version: 66.12
glider: 198
mission: 5
dive: 104
start: 8 12 114 0 8 58
data:
$ID,198
$MISSION,5
$DIVE,104
$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,-3440.73
$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,33
$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
$GPS1,120814,000118,7201.490,-14423.576,35,0.7,55,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.3
$GPS2,120814,000839,7201.513,-14423.650,3,0.7,24,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,342.2,90107,-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,-145.9,196,2687,454,541,0.0,0.0,0,120,0.00,0.00,-64.40,0.000,16386,0.000,0.000,197,2687,2062,2103,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.70,-145.9,197,2688,2102,2022,3.5,-2.8,8,191,11.05,1.98,-27.83,0.000,18692,0.452,0.142,2345,3788,3783,3857,3710,0,0,0,0,0,0,14.12,14.33,14.56
$GC,415,-0.62,-145.9,2350,3789,3858,3716,78.0,-21.4,62,445,0.17,1.88,0.00,0.000,3078,0.317,0.073,2382,2667,3785,3854,3716,0,0,0,0,0,0,14.27,14.45,28.83
$GC,749,-0.62,-145.9,2382,2667,3858,3716,131.0,-14.9,94,778,0.00,2.03,0.00,0.000,260,0.000,0.123,2374,3789,3786,3857,3716,0,0,0,0,0,0,28.83,14.42,28.83
$MODEM_MSG,CACST,6,1,20140812001520.438799,3,1119,12,0221,0150,100,00,00,03,05,1,000,000,2,5,1,0,150,8.7,1.8,-100,1.2,-01,-0.1,22,900,0025*2A
$MODEM_MSG,CACST,6,1,20140812001641.817634,3,169,16,0109,0150,100,01,01,01,01,-1,-01,-01,1,3,1,0,150,10.9,1.7,-100,1.3,-01,0.3,24,900,0025*28
$GC,993,-0.62,-145.9,2375,3789,3857,3716,169.3,-14.5,138,1022,0.00,1.85,0.00,0.000,1030,0.000,0.076,2374,2680,3786,3857,3716,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1327,-0.62,-145.9,2375,2681,3857,3717,212.4,-11.9,170,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3790,3864,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1650,-0.62,-145.9,2375,2681,3857,3715,249.0,-10.8,201,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3785,3856,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,-0.64,-145.9,2374,2680,3858,3715,282.1,-10.3,212,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2680,3783,3853,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2265,-0.67,-145.9,2374,2680,3857,3715,312.4,-9.9,222,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3784,3855,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-0.70,-145.9,2375,2680,3855,3715,342.3,-9.8,232,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2680,3784,3854,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2873,-0.73,-145.9,2375,2681,3855,3715,371.2,-9.5,242,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3784,3854,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3177,-0.77,-145.9,2376,2681,3854,3715,400.4,-9.6,252,3206,0.00,1.98,0.00,0.000,260,0.000,0.130,2374,3787,3782,3853,3712,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3245,-0.79,-145.9,2375,3787,3855,3714,407.5,-9.7,261,3274,0.12,1.83,0.00,0.000,5126,0.149,0.077,2322,2680,3781,3849,3713,0,0,0,0,0,0,14.71,14.73,28.83
$GC,3583,-0.79,-145.9,2323,2680,3854,3713,447.7,-11.9,274,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2680,3783,3853,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3886,-0.79,-145.9,2326,2681,3853,3714,483.8,-11.9,284,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3783,3853,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4189,-0.79,-145.9,2323,2680,3854,3713,519.3,-11.7,294,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3782,3852,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4492,-0.79,-145.9,2324,2681,3853,3714,553.8,-11.2,304,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3782,3852,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4796,-0.79,-145.9,2327,2681,3853,3714,588.0,-11.3,314,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2679,3783,3853,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5100,-0.79,-145.9,2323,2681,3853,3713,622.1,-11.1,324,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3853,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5403,-0.79,-145.9,2324,2681,3853,3714,655.6,-11.1,334,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3785,3852,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,-0.79,-145.9,2324,2681,3853,3714,689.6,-11.2,344,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3782,3852,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6011,-0.79,-145.9,2323,2681,3853,3713,723.6,-11.1,354,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3782,3852,3713,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6252,begin apogee
$GC,6256,-0.14,0.0,2320,3053,3853,3713,750.1,-10.8,362,6458,0.82,0.00,176.43,1.461,10246,0.278,0.000,2538,3053,3182,3259,3106,0,0,0,0,0,0,14.62,28.83,13.40
$STATE,6459,end apogee,CONTROL_FINISHED_OK
$STATE,6459,begin climb
$GC,6461,0.70,145.9,2539,3054,3259,3102,755.0,0.0,368,6627,0.93,1.45,124.15,1.729,10500,0.183,0.118,2807,3787,2579,2644,2515,0,0,0,0,0,0,13.97,13.57,13.00
$GC,6712,0.66,145.9,2808,3788,2641,2512,732.0,14.4,381,6761,0.00,1.30,0.00,0.000,1030,0.000,0.079,2812,3072,2575,2641,2510,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7126,0.64,145.9,2812,3065,2642,2509,675.0,13.4,396,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3066,2574,2640,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7461,0.61,145.9,2813,3065,2642,2509,630.4,13.3,407,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3066,2574,2640,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7795,0.59,145.9,2813,3065,2642,2509,586.1,13.2,418,7844,0.12,0.00,0.00,0.000,4102,0.318,0.000,2782,3066,2574,2641,2508,0,0,0,0,0,0,14.40,28.83,28.83
$GC,8130,0.59,145.9,2784,3066,2642,2508,546.0,11.9,429,8179,0.00,2.38,0.00,0.000,516,0.000,0.079,2793,1638,2574,2641,2508,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8197,0.59,145.9,2793,1639,2642,2509,538.6,11.8,431,8246,0.00,2.47,0.00,0.000,1030,0.000,0.109,2793,3046,2574,2641,2508,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8595,0.59,145.9,2794,3047,2641,2509,490.5,12.1,445,8644,0.00,1.35,0.00,0.000,260,0.000,0.123,2793,3792,2574,2641,2508,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8697,0.59,145.9,2794,3792,2642,2508,477.8,13.1,449,8744,0.00,1.27,0.00,0.000,1030,0.000,0.079,2798,3044,2574,2640,2508,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9061,0.59,145.9,2799,3044,2642,2508,431.6,12.3,461,9109,0.00,2.35,0.00,0.000,516,0.000,0.080,2807,1638,2574,2640,2508,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9127,0.59,145.9,2807,1639,2642,2508,423.7,12.3,463,9176,0.00,2.45,0.00,0.000,1030,0.000,0.109,2807,3050,2573,2640,2507,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9525,0.59,145.9,2808,3050,2641,2508,373.4,12.6,477,9574,0.00,1.33,0.00,0.000,260,0.000,0.122,2807,3787,2574,2640,2508,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9627,0.57,145.9,2808,3787,2642,2508,360.2,13.6,481,9675,0.12,1.25,0.00,0.000,5126,0.262,0.079,2778,3048,2574,2640,2508,0,0,0,0,0,0,14.51,14.65,28.83
$GC,9991,0.58,163.0,2778,3049,2641,2508,319.1,10.7,493,10040,0.00,2.40,13.95,1.314,8708,0.000,0.077,2788,1644,2513,2583,2443,0,0,0,0,0,0,28.83,14.54,14.01
$GC,10092,0.61,181.2,2788,1644,2580,2442,308.7,10.7,497,10141,0.00,2.45,15.80,1.274,9222,0.000,0.109,2788,3048,2446,2516,2376,0,0,0,0,0,0,28.83,14.49,13.95
$GC,10458,0.62,188.0,2788,3048,2503,2366,267.1,11.3,509,10506,0.00,0.00,1.77,0.254,8454,0.000,0.000,2787,3048,2428,2507,2350,0,0,0,0,0,0,28.83,28.83,14.42
$GC,11040,0.67,224.0,2788,3047,2514,2350,206.9,9.7,541,11123,0.00,0.00,36.08,1.121,8198,0.000,0.000,2788,3048,2260,2328,2193,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11631,0.76,286.1,2789,3048,2321,2193,153.5,8.3,574,11732,0.12,2.42,52.83,1.045,10756,0.145,0.078,2856,1641,2007,2066,1948,0,0,0,0,0,0,14.54,14.23,13.79
$GC,11800,0.79,293.3,2857,1642,2063,1946,136.0,11.2,582,11849,0.00,2.50,1.67,0.228,9222,0.000,0.108,2857,3048,1995,2062,1929,0,0,0,0,0,0,28.83,14.32,14.21
$GC,12373,0.81,328.3,2857,3048,2067,1929,72.2,9.8,614,12439,0.00,2.38,19.52,0.402,8708,0.000,0.078,2863,1644,1856,1927,1785,0,0,0,0,0,0,28.83,14.42,14.25
$GC,12458,0.86,361.6,2863,1644,1933,1785,63.8,9.9,617,12523,0.00,2.50,19.35,0.367,9222,0.000,0.110,2863,3050,1717,1782,1653,0,0,0,0,0,0,28.83,14.44,14.23
$GC,13048,1.01,474.0,2863,3050,1787,1653,16.8,5.6,650,13149,0.12,2.42,60.72,0.236,10756,0.158,0.076,2929,1650,1254,1299,1209,0,0,0,0,0,0,14.51,14.43,14.33
$FREEZE,8.85,3.494,-1.365,2,1,0
$FREEZE,8.72,4.618,-1.335,2,1,0
$FREEZE,8.83,4.618,-1.335,2,1,0
$FREEZE,8.73,5.013,-1.333,2,1,0
$FREEZE,8.52,5.013,-1.332,2,1,0
$FREEZE,8.43,5.237,-1.340,2,1,0
$FREEZE,8.20,5.237,-1.340,2,1,0
$FREEZE,7.89,5.242,-1.353,2,1,0
$FREEZE,7.56,5.242,-1.353,2,1,0
$FREEZE,7.02,5.251,-1.364,2,1,0
$FREEZE,6.57,5.251,-1.364,2,1,0
$FREEZE,5.98,5.251,-1.368,2,1,0
$FREEZE,5.57,5.251,-1.367,2,1,0
$FREEZE,4.98,5.250,-1.369,2,1,0
$FREEZE,4.51,5.250,-1.369,2,1,0
$FREEZE,3.82,5.250,-1.369,2,1,0
$FREEZE,3.29,5.250,-1.368,2,1,0
$FREEZE,2.65,5.140,-1.372,2,1,0
$FREEZE,1.90,5.140,-1.372,2,1,0
$STATE,13586,end climb,SURFACE_DEPTH_REACHED
$STATE,13586,begin surface coast
$FREEZE,1.19,5.228,-0.563,2,1,0
$FREEZE,1.40,5.228,-0.563,2,1,0
$FREEZE,1.27,5.198,-1.369,2,1,0
$FREEZE,1.46,5.198,-1.369,2,1,0
$FREEZE,1.32,5.135,-1.371,2,1,0
$FREEZE,1.33,5.135,-1.371,2,1,0
$FINISH,1.3,1.019919
$STATE,13614,end surface coast,CONTROL_FINISHED_OK
$STATE,13614,begin surface
$SM_CCo,13641,98.35,0.194,0,0,499,658.88
$SM_GC,2.33,8.07,1.90,98.35,0.089,0.119,0.194,196,2686,499,-7.40,-0.45,658.88,0,0,0,0,0,0,14.56,14.50,14.36
$RAFOS_CLK,817
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7125.74,-14426.93,110814,200739
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.01
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,13.20
$XPDR_PINGS,1
$SC_FREEKB,3975264
$24V_AH,13.00,37.402
$10V_AH,12.83,0.000
$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,21.675,48.775,522.275,98.350,0.000,0.000,0.000,250.350,0.250,0.000,25.409,0.000,6237.129,448.836,7346.154,160.084,0.000,3058.417,0.000,1024.683,854.000,0.537,0.000
$DEVICE_MAMPS,452.115,141.525,1728.900,194.310,0.000,0.000,0.000,175.185,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.296,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,312272
$DATA_FILE_SIZE,23431,686
$CAP_FILE_SIZE,194504,0
$CFSIZE,2097872896,2066743296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14228.57,0x2378b6,7,5
$SOUNDSPEED,1450.9
$GPS,120814,035954,7203.518,-14424.688,38,0.8,58,22.7