,431,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2575,2640,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,0.70,145.9,2807,3061,2637,2511,607.2,13.2,442,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2575,2640,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8137,0.70,145.9,2806,3061,2642,2509,563.4,13.0,453,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2575,2640,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.70,145.9,2808,3062,2641,2511,519.3,13.1,464,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8807,0.70,145.9,2807,3062,2641,2511,476.0,12.9,475,8855,0.00,2.38,0.00,0.000,516,0.000,0.079,2816,1642,2575,2640,2510,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8890,0.70,145.9,2817,1643,2641,2512,466.0,12.6,478,8939,0.00,2.45,0.00,0.000,1030,0.000,0.108,2817,3048,2575,2641,2510,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9272,0.68,145.9,2818,3049,2641,2512,415.7,13.2,491,9321,0.00,1.33,0.00,0.000,260,0.000,0.120,2816,3784,2578,2646,2510,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9390,0.64,145.9,2817,3785,2642,2510,399.3,14.5,496,9439,0.00,1.25,0.00,0.000,1030,0.000,0.078,2822,3047,2575,2640,2510,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9725,0.61,145.9,2823,3047,2643,2516,353.3,13.4,507,9774,0.12,0.00,0.00,0.000,4102,0.296,0.000,2790,3047,2575,2641,2510,0,0,0,0,0,0,14.48,28.83,28.83
$GC,10060,0.61,149.8,2792,3048,2641,2511,314.5,11.4,518,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3047,2575,2640,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10394,0.63,169.8,2792,3048,2641,2511,277.9,10.6,529,10460,0.00,1.33,19.58,1.260,8452,0.000,0.117,2791,3799,2483,2550,2416,0,0,0,0,0,0,28.83,14.47,14.02
$GC,10528,0.63,173.6,2792,3799,2548,2416,263.6,11.4,535,10577,0.00,1.27,0.00,0.000,1030,0.000,0.076,2796,3050,2481,2547,2416,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11135,0.66,219.9,2797,3050,2548,2415,203.0,9.2,569,11219,0.00,2.45,42.42,1.129,8708,0.000,0.077,2806,1647,2279,2341,2217,0,0,0,0,0,0,28.83,14.32,13.85
$GC,11287,0.74,273.3,2807,1648,2335,2215,189.5,8.8,576,11370,0.00,2.50,45.38,1.115,9222,0.000,0.106,2806,3052,2062,2124,2001,0,0,0,0,0,0,28.83,14.36,13.69
$GC,11874,0.82,319.4,2807,3052,2113,1991,132.9,9.2,609,11957,0.12,0.00,39.38,1.077,10502,0.145,0.000,2860,3051,1873,1933,1814,0,0,0,0,0,0,14.50,28.83,13.81
$GC,12462,0.86,338.2,2864,3053,1919,1808,62.7,10.6,642,12511,0.00,2.45,6.88,0.363,8708,0.000,0.079,2871,1639,1819,1886,1752,0,0,0,0,0,0,28.83,14.45,14.24
$GC,12673,0.96,411.8,2876,1640,1893,1753,45.9,7.7,652,12756,0.00,2.50,42.03,0.317,9222,0.000,0.109,2870,3053,1509,1567,1452,0,0,0,0,0,0,28.83,14.38,14.23
$FREEZE,8.89,3.172,-1.375,2,1,0
$GC,13279,1.19,585.7,2872,3054,1571,1452,11.4,2.4,686,13415,0.30,0.00,92.32,0.216,11014,0.115,0.000,2984,3053,797,787,807,0,0,0,0,0,0,14.42,28.83,14.24
$FREEZE,5.03,3.333,-1.401,2,1,0
$FREEZE,3.70,3.325,-1.400,2,1,0
$FREEZE,2.03,3.324,-1.398,2,1,0
$FREEZE,1.23,3.317,-0.690,2,1,0
$STATE,13483,end climb,SURFACE_DEPTH_REACHED
$STATE,13483,begin surface coast
$FREEZE,1.30,3.306,-1.398,2,1,0
$FREEZE,1.25,3.278,-1.400,2,1,0
$FINISH,1.2,1.020473
$STATE,13496,end surface coast,CONTROL_FINISHED_OK
$STATE,13496,begin surface
$SM_CCo,13521,39.60,0.191,0,0,501,658.88
$SM_GC,2.29,8.15,0.65,39.60,0.069,0.080,0.191,201,2669,501,-7.39,0.79,658.88,0,0,0,0,0,0,14.40,14.40,14.27
$RAFOS_CLK,61
$MODEM,9,1407730286,74.18840,-149.16920,205.779,298516.7
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7118.99,-14438.98,110814,003057
$TT8_MAMPS,0.078645,0.078645
$HUMID,47.48
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3977504
$24V_AH,13.03,35.738
$10V_AH,12.85,0.000
$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,21.675,36.800,536.200,39.600,0.000,0.000,0.000,259.775,0.000,0.000,25.155,0.000,6404.259,403.609,7059.595,154.354,0.000,2970.802,0.000,1047.814,1489.000,0.536,0.000
$DEVICE_MAMPS,449.820,150.705,1761.030,191.250,0.000,0.000,0.000,165.240,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13524.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.247,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,315096
$DATA_FILE_SIZE,23430,698
$CAP_FILE_SIZE,187593,0
$CFSIZE,2097872896,2067726336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14090.27,0x2378b6,7,5
$SOUNDSPEED,1450.7
$GPS,110814,081754,7154.904,-14431.376,29,0.8,49,22.6