version: 66.12
glider: 198
mission: 5
dive: 108
start: 8 12 114 16 2 23
data:
$ID,198
$MISSION,5
$DIVE,108
$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,-3445.7712
$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,35
$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
$GPS1,120814,155254,7209.294,-14426.118,26,0.8,46,22.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.4
$GPS2,120814,160158,7209.356,-14426.380,4,0.8,24,22.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.1,75803,-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,-145.9,203,2673,456,538,0.0,0.0,0,110,0.00,0.00,-54.58,0.000,16386,0.000,0.000,203,2674,1825,1852,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.70,-145.9,203,2674,1852,1799,3.2,-3.1,7,196,10.95,2.00,-40.90,0.000,18692,0.451,0.140,2346,3787,3780,3846,3715,0,0,0,0,0,0,14.14,14.35,14.59
$GC,421,-0.62,-145.9,2343,3787,3844,3722,76.3,-22.6,64,450,0.17,1.88,0.00,0.000,3078,0.327,0.071,2383,2676,3781,3846,3717,0,0,0,0,0,0,14.26,14.40,28.83
$GC,746,-0.62,-145.9,2380,2676,3847,3723,128.4,-15.4,95,774,0.00,2.00,0.00,0.000,260,0.000,0.122,2375,3790,3784,3846,3722,0,0,0,0,0,0,28.83,14.43,28.83
$GC,929,-0.62,-145.9,2376,3792,3847,3729,157.8,-16.0,127,957,0.00,1.88,0.00,0.000,1030,0.000,0.072,2375,2675,3784,3846,3722,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1262,-0.62,-145.9,2376,2675,3847,3722,202.9,-12.6,159,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2675,3783,3846,3721,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140812160442.629206,3,1510,25,0199,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,12.0,0.8,-100,2.2,-01,-0.2,29,900,0025*3B
$MODEM_MSG,CARDP,9,0,1,0,0,1;5;5a8c5a4c31;,*0D
$MODEM_MSG,CACST,6,0,20140812161113.991120,3,185,10,0111,0150,100,00,00,02,04,1,009,000,0,5,1,0,150,-0.6,4.0,-100,-1.0,-01,-0.2,26,900,0025*18
$MODEM_MSG,CACST,6,1,20140812161624.823645,3,1129,24,0176,0150,100,00,00,01,03,-1,-01,-01,1,3,1,0,150,13.7,1.5,-100,1.5,-01,-0.1,28,900,0025*3B
$GC,1585,-0.62,-145.9,2376,2676,3847,3720,240.3,-10.8,190,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2675,3782,3847,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.65,-145.9,2376,2675,3847,3720,275.2,-10.4,206,1947,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3792,3783,3846,3720,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1996,-0.65,-145.9,2375,3793,3847,3720,283.5,-11.0,217,2026,0.00,1.85,0.00,0.000,1030,0.000,0.075,2374,2677,3787,3856,3718,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2302,-0.68,-145.9,2374,2678,3847,3717,314.0,-9.8,228,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3782,3846,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2606,-0.71,-145.9,2375,2678,3847,3717,343.3,-9.7,238,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2677,3781,3846,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2910,-0.74,-145.9,2375,2678,3847,3717,372.1,-9.4,248,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3781,3846,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3214,-0.78,-145.9,2375,2678,3847,3715,400.8,-9.5,258,3243,0.12,0.00,0.00,0.000,4102,0.155,0.000,2324,2678,3781,3848,3715,0,0,0,0,0,0,14.72,28.83,28.83
$GC,3518,-0.78,-145.9,2325,2678,3846,3716,436.1,-11.8,268,3547,0.00,1.98,0.00,0.000,260,0.000,0.124,2317,3793,3780,3846,3715,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3586,-0.75,-145.9,2319,3793,3846,3716,444.7,-12.7,277,3615,0.00,1.85,0.00,0.000,1030,0.000,0.073,2317,2674,3780,3846,3714,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3925,-0.75,-145.9,2318,2675,3847,3714,485.0,-11.7,290,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2674,3779,3845,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4229,-0.75,-145.9,2319,2675,3847,3715,520.2,-11.6,300,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2674,3779,3845,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,-0.75,-145.9,2318,2674,3847,3714,555.6,-11.7,310,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2674,3780,3846,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4835,-0.75,-145.9,2318,2674,3847,3714,590.8,-11.5,320,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2674,3780,3846,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5138,-0.75,-145.9,2319,2675,3848,3715,626.2,-11.7,330,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2674,3780,3846,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5442,-0.75,-145.9,2319,2675,3847,3715,661.2,-11.6,340,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2674,3780,3846,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5746,-0.75,-145.9,2318,2675,3847,3715,695.8,-11.3,350,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2674,3782,3851,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,-0.75,-145.9,2318,2674,3847,3714,730.2,-11.4,360,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2674,3780,3846,3714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6231,begin apogee
$GC,6235,-0.14,0.0,2316,3059,3847,3715,751.0,-11.3,366,6386,0.85,0.00,124.53,1.784,10246,0.282,0.000,2538,3059,3187,3266,3108,0,0,0,0,0,0,14.62,28.83,13.33
$STATE,6387,end apogee,CONTROL_FINISHED_OK
$STATE,6387,begin climb
$GC,6388,0.70,145.9,2539,3056,3260,3102,755.5,0.0,370,6554,0.90,1.42,124.03,1.780,10500,0.187,0.116,2801,3783,2583,2648,2518,0,0,0,0,0,0,14.00,13.61,13.02
$GC,6606,0.67,145.9,2802,3783,2646,2516,738.6,12.7,381,6654,0.00,1.33,0.00,0.000,1030,0.000,0.076,2806,3048,2580,2645,2515,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6940,0.67,145.9,2807,3049,2645,2514,694.7,12.9,392,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3048,2578,2644,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7275,0.67,145.9,2807,3048,2646,2512,651.1,13.0,403,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3048,2578,2644,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7609,0.67,145.9,2807,3048,2646,2511,607.2,13.1,414,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3048,2578,2644,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,0.67,145.9,2806,3048,2646,2511,563.4,13.1,425,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3048,2578,2644,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8279,0.67,145.9,2807,3047,2645,2511,520.4,12.9,436,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3048,2577,2644,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8613,0.67,145.9,2808,3049,2645,2512,477.5,12.9,447,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3048,2577,2644,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8948,0.67,145.9,2808,3049,2645,2512,434.5,12.9,458,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3048,2577,2644,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,0.67,145.9,2807,3049,2645,2512,392.0,12.7,469,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2577,2644,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9617,0.67,145.9,2807,3049,2645,2512,349.6,12.5,480,9666,0.00,2.33,0.00,0.000,516,0.000,0.078,2817,1647,2578,2645,2511,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9701,0.67,145.9,2817,1648,2645,2512,339.6,12.5,483,9750,0.00,2.45,0.00,0.000,1030,0.000,0.107,2817,3050,2577,2644,2511,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10083,0.67,145.9,2818,3050,2645,2510,291.2,12.5,496,10131,0.00,1.33,0.00,0.000,260,0.000,0.121,2816,3793,2577,2644,2511,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10250,0.63,145.9,2818,3787,2646,2511,269.2,13.5,504,10299,0.00,1.25,0.00,0.000,1030,0.000,0.077,2822,3048,2578,2645,2511,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10795,0.65,176.3,2823,3047,2646,2511,206.9,10.0,533,10862,0.00,2.42,25.08,1.190,8708,0.000,0.075,2832,1643,2459,2527,2392,0,0,0,0,0,0,28.83,14.46,13.97
$GC,10947,0.67,211.4,2833,1644,2523,2391,191.9,9.8,540,11012,0.00,2.47,30.00,1.151,9222,0.000,0.107,2832,3051,2318,2382,2254,0,0,0,0,0,0,28.83,14.47,13.86
$GC,11536,0.71,257.9,2833,3051,2372,2248,132.8,9.2,573,11620,0.00,0.00,38.50,1.076,8198,0.000,0.000,2832,3050,2125,2189,2062,0,0,0,0,0,0,28.83,28.83,13.85
$GC,12128,0.77,308.1,2834,3051,2184,2057,76.2,9.0,606,12194,0.00,2.42,24.40,0.409,8708,0.000,0.076,2841,1655,1935,2002,1869,0,0,0,0,0,0,28.83,14.43,14.22
$GC,12247,0.87,371.5,2842,1656,2006,1870,66.1,8.3,611,12329,0.00,2.50,34.17,0.376,9222,0.000,0.109,2841,3062,1674,1733,1615,0,0,0,0,0,0,28.83,14.44,14.20
$GC,12835,1.01,474.2,2842,3063,1732,1616,25.3,6.2,644,12937,0.20,2.47,54.30,0.256,10756,0.122,0.080,2932,1649,1253,1299,1208,0,0,0,0,0,0,14.52,14.40,14.32
$FREEZE,8.92,3.622,-1.439,2,1,0
$FREEZE,7.49,3.622,-1.438,2,1,0
$FREEZE,7.28,4.622,-1.374,2,1,0
$FREEZE,7.14,4.622,-1.374,2,1,0
$GC,13038,1.17,580.3,2933,1650,1299,1209,8.9,6.0,654,13143,0.00,2.45,55.25,0.207,9222,0.000,0.109,2932,3045,818,810,826,0,0,0,0,0,0,28.83,14.44,14.31
$FREEZE,5.57,5.183,-1.327,2,1,0
$FREEZE,4.88,5.216,-1.326,2,1,0
$FREEZE,4.15,5.250,-1.330,2,1,0
$FREEZE,3.12,5.172,-1.325,2,1,0
$FREEZE,2.25,5.206,-1.321,2,1,0
$FREEZE,1.37,5.165,-1.321,2,1,0
$STATE,13242,end climb,SURFACE_DEPTH_REACHED
$STATE,13242,begin surface coast
$FREEZE,1.28,5.196,-1.318,2,1,0
$FREEZE,1.25,5.208,-0.718,2,1,0
$FREEZE,1.25,5.221,-0.711,2,1,0
$FINISH,1.3,1.010354
$STATE,13265,end surface coast,CONTROL_FINISHED_OK
$STATE,13265,begin surface
$SM_CCo,13291,41.88,0.195,0,0,499,658.88
$SM_GC,2.16,8.20,0.62,41.88,0.098,0.088,0.195,200,2680,499,-7.39,0.93,658.88,0,0,0,0,0,0,14.50,14.49,14.35
$RAFOS_CLK,796
$MODEM,9,1407859873,74.17700,-149.48441,192.991,280054.0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7132.53,-14433.45,120814,155556
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.33
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3973472
$24V_AH,13.02,38.760
$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,21.400,41.600,510.250,41.875,0.000,0.000,0.000,292.225,0.000,0.000,25.204,0.000,6317.859,380.993,7045.797,155.657,0.000,3021.068,0.000,999.505,1249.000,0.535,0.000
$DEVICE_MAMPS,450.585,139.995,1783.980,195.075,0.000,0.000,0.000,179.010,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13292.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.257,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,310068
$DATA_FILE_SIZE,23378,667
$CAP_FILE_SIZE,186865,0
$CFSIZE,2097872896,2065956864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14335.26,0x2378b6,7,5
$SOUNDSPEED,1450.8
$GPS,120814,194629,7211.179,-14425.829,28,0.8,48,22.7