version: 66.12
glider: 198
mission: 5
dive: 119
start: 8 14 114 11 4 39
data:
$ID,198
$MISSION,5
$DIVE,119
$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,-3459.6326
$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,36
$R_STBD_OVSHOOT,15
$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
$GPS1,140814,105655,7226.186,-14419.767,35,0.8,56,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.3
$GPS2,140814,110413,7226.147,-14419.703,4,0.8,24,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.0,44493,-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,-145.9,201,2683,443,545,0.0,0.0,0,114,0.00,0.00,-58.10,0.000,16386,0.000,0.000,200,2683,1894,1923,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,200,2683,1926,1866,3.1,-2.1,7,195,10.95,2.05,-36.08,0.000,18692,0.451,0.148,2347,3792,3781,3906,3657,0,0,0,0,0,0,14.15,14.37,14.62
$GC,421,-0.63,-145.9,2343,3792,3917,3657,75.6,-20.7,63,450,0.17,1.88,0.00,0.000,3078,0.321,0.073,2382,2677,3786,3916,3657,0,0,0,0,0,0,14.29,14.45,28.83
$GC,755,-0.63,-145.9,2383,2676,3917,3658,129.1,-15.0,95,783,0.00,2.00,0.00,0.000,260,0.000,0.124,2374,3788,3787,3917,3657,0,0,0,0,0,0,28.83,14.52,28.83
$GC,922,-0.63,-145.9,2381,3787,3919,3657,155.4,-15.6,124,952,0.00,1.85,0.00,0.000,1030,0.000,0.075,2374,2685,3787,3917,3657,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1246,-0.63,-145.9,2375,2680,3918,3658,198.9,-12.2,155,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2679,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-0.65,-145.9,2375,2679,3918,3657,234.6,-10.5,186,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2682,3789,3921,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1894,-0.67,-145.9,2375,2679,3918,3657,269.2,-10.7,205,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2679,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-0.70,-145.9,2375,2680,3918,3658,299.6,-9.9,215,2227,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3792,3787,3917,3657,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2297,-0.72,-145.9,2375,3791,3918,3657,310.2,-10.8,230,2326,0.00,1.85,0.00,0.000,1030,0.000,0.075,2374,2676,3786,3917,3656,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2635,-0.76,-145.9,2374,2675,3918,3657,344.0,-10.0,243,2664,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3795,3786,3916,3657,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2704,-0.78,-145.9,2375,3796,3917,3658,351.1,-10.5,252,2733,0.12,1.85,0.00,0.000,5126,0.151,0.074,2323,2676,3789,3916,3663,0,0,0,0,0,0,14.68,14.69,28.83
$GC,3042,-0.78,-145.9,2324,2676,3918,3657,391.5,-12.0,265,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3786,3915,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3344,-0.78,-145.9,2323,2676,3918,3657,427.8,-12.0,275,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3647,-0.78,-145.9,2324,2676,3918,3657,463.5,-11.8,285,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3786,3916,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3951,-0.78,-145.9,2324,2677,3917,3658,498.6,-11.5,295,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3787,3918,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4255,-0.78,-145.9,2324,2677,3917,3657,533.3,-11.3,305,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2675,3789,3916,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-0.78,-145.9,2324,2677,3917,3658,567.4,-11.3,315,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814120453.351939,3,275,24,0143,0150,100,00,00,00,04,-1,-01,-01,1,3,0,0,150,14.8,1.0,-100,2.1,-01,-0.3,25,900,0025*0C
$MODEM_MSG,CACST,6,1,20140814121637.484443,3,1014,24,0220,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,16.6,2.1,-100,0.9,-01,0.4,21,900,0025*10
$GC,4861,-0.78,-145.9,2324,2677,3917,3658,601.2,-11.0,325,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5165,-0.78,-145.9,2324,2676,3918,3657,634.6,-11.0,335,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5469,-0.78,-145.9,2323,2676,3918,3657,668.2,-11.0,345,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3786,3916,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5773,-0.78,-145.9,2324,2677,3918,3658,701.4,-10.9,355,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2676,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6077,-0.78,-145.9,2322,2676,3918,3658,734.3,-10.9,365,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3787,3917,3657,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6232,-0.14,0.0,2321,3059,3918,3653,751.1,-10.9,370,6437,0.82,0.00,179.15,1.452,10246,0.277,0.000,2536,3059,3185,3280,3091,0,0,0,0,0,0,14.56,28.83,13.39
$STATE,6438,end apogee,CONTROL_FINISHED_OK
$STATE,6438,begin climb
$GC,6441,0.70,145.9,2538,3060,3274,3088,756.4,0.0,376,6606,0.93,1.42,124.50,1.718,10500,0.184,0.116,2805,3780,2581,2641,2521,0,0,0,0,0,0,13.95,13.50,12.95
$GC,6708,0.66,145.9,2805,3780,2640,2516,731.6,14.5,390,6756,0.00,1.30,0.00,0.000,1030,0.000,0.075,2810,3058,2577,2638,2516,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7105,0.66,145.9,2810,3058,2639,2516,677.9,13.4,404,7154,0.00,2.42,0.00,0.000,516,0.000,0.076,2820,1637,2577,2639,2515,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7172,0.66,145.9,2820,1636,2639,2515,669.5,13.2,406,7221,0.00,2.50,0.00,0.000,1030,0.000,0.105,2820,3046,2576,2638,2515,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7570,0.63,145.9,2821,3047,2639,2516,615.3,13.6,420,7619,0.00,1.35,0.00,0.000,260,0.000,0.119,2820,3787,2576,2638,2514,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7705,0.58,145.9,2821,3787,2640,2514,595.9,15.2,426,7754,0.15,1.27,0.00,0.000,5126,0.262,0.074,2785,3042,2576,2638,2514,0,0,0,0,0,0,14.35,14.52,28.83
$GC,8137,0.59,149.4,2785,3042,2640,2514,544.2,11.4,442,8186,0.00,2.30,0.00,0.000,516,0.000,0.075,2794,1651,2576,2638,2514,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8204,0.59,153.6,2795,1652,2639,2515,536.9,11.4,444,8253,0.00,2.42,1.95,0.242,9222,0.000,0.105,2794,3048,2570,2645,2496,0,0,0,0,0,0,28.83,14.54,14.38
$GC,8602,0.59,153.6,2795,3048,2653,2496,489.0,12.2,458,8651,0.00,1.33,2.00,0.265,8452,0.000,0.116,2794,3784,2570,2652,2489,0,0,0,0,0,0,28.83,14.57,12.52
$GC,8703,0.59,153.6,2795,3784,2659,2489,476.5,12.8,462,8752,0.00,1.25,1.67,0.236,9222,0.000,0.075,2799,3046,2570,2651,2489,0,0,0,0,0,0,28.83,14.63,14.45
$GC,9069,0.59,153.6,2800,3047,2659,2490,430.6,12.3,474,9117,0.00,2.40,1.75,0.252,8708,0.000,0.077,2809,1642,2570,2651,2489,0,0,0,0,0,0,28.83,14.58,14.46
$GC,9152,0.59,153.6,2809,1642,2659,2489,421.1,11.9,477,9201,0.00,2.45,1.70,0.235,9222,0.000,0.105,2809,3053,2569,2649,2489,0,0,0,0,0,0,28.83,14.59,14.46
$GC,9534,0.59,153.6,2809,3053,2662,2489,373.6,12.4,490,9583,0.00,1.33,1.52,0.252,8452,0.000,0.119,2809,3784,2567,2650,2484,0,0,0,0,0,0,28.83,14.59,14.50
$GC,9668,0.55,153.6,2810,3785,2658,2490,355.8,13.7,496,9718,0.12,1.25,1.67,0.238,13318,0.262,0.074,2778,3045,2570,2651,2489,0,0,0,0,0,0,14.49,14.64,14.45
$GC,10101,0.57,172.5,2778,3045,2659,2489,308.1,10.6,512,10150,0.00,0.00,21.50,1.269,8198,0.000,0.000,2778,3045,2487,2563,2411,0,0,0,0,0,0,28.83,28.83,13.99
$GC,10437,0.59,181.4,2779,3046,2540,2406,270.7,11.2,523,10484,0.00,0.00,3.42,1.092,8710,0.000,0.000,2778,3045,2457,2536,2378,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10978,0.64,209.3,2779,3045,2546,2379,214.3,10.1,551,11044,0.00,0.00,29.73,1.138,8198,0.000,0.000,2778,3045,2323,2388,2258,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11552,0.73,273.9,2779,3044,2381,2256,162.5,8.2,583,11654,0.12,2.45,54.47,1.047,10756,0.144,0.076,2848,1649,2059,2117,2002,0,0,0,0,0,0,14.55,14.24,13.81
$GC,11772,0.77,291.2,2848,1649,2113,2001,140.1,10.7,594,11821,0.00,2.53,14.62,1.090,9222,0.000,0.106,2847,3056,1995,2054,1936,0,0,0,0,0,0,28.83,14.35,13.86
$GC,12329,0.80,304.8,2849,3057,2043,1924,77.0,10.9,625,12378,0.00,0.00,5.05,0.376,8198,0.000,0.000,2847,3057,1952,2021,1883,0,0,0,0,0,0,28.83,28.83,14.20
$GC,12886,0.92,407.5,2849,3056,2028,1884,35.7,6.2,656,12985,0.12,2.45,55.92,0.286,10756,0.145,0.075,2919,1645,1528,1584,1473,0,0,0,0,0,0,14.55,14.38,14.30
$GC,13036,0.97,440.3,2919,1646,1588,1473,22.6,9.9,663,13102,0.00,2.47,18.58,0.247,9222,0.000,0.110,2918,3042,1394,1446,1343,0,0,0,0,0,0,28.83,14.43,14.31
$FREEZE,8.63,2.216,-1.437,2,1,0
$FREEZE,8.12,2.223,-1.438,2,1,0
$FREEZE,7.39,2.198,-1.440,2,1,0
$FREEZE,6.78,1.879,-1.444,2,1,0
$FREEZE,6.21,1.531,-1.441,2,1,0
$FREEZE,5.66,0.811,-1.438,2,1,0
$FREEZE,5.35,0.746,-1.430,2,1,0
$FREEZE,4.98,0.746,-1.424,2,1,0
$FREEZE,4.58,0.749,-1.416,2,1,0
$FREEZE,4.19,0.749,-1.413,2,1,0
$FREEZE,3.79,0.747,-1.411,2,1,0
$FREEZE,3.39,0.748,-1.409,2,1,0
$FREEZE,2.88,0.748,-1.407,2,1,0
$FREEZE,2.37,0.749,-1.406,2,1,0
$FREEZE,1.88,0.744,-1.406,2,1,0
$STATE,13490,end climb,SURFACE_DEPTH_REACHED
$STATE,13490,begin surface coast
$FREEZE,1.54,0.755,-1.405,2,1,0
$FREEZE,1.33,0.751,-1.404,2,1,0
$FREEZE,1.24,0.743,-0.758,2,1,0
$FREEZE,1.35,0.738,-0.753,2,1,0
$FREEZE,1.27,0.741,-1.372,2,1,0
$FREEZE,1.26,0.726,-1.365,2,1,0
$FREEZE,1.34,0.710,-1.409,2,1,0
$FINISH,1.3,1.020736
$STATE,13553,end surface coast,CONTROL_FINISHED_OK
$STATE,13553,begin surface
$SM_CCo,13579,114.68,0.195,0,0,503,658.88
$SM_GC,2.27,8.15,0.62,114.68,0.100,0.080,0.195,203,2670,503,-7.39,0.82,658.88,0,0,0,0,0,0,14.57,14.57,14.35
$RAFOS_CLK,612
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7146.24,-14420.30,140814,070815
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.95
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3968544
$24V_AH,12.52,42.384
$10V_AH,12.81,0.000
$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,21.675,51.700,519.225,114.675,0.000,0.000,0.000,247.250,0.000,0.000,26.015,0.000,6088.604,520.533,7374.708,165.343,0.000,3078.731,0.000,1038.632,1478.000,0.536,0.000
$DEVICE_MAMPS,450.585,147.645,1718.190,195.075,0.000,0.000,0.000,169.065,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13580.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.142,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,303640
$DATA_FILE_SIZE,23461,695
$CAP_FILE_SIZE,198347,0
$CFSIZE,2097872896,2063761408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13915.26,0x2378b6,7,5
$SOUNDSPEED,1450.3
$GPS,140814,145448,7227.334,-14419.529,38,0.9,58,22.8