version: 66.12
glider: 198
mission: 5
dive: 101
start: 8 11 114 12 24 10
data:
$ID,198
$MISSION,5
$DIVE,101
$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,-3436.9502
$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,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
$GPS1,110814,121654,7156.019,-14427.938,30,0.8,50,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.0
$GPS2,110814,122351,7156.073,-14428.014,3,1.0,24,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,356.5,31209,-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,6,1,20140811120307.660454,3,450,08,0120,0150,100,00,00,03,06,-1,-01,-01,1,3,0,0,150,2.2,1.0,-100,2.0,-01,-0.2,21,900,0025*34
$GC,28,-0.70,-145.9,197,2676,449,544,0.0,0.0,0,114,0.00,0.00,-57.83,0.000,16386,0.000,0.000,204,2675,1914,1938,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,194,2676,1940,1895,3.0,-2.0,7,191,11.12,2.08,-34.40,0.000,18692,0.454,0.145,2346,3787,3783,3879,3687,0,0,0,0,0,0,14.12,14.31,14.57
$GC,415,-0.62,-145.9,2342,3787,3879,3694,75.6,-20.5,62,445,0.17,1.85,0.00,0.000,3078,0.331,0.072,2382,2676,3786,3878,3694,0,0,0,0,0,0,14.29,14.47,28.83
$GC,740,-0.62,-145.9,2383,2677,3879,3696,126.5,-14.4,93,769,0.00,2.00,0.00,0.000,260,0.000,0.122,2374,3789,3784,3874,3695,0,0,0,0,0,0,28.83,14.45,28.83
$GC,993,-0.62,-145.9,2376,3789,3879,3694,166.2,-15.8,139,1022,0.00,1.85,0.00,0.000,1030,0.000,0.074,2374,2675,3786,3877,3695,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1327,-0.62,-145.9,2375,2675,3878,3695,209.6,-12.1,171,1356,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3794,3786,3877,3695,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1490,-0.62,-145.9,2375,3794,3877,3695,229.7,-12.8,199,1519,0.00,1.88,0.00,0.000,1030,0.000,0.076,2374,2676,3785,3875,3695,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1823,-0.65,-145.9,2375,2676,3874,3696,267.2,-11.1,221,1852,0.00,2.03,0.00,0.000,260,0.000,0.129,2374,3795,3784,3873,3695,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1981,-0.65,-145.9,2374,3795,3873,3695,285.4,-11.0,248,2010,0.00,1.85,0.00,0.000,1030,0.000,0.076,2373,2679,3783,3872,3695,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2320,-0.68,-145.9,2375,2680,3872,3695,319.9,-9.8,261,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2679,3783,3871,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-0.71,-145.9,2375,2680,3871,3696,349.6,-9.8,271,2653,0.00,2.00,0.00,0.000,260,0.000,0.130,2374,3794,3782,3870,3695,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2697,-0.73,-145.9,2375,3794,3871,3695,357.2,-10.6,281,2726,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2676,3782,3869,3695,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3031,-0.76,-145.9,2374,2677,3869,3696,389.2,-9.5,293,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2676,3781,3868,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3335,-0.80,-145.9,2374,2676,3870,3695,418.6,-9.6,303,3364,0.12,0.00,0.00,0.000,4102,0.162,0.000,2325,2676,3782,3869,3695,0,0,0,0,0,0,14.71,28.83,28.83
$GC,3639,-0.80,-145.9,2326,2676,3869,3695,454.2,-11.9,313,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3781,3868,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3943,-0.80,-145.9,2326,2676,3869,3695,489.3,-11.6,323,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3781,3867,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4247,-0.80,-145.9,2326,2677,3869,3696,524.0,-11.4,333,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2676,3781,3868,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4550,-0.80,-145.9,2326,2676,3870,3695,558.2,-11.2,343,4579,0.00,2.33,0.00,0.000,516,0.000,0.084,2325,1276,3781,3867,3695,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4598,-0.80,-145.9,2327,1277,3868,3696,563.8,-11.8,348,4628,0.00,2.45,0.00,0.000,1030,0.000,0.109,2318,2683,3776,3862,3690,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4905,-0.80,-145.9,2319,2684,3868,3696,598.1,-11.2,359,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2683,3781,3867,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5208,-0.80,-145.9,2318,2683,3868,3694,632.1,-11.2,369,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2683,3781,3867,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5512,-0.80,-145.9,2319,2684,3868,3696,666.3,-11.2,379,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2683,3781,3867,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-0.80,-145.9,2318,2683,3868,3695,700.7,-11.4,389,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2683,3781,3867,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6120,-0.80,-145.9,2319,2684,3868,3697,735.5,-11.4,399,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2683,3784,3873,3695,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6271,begin apogee
$GC,6275,-0.14,0.0,2316,3063,3868,3695,753.1,-11.5,404,6457,0.85,0.00,156.68,1.525,10246,0.281,0.000,2537,3062,3186,3267,3105,0,0,0,0,0,0,14.61,28.83,13.41
$STATE,6458,end apogee,CONTROL_FINISHED_OK
$STATE,6458,begin climb
$GC,6460,0.70,145.9,2539,3068,3261,3100,758.4,0.0,409,6626,0.93,1.40,123.65,1.706,10500,0.185,0.119,2805,3780,2581,2645,2517,0,0,0,0,0,0,13.98,13.61,13.03
$GC,6678,0.66,145.9,2806,3781,2642,2513,741.3,12.9,420,6726,0.00,1.30,0.00,0.000,1030,0.000,0.079,2809,3060,2576,2641,2512,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7012,0.66,145.9,2810,3060,2642,2510,696.4,13.2,431,7061,0.00,2.42,0.00,0.000,516,0.000,0.080,2819,1639,2576,2641,2511,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7079,0.66,145.9,2819,1639,2642,2510,688.0,13.3,433,7128,0.00,2.53,0.00,0.000,1030,0.000,0.109,2819,3047,2576,2641,2511,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7477,0.64,145.9,2820,3047,2642,2511,632.5,13.9,447,7526,0.00,1.35,0.00,0.000,260,0.000,0.123,2819,3786,2575,2641,2510,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7628,0.59,145.9,2820,3786,2642,2510,610.0,15.6,454,7677,0.12,1.27,0.00,0.000,5126,0.266,0.078,2789,3043,2575,2641,2509,0,0,0,0,0,0,14.35,14.51,28.83
$GC,8043,0.59,145.9,2790,3044,2642,2510,557.5,12.0,469,8091,0.00,2.35,0.00,0.000,516,0.000,0.081,2799,1631,2575,2641,2509,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8110,0.59,145.9,2799,1631,2642,2509,549.9,12.0,471,8159,0.00,2.50,0.00,0.000,1030,0.000,0.109,2799,3053,2575,2641,2509,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8507,0.59,145.9,2800,3054,2641,2509,500.1,12.5,485,8556,0.00,1.33,0.00,0.000,260,0.000,0.123,2799,3785,2575,2641,2509,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8609,0.56,145.9,2801,3787,2641,2510,487.0,13.3,489,8657,0.10,1.25,0.00,0.000,5126,0.264,0.078,2776,3048,2574,2640,2509,0,0,0,0,0,0,14.48,14.63,28.83
$GC,8974,0.57,155.7,2777,3049,2640,2510,444.5,11.1,501,9023,0.00,2.38,3.10,1.034,8708,0.000,0.078,2786,1651,2563,2644,2483,0,0,0,0,0,0,28.83,14.60,13.64
$GC,9075,0.58,174.3,2787,1651,2652,2483,434.0,10.6,505,9142,0.00,2.42,22.23,1.393,9222,0.000,0.109,2786,3045,2464,2535,2394,0,0,0,0,0,0,28.83,14.58,13.90
$GC,9429,0.58,174.3,2786,3045,2531,2394,392.4,11.8,517,9477,0.00,1.35,0.00,0.000,260,0.000,0.123,2786,3787,2461,2529,2394,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9512,0.58,174.3,2788,3788,2530,2395,382.0,12.7,520,9560,0.00,1.25,0.00,0.000,1030,0.000,0.079,2791,3053,2461,2529,2394,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9894,0.58,174.3,2792,3053,2530,2394,334.9,12.1,533,9942,0.00,2.33,0.00,0.000,516,0.000,0.080,2802,1644,2461,2529,2394,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10012,0.61,188.3,2802,1644,2531,2394,321.9,10.9,538,10061,0.00,2.47,11.77,1.315,9222,0.000,0.109,2802,3058,2411,2480,2343,0,0,0,0,0,0,28.83,14.57,13.98
$GC,10347,0.61,188.3,2802,3059,2475,2341,280.9,12.0,549,10396,0.00,1.33,0.00,0.000,260,0.000,0.123,2802,3787,2407,2474,2340,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10514,0.61,188.3,2802,3787,2475,2340,259.5,13.2,557,10563,0.00,1.25,0.00,0.000,1030,0.000,0.080,2807,3051,2406,2474,2339,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11104,0.63,218.4,2808,3052,2475,2340,194.0,10.0,590,11171,0.00,0.00,26.20,1.131,8198,0.000,0.000,2807,3051,2285,2352,2219,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11679,0.70,272.0,2808,3058,2346,2215,140.5,8.8,622,11762,0.00,2.45,45.42,1.043,8708,0.000,0.079,2816,1649,2068,2132,2005,0,0,0,0,0,0,28.83,14.28,13.84
$GC,11881,0.80,331.5,2816,1649,2125,2002,123.1,8.5,632,11981,0.00,2.50,51.35,1.005,9222,0.000,0.111,2816,3053,1819,1877,1762,0,0,0,0,0,0,28.83,14.32,13.74
$GC,12486,0.92,401.4,2817,3054,1870,1755,65.4,7.9,666,12569,0.17,2.47,34.65,0.376,10756,0.132,0.080,2903,1643,1555,1618,1492,0,0,0,0,0,0,14.47,14.34,14.21
$GC,12671,0.98,428.1,2904,1643,1621,1493,46.4,10.2,675,12736,0.00,2.53,16.05,0.317,9222,0.000,0.112,2903,3058,1444,1503,1386,0,0,0,0,0,0,28.83,14.36,14.25
$FREEZE,8.79,4.652,-1.407,2,1,0
$FREEZE,7.55,4.652,-1.406,2,1,0
$GC,13270,1.18,600.0,2904,3058,1508,1385,11.7,2.5,708,13408,0.17,1.38,91.47,0.214,10500,0.137,0.132,2978,3785,739,721,757,0,0,0,0,0,0,14.45,14.26,14.26
$FREEZE,3.57,4.815,-1.395,2,1,0
$FREEZE,2.74,5.206,-1.355,2,1,0
$FREEZE,1.53,5.206,-1.354,2,1,0
$STATE,13459,end climb,SURFACE_DEPTH_REACHED
$STATE,13459,begin surface coast
$FREEZE,1.24,5.086,-0.911,2,1,0
$FREEZE,1.23,5.086,-0.911,2,1,0
$FREEZE,1.34,5.102,-1.336,2,1,0
$FREEZE,1.22,5.102,-1.336,2,1,0
$FINISH,1.2,1.019420
$STATE,13477,end surface coast,CONTROL_FINISHED_OK
$STATE,13477,begin surface
$SM_CCo,13504,32.17,0.193,0,0,499,659.12
$SM_GC,2.21,8.10,1.95,32.17,0.064,0.081,0.193,197,2684,499,-7.40,0.96,659.12,0,0,0,0,0,0,14.42,14.38,14.28
$RAFOS_CLK,40
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7118.99,-14429.35,110814,082051
$TT8_MAMPS,0.077896,0.077896
$HUMID,48.97
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,13.20
$XPDR_PINGS,0
$SC_FREEKB,3976608
$24V_AH,13.03,36.425
$10V_AH,12.82,0.000
$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,21.875,70.575,582.575,32.175,0.000,0.000,0.000,226.575,0.000,0.000,25.554,0.000,5948.275,442.074,7405.663,165.690,0.000,3209.213,0.000,1073.591,1485.000,0.535,0.000
$DEVICE_MAMPS,454.410,144.585,1705.950,192.780,0.000,0.000,0.000,179.775,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13504.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.101,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,314012
$DATA_FILE_SIZE,23473,721
$CAP_FILE_SIZE,198432,0
$CFSIZE,2097872896,2067300352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14336.39,0x2378b6,7,5
$SOUNDSPEED,1450.6
$GPS,110814,161124,7157.488,-14424.404,22,1.0,42,22.6