version: 66.12
glider: 198
mission: 5
dive: 117
start: 8 14 114 3 18 41
data:
$ID,198
$MISSION,5
$DIVE,117
$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,-3457.1135
$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
$GPS1,140814,030754,7223.512,-14420.638,34,0.8,55,22.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.9
$GPS2,140814,031823,7223.464,-14420.758,4,0.8,24,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.0,49495,-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,-145.9,207,2676,436,549,0.0,0.0,0,94,0.00,0.00,-37.75,0.000,16386,0.000,0.000,202,2671,1453,1477,1429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.70,-145.9,203,2674,1482,1429,3.3,-3.1,5,214,10.90,2.03,-75.12,0.000,18692,0.448,0.144,2349,3792,3780,3904,3657,0,0,0,0,0,0,14.14,14.37,14.61
$GC,438,-0.63,-145.9,2350,3792,3913,3657,75.3,-23.0,69,467,0.15,1.88,0.00,0.000,3078,0.326,0.073,2380,2673,3784,3912,3657,0,0,0,0,0,0,14.33,14.51,28.83
$GC,772,-0.63,-145.9,2381,2673,3913,3657,129.3,-14.5,101,801,0.00,2.00,0.00,0.000,260,0.000,0.123,2374,3788,3784,3912,3656,0,0,0,0,0,0,28.83,14.50,28.83
$GC,871,-0.63,-145.9,2379,3788,3912,3657,144.9,-16.8,116,900,0.00,1.85,0.00,0.000,1030,0.000,0.074,2369,2677,3785,3914,3657,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1194,-0.63,-145.9,2375,2679,3913,3657,190.3,-13.2,147,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2683,3784,3912,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,-0.63,-145.9,2375,2678,3913,3657,229.7,-12.3,178,1546,0.00,2.00,0.00,0.000,260,0.000,0.129,2374,3786,3784,3912,3657,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1616,-0.63,-145.9,2374,3787,3913,3657,241.7,-12.3,193,1645,0.00,1.85,0.00,0.000,1030,0.000,0.075,2376,2675,3784,3912,3657,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1959,-0.65,-145.9,2375,2675,3913,3657,278.4,-10.2,208,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2675,3784,3912,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,-0.68,-145.9,2375,2675,3913,3657,308.5,-9.9,218,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3784,3912,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2566,-0.71,-145.9,2374,2675,3913,3657,338.7,-9.9,228,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2674,3784,3912,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,-0.74,-145.9,2375,2675,3914,3656,368.3,-9.8,238,2899,0.00,2.00,0.00,0.000,260,0.000,0.129,2372,3788,3784,3912,3657,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2943,-0.74,-145.9,2371,3787,3914,3657,375.7,-10.1,248,2972,0.00,1.85,0.00,0.000,1030,0.000,0.073,2371,2678,3787,3912,3663,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3276,-0.77,-145.9,2375,2678,3913,3657,407.5,-9.4,260,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2677,3784,3912,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.80,-145.9,2374,2678,3913,3656,436.3,-9.6,270,3609,0.12,2.00,0.00,0.000,4356,0.151,0.122,2312,3787,3784,3912,3657,0,0,0,0,0,0,14.58,14.52,28.83
$GC,3664,-0.77,-145.9,2313,3787,3913,3657,446.9,-13.9,282,3693,0.00,1.85,0.00,0.000,1030,0.000,0.073,2312,2676,3784,3912,3656,0,0,0,0,0,0,28.83,14.58,28.83
$MODEM_MSG,CACST,6,1,20140814040452.092022,3,2116,21,0094,0150,100,00,00,02,02,-1,-01,-01,1,3,0,0,150,14.9,2.5,-100,0.5,-01,0.6,24,900,0025*13
$GC,4017,-0.77,-145.9,2314,2677,3913,3657,491.6,-12.5,298,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3784,3912,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4320,-0.77,-145.9,2314,2677,3913,3657,529.7,-12.6,308,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3783,3911,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4623,-0.77,-145.9,2313,2677,3913,3658,567.3,-12.3,318,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3784,3911,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4926,-0.77,-145.9,2313,2676,3914,3656,604.0,-12.0,328,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2676,3786,3916,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5229,-0.77,-145.9,2314,2676,3912,3657,639.9,-11.8,338,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3783,3911,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.77,-145.9,2313,2679,3914,3657,675.5,-11.7,348,5561,0.00,1.98,0.00,0.000,260,0.000,0.123,2304,3792,3784,3912,3657,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5595,-0.74,-145.9,2304,3792,3913,3656,683.6,-13.2,356,5624,0.17,1.83,0.00,0.000,3078,0.306,0.072,2343,2678,3784,3912,3656,0,0,0,0,0,0,14.55,14.72,28.83
$GC,5938,-0.74,-145.9,2344,2678,3913,3657,718.9,-10.0,370,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2677,3784,3912,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6242,-0.74,-145.9,2343,2678,3914,3657,748.9,-9.9,380,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2678,3784,3912,3657,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6273,begin apogee
$GC,6277,-0.14,0.0,2341,3061,3913,3657,752.2,-10.0,381,6430,0.75,0.00,126.97,1.732,10246,0.269,0.000,2540,3061,3185,3280,3090,0,0,0,0,0,0,14.57,28.83,13.35
$STATE,6431,end apogee,CONTROL_FINISHED_OK
$STATE,6431,begin climb
$GC,6432,0.70,145.9,2541,3061,3272,3088,756.1,0.0,385,6604,0.90,0.00,123.55,1.724,10246,0.183,0.000,2804,3061,2580,2641,2520,0,0,0,0,0,0,13.99,28.83,13.04
$GC,6890,0.70,145.9,2804,3061,2641,2516,707.8,12.9,401,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3061,2577,2640,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7225,0.70,145.9,2804,3061,2641,2515,665.1,12.8,412,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3061,2577,2639,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,0.70,145.9,2804,3062,2640,2516,622.7,12.6,423,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3061,2577,2640,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,0.70,145.9,2804,3062,2640,2516,580.6,12.7,434,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3061,2577,2640,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8229,0.70,145.9,2804,3060,2641,2514,538.4,12.6,445,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3061,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8563,0.70,145.9,2803,3061,2641,2514,495.7,12.7,456,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3061,2577,2640,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8898,0.70,145.9,2805,3061,2641,2514,453.0,12.6,467,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3061,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9232,0.70,145.9,2805,3061,2640,2515,411.5,12.4,478,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3061,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9567,0.70,145.9,2805,3062,2640,2515,369.6,12.5,489,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3061,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9902,0.70,145.9,2804,3060,2640,2514,328.0,12.3,500,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3061,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10236,0.70,146.3,2804,3061,2640,2515,288.2,11.6,511,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3060,2577,2640,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10571,0.70,152.7,2804,3061,2640,2515,250.2,11.3,522,10620,0.00,2.42,1.55,0.255,8708,0.000,0.075,2814,1649,2572,2647,2498,0,0,0,0,0,0,28.83,14.66,14.53
$GC,10672,0.71,170.9,2815,1650,2653,2499,239.7,10.7,526,10738,0.00,2.42,20.67,1.196,9222,0.000,0.106,2813,3046,2479,2545,2414,0,0,0,0,0,0,28.83,14.62,14.03
$GC,11246,0.75,221.2,2814,3047,2543,2413,179.4,9.0,558,11329,0.00,1.38,42.17,1.080,8452,0.000,0.116,2815,3790,2273,2333,2214,0,0,0,0,0,0,28.83,14.31,13.87
$GC,11363,0.77,254.5,2816,3791,2330,2212,168.2,9.9,563,11429,0.00,1.27,28.83,1.073,9222,0.000,0.076,2818,3052,2140,2199,2081,0,0,0,0,0,0,28.83,14.39,13.80
$GC,11954,0.84,301.4,2819,3053,2190,2072,107.3,9.1,596,12037,0.12,2.45,39.45,1.001,10756,0.151,0.075,2885,1648,1946,2000,1892,0,0,0,0,0,0,14.49,14.24,13.86
$GC,12139,0.84,304.2,2886,1649,1995,1892,86.8,11.5,605,12187,0.00,2.50,0.00,0.000,1030,0.000,0.106,2884,3049,1941,1994,1888,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12695,0.91,397.5,2885,3049,1994,1882,33.0,6.7,636,12777,0.00,2.40,48.38,0.282,8708,0.000,0.075,2893,1648,1567,1621,1513,0,0,0,0,0,0,28.83,14.40,14.28
$GC,12846,1.01,466.1,2893,1648,1631,1514,21.9,8.0,643,12929,0.00,2.47,37.38,0.243,9222,0.000,0.106,2893,3053,1288,1333,1243,0,0,0,0,0,0,28.83,14.42,14.28
$FREEZE,8.57,1.749,-1.471,2,1,0
$FREEZE,7.82,1.165,-1.461,2,1,0
$FREEZE,7.26,1.114,-1.436,2,1,0
$FREEZE,6.99,1.080,-1.434,2,1,0
$FREEZE,6.66,1.072,-1.436,2,1,0
$FREEZE,6.30,1.066,-1.435,2,1,0
$FREEZE,6.10,1.065,-1.434,2,1,0
$FREEZE,5.88,1.064,-1.432,2,1,0
$FREEZE,5.53,1.061,-1.429,2,1,0
$FREEZE,5.28,1.058,-1.428,2,1,0
$FREEZE,4.86,1.057,-1.430,2,1,0
$FREEZE,4.33,1.058,-1.424,2,1,0
$FREEZE,3.95,1.054,-1.414,2,1,0
$FREEZE,3.45,1.052,-1.404,2,1,0
$FREEZE,3.16,1.046,-1.399,2,1,0
$FREEZE,2.52,1.047,-1.393,2,1,0
$FREEZE,1.82,1.042,-1.388,2,1,0
$STATE,13299,end climb,SURFACE_DEPTH_REACHED
$STATE,13299,begin surface coast
$FREEZE,1.40,1.046,-1.355,2,1,0
$FREEZE,1.31,1.019,-0.175,2,1,0
$FREEZE,1.23,0.967,-1.043,2,1,0
$FREEZE,1.26,1.011,-0.721,2,1,0
$FREEZE,1.42,0.987,-0.425,2,1,0
$FREEZE,1.22,1.029,-0.869,2,1,0
$FINISH,1.2,1.012834
$STATE,13351,end surface coast,CONTROL_FINISHED_OK
$STATE,13352,begin surface
$SM_CCo,13378,102.20,0.193,0,0,499,658.88
$SM_GC,2.21,8.18,0.62,102.20,0.111,0.080,0.193,198,2680,499,-7.39,1.13,658.88,0,0,0,0,0,0,14.55,14.54,14.35
$RAFOS_CLK,658
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7146.24,-14416.15,140814,031055
$TT8_MAMPS,0.041944,0.041944
$HUMID,48.54
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.30
$XPDR_PINGS,2
$SC_FREEKB,3969440
$24V_AH,13.04,41.709
$10V_AH,13.05,0.000
$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,21.300,41.750,468.950,102.200,0.000,0.000,0.000,378.300,0.500,0.000,25.876,0.000,6529.588,516.809,6916.331,154.899,0.000,3149.030,0.000,1005.660,1475.000,0.536,0.000
$DEVICE_MAMPS,447.525,143.820,1731.960,192.780,0.000,0.000,0.000,170.595,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13377.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.915,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,304752
$DATA_FILE_SIZE,23427,674
$CAP_FILE_SIZE,188212,0
$CFSIZE,2097872896,2064187392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14139.66,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,140814,070516,7224.879,-14420.438,38,0.9,59,22.8