version: 66.12
glider: 198
mission: 5
dive: 123
start: 8 15 114 2 45 37
data:
$ID,198
$MISSION,5
$DIVE,123
$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,-3464.679
$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,10
$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
$GPS1,150814,023442,7230.930,-14420.258,35,0.7,55,22.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-68.2
$GPS2,150814,024519,7230.857,-14420.644,4,0.8,24,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,346.5,35927,-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,-145.9,197,2677,445,542,0.0,0.0,0,124,0.00,0.00,-67.47,0.000,16386,0.000,0.000,196,2676,2097,2130,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.70,-145.9,197,2680,2133,2065,3.1,-2.1,8,201,11.10,2.05,-30.90,0.000,18692,0.456,0.147,2346,3801,3782,3910,3654,0,0,0,0,0,0,14.14,14.33,14.62
$GC,426,-0.63,-145.9,2347,3802,3915,3655,79.4,-21.6,63,455,0.15,1.88,0.00,0.000,3078,0.317,0.072,2378,2677,3784,3914,3655,0,0,0,0,0,0,14.31,14.50,28.83
$GC,750,-0.63,-145.9,2379,2678,3916,3656,131.8,-14.8,94,779,0.00,2.03,0.00,0.000,260,0.000,0.123,2374,3798,3784,3915,3654,0,0,0,0,0,0,28.83,14.45,28.83
$GC,913,-0.63,-145.9,2375,3799,3916,3656,157.3,-15.1,122,942,0.00,1.88,0.00,0.000,1030,0.000,0.073,2374,2674,3785,3915,3655,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1247,-0.63,-145.9,2375,2673,3916,3655,200.8,-12.0,154,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2673,3784,3915,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-0.65,-145.9,2375,2674,3899,3675,238.0,-11.0,185,1600,0.00,2.03,0.00,0.000,260,0.000,0.126,2374,3800,3787,3897,3678,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1634,-0.65,-145.9,2375,3801,3896,3681,245.0,-11.5,193,1663,0.00,1.88,0.00,0.000,1030,0.000,0.073,2373,2675,3787,3895,3680,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1987,-0.68,-145.9,2375,2675,3895,3681,281.5,-10.1,207,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3787,3894,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2291,-0.71,-145.9,2375,2675,3894,3682,311.2,-9.9,217,2320,0.00,2.03,0.00,0.000,260,0.000,0.127,2374,3802,3786,3893,3680,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2400,-0.73,-145.9,2374,3803,3894,3682,322.8,-11.1,234,2429,0.00,1.88,0.00,0.000,1030,0.000,0.073,2371,2675,3786,3892,3680,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2705,-0.76,-145.9,2374,2673,3894,3681,353.1,-9.6,245,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2673,3785,3890,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.79,-145.9,2374,2673,3893,3681,381.8,-9.4,255,3038,0.12,0.00,0.00,0.000,4102,0.153,0.000,2324,2673,3786,3892,3681,0,0,0,0,0,0,14.70,28.83,28.83
$GC,3313,-0.79,-145.9,2326,2673,3892,3682,416.7,-11.6,265,3342,0.00,2.00,0.00,0.000,260,0.000,0.123,2317,3800,3786,3891,3681,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3367,-0.77,-145.9,2318,3800,3897,3691,423.4,-12.7,271,3395,0.00,1.88,0.00,0.000,1030,0.000,0.073,2318,2666,3786,3888,3684,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3719,-0.77,-145.9,2318,2667,3889,3685,466.0,-11.9,287,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2666,3785,3888,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.77,-145.9,2318,2667,3885,3685,502.4,-12.1,297,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2666,3786,3888,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4325,-0.77,-145.9,2319,2667,3887,3685,538.7,-12.0,307,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2666,3789,3895,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.77,-145.9,2318,2667,3889,3685,575.0,-11.9,317,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2666,3785,3887,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.77,-145.9,2318,2666,3890,3685,610.6,-11.6,327,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2666,3786,3888,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.77,-145.9,2319,2667,3888,3686,645.6,-11.5,337,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2665,3786,3888,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5539,-0.77,-145.9,2318,2666,3890,3685,679.8,-11.1,347,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2668,3787,3888,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5843,-0.77,-145.9,2318,2666,3889,3686,713.7,-11.1,357,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2666,3786,3888,3685,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140815040458.369070,3,442,20,0130,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,9.9,1.2,-100,1.8,-01,0.5,25,900,0025*18
$MODEM_MSG,CACST,6,1,20140815041641.625525,3,256,18,0094,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,10.2,2.9,-100,0.1,-01,0.2,25,900,0025*26
$GC,6146,-0.77,-145.9,2318,2666,3889,3686,747.3,-11.0,367,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2666,3786,3888,3685,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6177,begin apogee
$GC,6181,-0.14,0.0,2316,3062,3889,3686,750.9,-10.9,368,6388,0.85,0.00,181.07,1.441,10246,0.276,0.000,2536,3062,3184,3263,3106,0,0,0,0,0,0,14.46,28.83,13.36
$STATE,6389,end apogee,CONTROL_FINISHED_OK
$STATE,6389,begin climb
$GC,6392,0.70,145.9,2537,3062,3261,3101,756.2,0.0,374,6557,0.93,0.00,124.60,1.719,10502,0.184,0.000,2804,3062,2581,2642,2520,0,0,0,0,0,0,13.93,28.83,12.90
$GC,6922,0.70,145.9,2805,3063,2639,2515,698.3,13.0,396,6971,0.00,1.35,0.00,0.000,260,0.000,0.120,2804,3781,2576,2639,2514,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7007,0.67,145.9,2805,3781,2640,2520,687.2,13.6,399,7055,0.00,1.27,0.00,0.000,1030,0.000,0.075,2809,3053,2576,2639,2514,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7388,0.67,145.9,2810,3053,2640,2513,635.8,13.3,412,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7722,0.67,145.9,2809,3053,2640,2513,591.4,13.3,423,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3054,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8057,0.67,145.9,2810,3054,2639,2514,547.2,13.2,434,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3053,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8391,0.67,145.9,2810,3053,2640,2513,503.7,13.0,445,8440,0.00,2.33,0.00,0.000,516,0.000,0.076,2819,1650,2575,2638,2513,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8458,0.67,145.9,2819,1650,2640,2513,495.6,12.9,447,8507,0.00,2.42,0.00,0.000,1030,0.000,0.105,2819,3041,2575,2638,2513,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8856,0.65,145.9,2820,3041,2640,2513,442.6,13.3,461,8905,0.00,1.35,0.00,0.000,260,0.000,0.119,2819,3787,2576,2639,2513,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8973,0.61,145.9,2820,3787,2640,2513,426.4,14.5,466,9022,0.10,1.25,0.00,0.000,5126,0.265,0.075,2796,3051,2575,2638,2513,0,0,0,0,0,0,14.45,14.60,28.83
$GC,9309,0.61,145.9,2797,3051,2639,2514,385.2,11.9,477,9357,0.00,2.33,0.00,0.000,516,0.000,0.076,2806,1647,2575,2638,2513,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9392,0.61,145.9,2813,1647,2640,2513,375.9,11.7,480,9441,0.00,2.42,0.00,0.000,1030,0.000,0.104,2806,3042,2575,2638,2512,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9774,0.61,145.9,2806,3042,2640,2513,329.2,12.1,493,9823,0.00,1.35,0.00,0.000,260,0.000,0.119,2806,3792,2575,2638,2513,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9858,0.61,145.9,2807,3792,2640,2513,318.8,12.6,496,9907,0.00,1.25,0.00,0.000,1030,0.000,0.074,2812,3049,2575,2638,2513,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10240,0.61,147.0,2812,3049,2640,2512,272.9,11.6,509,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3049,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10656,0.62,159.2,2812,3049,2640,2513,226.1,11.0,528,10704,0.00,1.35,10.88,1.243,8452,0.000,0.116,2812,3788,2528,2593,2464,0,0,0,0,0,0,28.83,14.54,14.05
$GC,10773,0.59,159.2,2813,3788,2592,2463,211.9,12.4,533,10822,0.10,1.25,0.00,0.000,5126,0.261,0.074,2789,3053,2526,2590,2462,0,0,0,0,0,0,14.39,14.54,28.83
$GC,11330,0.68,239.3,2791,3053,2591,2463,164.6,7.4,564,11430,0.00,2.42,67.47,1.056,8708,0.000,0.073,2799,1646,2205,2264,2146,0,0,0,0,0,0,28.83,14.24,13.79
$GC,11515,0.78,302.5,2800,1646,2254,2141,149.6,8.3,573,11617,0.10,2.53,54.00,1.040,11270,0.165,0.107,2851,3055,1940,1993,1888,0,0,0,0,0,0,14.36,14.31,13.70
$GC,12139,0.81,310.6,2852,3055,1987,1877,76.4,11.2,608,12188,0.00,0.00,1.70,0.240,8198,0.000,0.000,2851,3055,1924,1987,1862,0,0,0,0,0,0,28.83,28.83,14.34
$GC,12696,0.93,412.5,2852,3056,1992,1862,34.7,6.2,639,12797,0.12,2.47,55.17,0.277,10756,0.148,0.081,2919,1645,1508,1562,1454,0,0,0,0,0,0,14.53,14.43,14.31
$FREEZE,8.53,1.767,-1.457,2,1,0
$FREEZE,8.14,1.767,-1.457,2,1,0
$FREEZE,7.67,1.785,-1.456,2,1,0
$FREEZE,7.27,1.785,-1.455,2,1,0
$FREEZE,6.66,1.742,-1.454,2,1,0
$FREEZE,6.27,1.742,-1.453,2,1,0
$FREEZE,5.63,1.705,-1.449,2,1,0
$FREEZE,4.64,1.705,-1.449,2,1,0
$GC,13218,1.13,582.2,2919,1646,1564,1454,7.3,2.6,668,13341,0.00,2.53,88.10,0.196,9222,0.000,0.112,2919,3054,810,800,821,0,0,0,0,0,0,28.83,14.49,14.33
$FREEZE,1.37,1.685,-0.541,2,1,0
$STATE,13357,end climb,SURFACE_DEPTH_REACHED
$STATE,13357,begin surface coast
$FREEZE,1.30,1.611,-0.958,2,1,0
$FREEZE,1.29,1.686,-1.422,2,1,0
$FREEZE,1.36,1.625,-1.428,2,1,0
$FINISH,1.4,1.020973
$STATE,13380,end surface coast,CONTROL_FINISHED_OK
$STATE,13380,begin surface
$SM_CCo,13405,41.33,0.192,0,0,498,658.88
$SM_GC,2.31,8.02,0.65,41.33,0.083,0.087,0.192,202,2676,498,-7.39,0.88,658.88,0,0,0,0,0,0,14.50,14.47,14.34
$RAFOS_CLK,528
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7153.15,-14415.23,150814,023744
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.91
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3966752
$24V_AH,12.90,43.704
$10V_AH,12.77,0.000
$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,21.600,50.750,583.000,41.325,0.000,0.000,0.000,387.775,0.000,0.000,25.559,0.000,6180.869,479.363,7271.237,162.856,0.000,3259.792,0.000,1011.005,1487.000,0.535,0.000
$DEVICE_MAMPS,455.940,146.880,1718.955,192.015,0.000,0.000,0.000,166.005,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13407.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.230,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,301092
$DATA_FILE_SIZE,23419,677
$CAP_FILE_SIZE,193967,0
$CFSIZE,2097872896,2063007744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14176.62,0x2378b6,7,5
$SOUNDSPEED,1450.6
$GPS,150814,063124,7232.058,-14420.701,24,0.7,44,22.8