version: 66.12
glider: 198
mission: 5
dive: 116
start: 8 13 114 23 23 1
data:
$ID,198
$MISSION,5
$DIVE,116
$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,-3455.8511
$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
$GPS1,130814,231524,7222.130,-14420.909,30,0.8,51,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-70.5
$GPS2,130814,232246,7222.100,-14420.897,4,0.8,25,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,343.8,52013,-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,-145.9,196,2669,442,540,0.0,0.0,0,124,0.00,0.00,-67.88,0.000,16386,0.000,0.000,195,2669,2095,2130,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.70,-145.9,196,2668,2134,2064,3.0,-1.8,8,201,10.88,2.08,-29.98,0.000,18692,0.447,0.148,2349,3784,3786,3894,3679,0,0,0,0,0,0,14.16,14.33,14.62
$GC,426,-0.62,-145.9,2349,3785,3885,3694,79.2,-22.8,63,456,0.15,1.88,0.00,0.000,3078,0.327,0.074,2379,2678,3789,3883,3695,0,0,0,0,0,0,14.33,14.51,28.83
$GC,751,-0.62,-145.9,2380,2679,3884,3696,132.4,-14.9,94,779,0.00,2.00,0.00,0.000,260,0.000,0.125,2374,3786,3789,3883,3695,0,0,0,0,0,0,28.83,14.48,28.83
$GC,828,-0.62,-145.9,2375,3786,3884,3695,144.7,-16.0,105,858,0.00,1.85,0.00,0.000,1030,0.000,0.074,2375,2682,3789,3883,3695,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1153,-0.62,-145.9,2374,2679,3884,3695,189.3,-12.8,136,1181,0.00,2.38,0.00,0.000,516,0.000,0.084,2374,1266,3789,3883,3695,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1211,-0.64,-145.9,2375,1264,3884,3696,196.6,-12.6,143,1240,0.00,2.50,0.00,0.000,1030,0.000,0.109,2374,2679,3789,3883,3695,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1535,-0.64,-145.9,2375,2679,3884,3695,235.0,-11.7,174,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3789,3883,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.67,-145.9,2375,2680,3884,3695,270.1,-10.6,193,1887,0.00,1.98,0.00,0.000,260,0.000,0.127,2373,3791,3788,3882,3695,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1951,-0.67,-145.9,2374,3792,3884,3695,280.6,-10.8,207,1980,0.00,1.88,0.00,0.000,1030,0.000,0.074,2373,2675,3788,3881,3695,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2295,-0.70,-145.9,2374,2674,3883,3696,316.2,-10.3,221,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3788,3881,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,-0.73,-145.9,2374,2675,3883,3695,346.3,-9.6,231,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3788,3881,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,-0.76,-145.9,2374,2675,3887,3696,376.2,-9.8,241,2931,0.00,2.00,0.00,0.000,260,0.000,0.127,2374,3787,3788,3881,3695,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2966,-0.79,-145.9,2375,3787,3882,3696,382.8,-10.7,249,2995,0.12,1.85,0.00,0.000,5126,0.150,0.074,2323,2676,3787,3880,3694,0,0,0,0,0,0,14.58,14.60,28.83
$GC,3309,-0.79,-145.9,2323,2677,3882,3695,423.8,-12.0,263,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2676,3787,3880,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3612,-0.79,-145.9,2323,2675,3882,3695,459.8,-12.0,273,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2676,3787,3880,3695,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814001631.494334,3,164,22,0090,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,15.5,1.1,-100,1.9,-01,0.1,25,900,0025*21
$GC,3914,-0.79,-145.9,2323,2677,3881,3696,496.2,-12.0,283,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2676,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4217,-0.79,-145.9,2324,2677,3880,3697,532.8,-12.0,293,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2676,3788,3881,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.79,-145.9,2323,2677,3880,3697,568.8,-11.8,303,4549,0.00,2.35,0.00,0.000,516,0.000,0.082,2322,1262,3788,3880,3696,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4578,-0.79,-145.9,2323,1262,3882,3696,575.6,-11.4,310,4607,0.00,2.47,0.00,0.000,1030,0.000,0.108,2318,2680,3788,3880,3696,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4926,-0.79,-145.9,2318,2680,3882,3696,616.9,-11.8,325,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5229,-0.79,-145.9,2319,2681,3881,3697,652.3,-11.7,335,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,-0.79,-145.9,2318,2680,3882,3697,687.6,-11.5,345,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2680,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5837,-0.79,-145.9,2318,2680,3881,3697,722.3,-11.3,355,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3788,3879,3697,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6108,begin apogee
$GC,6112,-0.14,0.0,2316,3060,3881,3697,753.3,-11.3,364,6316,0.85,0.00,178.27,1.454,10246,0.278,0.000,2537,3059,3186,3263,3110,0,0,0,0,0,0,14.54,28.83,13.40
$STATE,6317,end apogee,CONTROL_FINISHED_OK
$STATE,6317,begin climb
$GC,6319,0.70,145.9,2539,3060,3258,3106,759.1,0.0,370,6487,0.93,1.42,124.28,1.724,10500,0.183,0.115,2805,3782,2581,2640,2522,0,0,0,0,0,0,13.95,13.52,12.93
$GC,6572,0.66,145.9,2806,3783,2640,2519,736.8,14.2,383,6621,0.00,1.30,0.00,0.000,1030,0.000,0.074,2810,3058,2579,2639,2519,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7004,0.64,145.9,2811,3059,2640,2519,679.6,13.0,399,7052,0.00,2.40,0.00,0.000,516,0.000,0.076,2820,1648,2578,2639,2518,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7087,0.64,145.9,2821,1649,2640,2518,669.4,12.7,402,7136,0.00,2.47,0.00,0.000,1030,0.000,0.106,2820,3042,2578,2639,2518,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7469,0.61,145.9,2821,3043,2639,2518,618.2,13.5,415,7518,0.12,1.35,0.00,0.000,4356,0.292,0.116,2789,3805,2578,2639,2517,0,0,0,0,0,0,14.36,14.47,28.83
$GC,7620,0.59,145.9,2791,3806,2639,2518,598.2,13.3,422,7669,0.00,1.30,0.00,0.000,1030,0.000,0.074,2795,3047,2578,2639,2517,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8034,0.59,145.9,2795,3047,2641,2517,547.1,12.1,437,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3047,2578,2639,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8369,0.59,145.9,2795,3047,2640,2516,506.2,12.3,448,8418,0.00,2.33,0.00,0.000,516,0.000,0.077,2805,1649,2578,2639,2517,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8453,0.59,145.9,2805,1649,2640,2517,496.8,11.9,451,8502,0.00,2.45,0.00,0.000,1030,0.000,0.106,2804,3056,2577,2639,2516,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8835,0.59,145.9,2805,3057,2640,2518,448.6,12.7,464,8883,0.00,1.33,0.00,0.000,260,0.000,0.122,2805,3787,2578,2639,2517,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8969,0.55,145.9,2806,3787,2640,2517,430.6,13.9,470,9018,0.12,1.25,0.00,0.000,5126,0.255,0.076,2774,3048,2578,2639,2517,0,0,0,0,0,0,14.49,14.64,28.83
$GC,9401,0.56,160.3,2775,3045,2639,2517,382.1,10.9,486,9450,0.00,2.40,12.27,1.394,8708,0.000,0.075,2784,1644,2524,2588,2461,0,0,0,0,0,0,28.83,14.54,13.97
$GC,9503,0.59,180.6,2785,1644,2586,2460,371.8,10.5,490,9569,0.00,2.45,17.85,1.340,9222,0.000,0.106,2784,3046,2439,2502,2377,0,0,0,0,0,0,28.83,14.52,13.90
$GC,9856,0.59,180.6,2785,3047,2500,2377,330.1,12.0,502,9904,0.00,1.35,0.00,0.000,260,0.000,0.121,2785,3788,2437,2498,2376,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9956,0.59,180.6,2786,3789,2499,2377,317.6,12.9,506,10004,0.00,1.25,0.00,0.000,1030,0.000,0.075,2789,3051,2436,2498,2375,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10321,0.59,180.6,2790,3051,2499,2376,272.8,11.9,518,10369,0.00,2.35,0.00,0.000,516,0.000,0.077,2799,1644,2437,2498,2376,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10404,0.59,180.6,2800,1644,2499,2376,263.5,11.7,521,10453,0.00,2.47,0.00,0.000,1030,0.000,0.106,2799,3056,2436,2498,2375,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10953,0.61,197.9,2800,3056,2499,2376,202.9,10.7,551,11002,0.00,1.33,14.52,1.187,8452,0.000,0.118,2799,3783,2372,2435,2310,0,0,0,0,0,0,28.83,14.47,14.01
$GC,11138,0.62,220.0,2800,3786,2430,2308,183.3,10.4,560,11204,0.00,1.25,19.50,1.134,9222,0.000,0.076,2804,3050,2279,2339,2219,0,0,0,0,0,0,28.83,14.53,13.94
$GC,11728,0.69,277.0,2804,3050,2336,2216,129.9,8.6,593,11811,0.00,2.42,48.65,1.024,8708,0.000,0.076,2808,1642,2048,2105,1992,0,0,0,0,0,0,28.83,14.28,13.85
$GC,11948,0.80,332.5,2808,1642,2095,1989,110.4,8.7,604,12031,0.12,2.53,47.35,0.988,11270,0.148,0.109,2865,3049,1823,1873,1773,0,0,0,0,0,0,14.42,14.37,13.78
$GC,12538,0.88,394.9,2866,3049,1860,1760,46.0,8.3,637,12604,0.00,0.00,30.67,0.318,8198,0.000,0.000,2865,3049,1579,1632,1526,0,0,0,0,0,0,28.83,28.83,14.25
$FREEZE,8.71,1.062,-1.437,2,1,0
$FREEZE,7.81,1.062,-1.436,2,1,0
$GC,13113,1.12,594.5,2866,3049,1638,1526,10.6,1.0,669,13250,0.22,0.00,105.25,0.214,11014,0.116,0.000,2956,3049,760,731,790,0,0,0,0,0,0,14.53,28.83,14.30
$FREEZE,4.18,1.113,-1.424,2,1,0
$FREEZE,2.84,1.121,-1.422,2,1,0
$FREEZE,1.39,1.125,-1.421,2,1,0
$STATE,13300,end climb,SURFACE_DEPTH_REACHED
$STATE,13300,begin surface coast
$FREEZE,1.25,1.123,-0.679,2,1,0
$FREEZE,1.17,1.052,-0.748,2,1,0
$FINISH,1.2,1.011030
$STATE,13313,end surface coast,CONTROL_FINISHED_OK
$STATE,13313,begin surface
$SM_CCo,13339,35.08,0.194,0,0,500,658.88
$SM_GC,2.22,8.35,0.62,35.08,0.105,0.078,0.194,207,2677,500,-7.38,1.07,658.88,0,0,0,0,0,0,14.47,14.47,14.33
$RAFOS_CLK,659
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7146.24,-14422.80,130814,192414
$TT8_MAMPS,0.042693,0.042693
$HUMID,48.26
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.30
$XPDR_PINGS,1
$SC_FREEKB,3969888
$24V_AH,12.93,41.384
$10V_AH,13.03,0.000
$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,21.875,63.900,598.625,35.075,0.000,0.000,0.000,251.275,0.250,0.000,26.376,0.000,5865.103,468.095,7336.384,160.325,0.000,3146.186,0.000,1011.988,1426.000,0.537,0.000
$DEVICE_MAMPS,446.760,148.410,1724.310,193.545,0.000,0.000,0.000,170.595,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13339.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.094,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,305440
$DATA_FILE_SIZE,23377,680
$CAP_FILE_SIZE,193856,0
$CFSIZE,2097872896,2064384000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14049.35,0x2378b6,7,5
$SOUNDSPEED,1450.7
$GPS,140814,030754,7223.512,-14420.638,34,0.8,55,22.8