version: 66.12
glider: 198
mission: 5
dive: 126
start: 8 15 114 14 36 4
data:
$ID,198
$MISSION,5
$DIVE,126
$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,-3468.4595
$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,34
$R_STBD_OVSHOOT,16
$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
$GPS1,150814,142812,7234.408,-14421.060,40,0.8,60,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.4
$GPS2,150814,143545,7234.354,-14421.223,4,0.9,25,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,349.2,29619,-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,-145.9,204,2677,449,539,0.0,0.0,0,124,0.00,0.00,-67.93,0.000,16386,0.000,0.000,202,2677,2094,2128,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.70,-145.9,202,2677,2134,2064,3.1,-2.0,8,201,10.95,2.05,-31.12,0.000,18692,0.450,0.151,2349,3795,3782,3862,3703,0,0,0,0,0,0,14.19,14.35,14.63
$GC,426,-0.63,-145.9,2350,3796,3863,3703,79.5,-20.7,63,455,0.15,1.88,0.00,0.000,3078,0.331,0.076,2379,2685,3784,3856,3712,0,0,0,0,0,0,14.31,14.50,28.83
$GC,750,-0.63,-145.9,2379,2678,3863,3707,133.2,-15.5,94,779,0.00,2.00,0.00,0.000,260,0.000,0.125,2374,3788,3784,3862,3707,0,0,0,0,0,0,28.83,14.47,28.83
$GC,973,-0.63,-145.9,2375,3788,3865,3708,167.6,-16.0,134,1002,0.00,1.88,0.00,0.000,1030,0.000,0.077,2374,2670,3784,3862,3707,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1307,-0.63,-145.9,2375,2672,3862,3708,211.2,-12.0,166,1336,0.00,2.03,0.00,0.000,260,0.000,0.129,2374,3790,3784,3862,3707,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1420,-0.63,-145.9,2375,3791,3863,3708,225.4,-13.0,184,1449,0.00,1.88,0.00,0.000,1030,0.000,0.077,2374,2674,3784,3862,3707,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1774,-0.65,-145.9,2375,2675,3863,3708,263.2,-10.2,210,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2673,3784,3862,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2078,-0.68,-145.9,2375,2674,3863,3708,294.2,-10.2,220,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3784,3862,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,-0.71,-145.9,2375,2675,3863,3708,324.8,-10.1,230,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3784,3862,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2686,-0.74,-145.9,2374,2674,3863,3707,356.0,-10.1,240,2714,0.00,1.98,0.00,0.000,260,0.000,0.130,2374,3787,3784,3862,3707,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2770,-0.76,-145.9,2371,3788,3867,3707,364.7,-9.8,252,2798,0.00,1.85,0.00,0.000,1030,0.000,0.078,2374,2677,3784,3861,3707,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3123,-0.80,-145.9,2372,2677,3863,3707,398.9,-9.4,268,3152,0.12,0.00,0.00,0.000,4102,0.154,0.000,2323,2676,3784,3861,3707,0,0,0,0,0,0,14.71,28.83,28.83
$GC,3427,-0.80,-145.9,2324,2676,3862,3707,434.1,-11.8,278,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2676,3784,3861,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-0.80,-145.9,2324,2676,3862,3707,469.4,-11.7,288,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2676,3784,3861,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-0.80,-145.9,2324,2676,3862,3707,503.7,-11.3,298,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3786,3861,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4337,-0.80,-145.9,2324,2676,3862,3707,537.8,-11.2,308,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3784,3861,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4641,-0.80,-145.9,2324,2676,3862,3707,572.1,-11.3,318,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3784,3861,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.80,-145.9,2324,2676,3862,3707,606.4,-11.3,328,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3783,3860,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,-0.80,-145.9,2324,2675,3856,3707,640.4,-11.2,338,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2674,3783,3860,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5551,-0.80,-145.9,2324,2676,3862,3707,674.3,-11.2,348,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3784,3861,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5855,-0.80,-145.9,2324,2677,3862,3708,707.9,-11.0,358,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2676,3784,3861,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6159,-0.80,-145.9,2324,2677,3862,3709,741.1,-10.9,368,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2677,3784,3861,3707,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6250,begin apogee
$GC,6254,-0.14,0.0,2321,3055,3862,3708,751.4,-11.0,371,6407,0.82,0.00,126.80,1.740,10246,0.275,0.000,2535,3054,3185,3262,3108,0,0,0,0,0,0,14.43,28.83,13.28
$STATE,6408,end apogee,CONTROL_FINISHED_OK
$STATE,6408,begin climb
$MODEM_MSG,CACST,6,1,20140815161647.287260,3,290,18,0105,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,14.3,0.9,-100,2.1,-01,-0.4,26,900,0025*0E
$GC,6409,0.70,145.9,2536,3056,3254,3101,755.7,0.0,375,6579,0.93,0.00,124.55,1.720,10502,0.187,0.000,2802,3055,2580,2642,2518,0,0,0,0,0,0,13.93,28.83,12.93
$GC,6866,0.70,145.9,2803,3055,2640,2514,708.9,12.7,393,6914,0.00,1.38,0.00,0.000,260,0.000,0.122,2802,3782,2576,2639,2513,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6949,0.70,145.9,2803,3781,2641,2516,698.0,13.3,396,6998,0.00,1.30,0.00,0.000,1030,0.000,0.078,2807,3045,2576,2639,2513,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7331,0.70,145.9,2808,3049,2640,2514,647.4,13.1,409,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7666,0.70,145.9,2808,3048,2641,2513,603.9,13.0,420,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8000,0.70,145.9,2809,3048,2641,2512,560.3,13.0,431,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8335,0.70,145.9,2808,3048,2641,2512,516.8,12.9,442,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8669,0.70,145.9,2808,3047,2641,2512,473.7,12.8,453,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9004,0.70,145.9,2807,3048,2641,2512,430.9,12.7,464,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9339,0.70,145.9,2808,3051,2641,2511,388.6,12.7,475,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,0.70,145.9,2808,3048,2640,2512,345.8,12.8,486,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10008,0.70,145.9,2808,3049,2640,2513,303.3,12.7,497,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10342,0.70,145.9,2809,3049,2640,2512,262.5,12.1,508,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2575,2639,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10822,0.71,170.2,2808,3049,2639,2513,210.8,10.3,533,10887,0.00,1.33,19.67,1.160,8452,0.000,0.118,2807,3788,2483,2548,2418,0,0,0,0,0,0,28.83,14.47,13.99
$GC,10922,0.73,199.4,2808,3788,2547,2417,200.6,10.1,537,10988,0.00,1.27,24.65,1.125,9222,0.000,0.079,2813,3051,2365,2428,2303,0,0,0,0,0,0,28.83,14.48,13.90
$GC,11496,0.77,257.6,2813,3051,2423,2298,146.5,8.5,569,11579,0.00,0.00,50.30,1.037,8454,0.000,0.000,2813,3051,2129,2190,2068,0,0,0,0,0,0,28.83,28.83,13.82
$GC,12103,0.86,323.3,2813,3051,2177,2055,91.5,8.1,603,12169,0.15,2.42,31.88,0.450,10756,0.133,0.080,2889,1641,1873,1932,1815,0,0,0,0,0,0,14.51,14.41,14.15
$GC,12238,0.86,326.4,2890,1641,1945,1815,77.3,11.5,609,12287,0.00,2.50,3.38,0.305,9222,0.000,0.109,2889,3046,1861,1925,1797,0,0,0,0,0,0,28.83,14.40,14.16
$GC,12812,0.97,430.1,2890,3046,1934,1796,25.5,6.1,641,12912,0.00,1.35,56.12,0.259,8452,0.000,0.119,2889,3781,1436,1488,1384,0,0,0,0,0,0,28.83,14.40,14.31
$GC,13031,1.12,548.4,2890,3781,1493,1384,12.9,5.3,652,13132,0.15,1.27,62.62,0.220,11270,0.080,0.078,2965,3045,950,962,938,0,0,0,0,0,0,14.49,14.49,14.28
$FREEZE,7.27,0.683,-1.436,2,1,0
$FREEZE,6.16,0.685,-1.436,2,1,0
$FREEZE,4.45,0.664,-1.435,2,1,0
$FREEZE,2.46,0.689,-1.433,2,1,0
$FREEZE,1.36,0.605,-1.427,2,1,0
$STATE,13215,end climb,SURFACE_DEPTH_REACHED
$STATE,13215,begin surface coast
$FREEZE,1.46,0.627,-1.435,2,1,0
$FREEZE,1.40,0.677,-0.486,2,1,0
$FINISH,1.4,1.007102
$STATE,13228,end surface coast,CONTROL_FINISHED_OK
$STATE,13228,begin surface
$SM_CCo,13254,59.38,0.190,0,0,499,658.88
$SM_GC,2.38,8.12,0.62,59.38,0.078,0.086,0.190,207,2677,499,-7.38,0.90,658.88,0,0,0,0,0,0,14.50,14.49,14.33
$RAFOS_CLK,485
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7200.11,-14446.94,150814,103137
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.63
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.30
$XPDR_PINGS,1
$SC_FREEKB,3965408
$24V_AH,12.93,44.677
$10V_AH,13.01,0.000
$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,21.400,29.675,499.975,59.375,0.000,0.000,0.000,260.450,0.250,0.000,26.329,0.000,6388.504,424.069,6810.421,154.541,0.000,2931.169,0.000,992.318,1470.000,0.535,0.000
$DEVICE_MAMPS,449.820,150.705,1739.610,190.485,0.000,0.000,0.000,166.005,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.051,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,299436
$DATA_FILE_SIZE,23406,663
$CAP_FILE_SIZE,181107,0
$CFSIZE,2097872896,2062417920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14414.37,0x2378b6,7,5
$SOUNDSPEED,1450.2
$GPS,150814,182013,7235.479,-14421.484,59,0.7,79,22.8