version: 66.12
glider: 198
mission: 5
dive: 201
start: 8 27 114 9 58 8
data:
$ID,198
$MISSION,5
$DIVE,201
$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,-3917.2126
$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,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,1
$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
$GPS1,270814,022421,7337.721,-14513.202,181,99.0,181,22.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.97
$_SM_ANGLEo,-18.2
$GPS2,270814,022421,7337.721,-14513.202,181,99.0,181,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,358.8,4539,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-145.9,2675,2690,1782,1676,0.0,0.0,0,29,0.00,0.00,-12.35,0.000,16386,0.000,0.000,2674,2690,2276,2337,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2675,2690,2343,2215,10.7,0.0,1,70,0.88,2.05,-28.95,0.000,20740,0.073,0.145,2349,3795,3786,3844,3728,0,0,0,0,0,0,14.46,14.39,14.65
$GC,174,-0.61,-145.9,2350,3795,3845,3731,53.1,-30.5,30,181,0.12,1.92,0.00,0.000,3078,0.301,0.070,2380,2672,3787,3844,3731,0,0,0,0,0,0,14.23,14.45,28.83
$GC,479,-0.61,-145.9,2380,2672,3845,3732,107.9,-15.7,61,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2672,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,779,-0.61,-145.9,2381,2673,3845,3732,152.7,-13.9,91,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2672,3788,3844,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1079,-0.61,-145.9,2380,2673,3845,3733,193.1,-13.0,121,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2672,3788,3844,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-0.63,-145.9,2381,2673,3845,3733,229.6,-11.3,151,1384,0.00,2.00,0.00,0.000,260,0.000,0.124,2374,3787,3788,3844,3732,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1404,-0.63,-145.9,2374,3787,3845,3732,232.6,-11.7,156,1411,0.00,1.88,0.00,0.000,1030,0.000,0.073,2374,2683,3788,3844,3732,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1720,-0.66,-145.9,2374,2684,3845,3732,266.5,-10.3,178,1724,0.00,1.98,0.00,0.000,260,0.000,0.125,2374,3787,3787,3844,3731,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1779,-0.68,-145.9,2375,3788,3845,3732,273.0,-11.0,190,1784,0.00,1.90,0.00,0.000,1030,0.000,0.073,2374,2675,3787,3844,3731,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2110,-0.72,-145.9,2375,2676,3845,3732,305.3,-9.6,206,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-0.76,-145.9,2375,2676,3844,3732,333.4,-9.3,216,2414,0.00,2.00,0.00,0.000,260,0.000,0.125,2374,3791,3787,3844,3731,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2479,-0.79,-145.9,2374,3792,3845,3731,340.1,-9.7,230,2485,0.10,1.90,0.00,0.000,5126,0.094,0.073,2321,2673,3788,3844,3732,0,0,0,0,0,0,14.64,14.66,28.83
$GC,2800,-0.79,-145.9,2322,2673,3845,3731,377.5,-11.7,244,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2673,3789,3847,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3099,-0.79,-145.9,2322,2678,3845,3731,411.8,-11.5,254,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2673,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.79,-145.9,2322,2673,3845,3731,446.1,-11.5,264,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2673,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3699,-0.79,-145.9,2322,2674,3845,3732,479.9,-11.2,274,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2673,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.79,-145.9,2323,2674,3845,3732,513.4,-11.2,284,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2673,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4299,-0.79,-145.9,2323,2673,3851,3732,546.5,-11.0,294,4304,0.00,2.03,0.00,0.000,260,0.000,0.121,2313,3790,3788,3844,3732,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4359,-0.79,-145.9,2314,3791,3845,3733,553.9,-12.6,306,4364,0.00,1.88,0.00,0.000,1030,0.000,0.071,2313,2679,3788,3844,3732,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4690,-0.79,-145.9,2314,2679,3845,3732,591.0,-11.2,322,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2679,3788,3844,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4989,-0.79,-145.9,2314,2677,3845,3733,624.1,-11.1,332,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2679,3788,3844,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5289,-0.79,-145.9,2314,2680,3845,3734,657.2,-10.9,342,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2679,3788,3844,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5589,-0.79,-145.9,2310,2679,3847,3732,690.6,-11.1,352,5594,0.00,2.00,0.00,0.000,260,0.000,0.121,2305,3784,3788,3844,3733,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5619,-0.77,-145.9,2306,3785,3845,3734,694.3,-12.3,358,5625,0.10,1.88,0.00,0.000,3078,0.285,0.070,2332,2675,3788,3844,3733,0,0,0,0,0,0,14.50,14.73,28.83
$GC,5951,-0.77,-145.9,2333,2675,3845,3734,727.9,-10.0,374,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2674,3788,3844,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6188,begin apogee
$GC,6192,-0.14,0.0,2330,3059,3845,3733,751.6,-9.9,382,6323,0.77,0.00,128.27,1.733,10246,0.259,0.000,2537,3059,3182,3269,3096,0,0,0,0,0,0,14.52,28.83,13.33
$STATE,6324,end apogee,CONTROL_FINISHED_OK
$STATE,6324,begin climb
$GC,6325,0.70,145.9,2538,3060,3263,3095,754.2,0.0,386,6453,0.95,0.00,124.85,1.700,10246,0.177,0.000,2807,3058,2591,2661,2521,0,0,0,0,0,0,13.91,28.83,12.93
$GC,6729,0.70,145.9,2808,3060,2645,2505,708.5,13.2,400,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3057,2576,2645,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7029,0.70,145.9,2807,3059,2646,2506,669.3,13.1,410,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3059,2575,2645,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7330,0.70,145.9,2808,3060,2645,2508,630.5,12.8,420,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3059,2575,2644,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7629,0.70,145.9,2804,3059,2645,2507,591.8,12.8,430,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3059,2574,2644,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7929,0.70,145.9,2807,3059,2646,2506,553.4,12.8,440,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3056,2574,2644,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8229,0.70,145.9,2808,3059,2645,2507,515.3,12.7,450,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3064,2575,2645,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8529,0.70,145.9,2808,3060,2645,2506,477.2,12.7,460,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3059,2575,2645,2505,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140827121726.154272,3,531,15,0110,0150,100,00,00,02,06,-1,-01,-01,1,3,0,0,150,15.9,0.7,-100,2.3,-01,0.4,16,900,0025*2E
$GC,8830,0.70,145.9,2808,3060,2645,2505,439.0,12.7,470,8835,0.00,1.33,0.00,0.000,260,0.000,0.119,2807,3784,2575,2645,2505,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8899,0.66,145.9,2807,3784,2646,2505,429.3,13.9,484,8904,0.00,1.25,0.00,0.000,1030,0.000,0.073,2812,3046,2575,2645,2505,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9220,0.66,145.9,2812,3047,2646,2505,388.8,12.5,498,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3047,2574,2644,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9519,0.66,145.9,2812,3047,2646,2505,351.6,12.2,508,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3047,2575,2645,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9819,0.66,145.9,2812,3047,2646,2505,314.6,12.3,518,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3047,2575,2645,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10119,0.66,146.8,2812,3047,2646,2505,279.1,11.6,528,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,3047,2575,2645,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10419,0.68,173.8,2813,3047,2646,2505,246.0,10.2,540,10444,0.00,0.00,23.38,1.153,8198,0.000,0.000,2812,3047,2476,2549,2403,0,0,0,0,0,0,28.83,28.83,14.07
$GC,10740,0.72,225.0,2812,3047,2533,2390,213.7,8.9,572,10785,0.00,0.00,42.75,1.077,8710,0.000,0.000,2812,3047,2269,2337,2201,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11079,0.76,256.8,2812,3047,2318,2185,180.2,9.9,609,11112,0.00,2.47,27.42,1.047,8708,0.000,0.076,2820,1638,2130,2198,2063,0,0,0,0,0,0,28.83,14.37,13.89
$GC,11157,0.83,292.3,2821,1638,2190,2061,172.9,9.7,624,11194,0.12,2.53,30.85,1.023,11270,0.148,0.105,2875,3054,1990,2052,1928,0,0,0,0,0,0,14.42,14.37,13.78
$GC,11491,0.83,292.3,2876,3055,2035,1913,128.4,12.7,661,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,3054,1973,2034,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11791,0.83,295.1,2876,3055,2033,1911,92.0,11.5,691,11796,0.00,2.42,0.00,0.000,516,0.000,0.076,2883,1641,1971,2032,1911,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11816,0.85,322.4,2885,1641,2033,1912,89.3,10.2,696,11833,0.00,2.50,13.27,0.424,9222,0.000,0.105,2884,3050,1870,1932,1809,0,0,0,0,0,0,28.83,14.42,14.14
$GC,12132,0.88,364.6,2885,3051,1959,1810,55.5,9.4,729,12162,0.00,0.00,24.33,0.343,8198,0.000,0.000,2880,3049,1702,1765,1640,0,0,0,0,0,0,28.83,28.83,14.17
$GC,12462,1.00,464.8,2885,3051,1783,1640,33.6,6.3,762,12524,0.00,2.50,55.95,0.282,8708,0.000,0.076,2890,1640,1293,1343,1244,0,0,0,0,0,0,28.83,14.33,14.18
$GC,12648,1.16,563.5,2891,1639,1358,1244,21.1,6.4,799,12709,0.22,2.53,54.20,0.247,11270,0.121,0.106,2969,3049,887,892,883,0,0,0,0,0,0,14.33,14.29,14.15
$FREEZE,8.13,-1.293,-1.433,2,3,0
$FREEZE,7.19,-1.307,-1.432,2,3,0
$FREEZE,6.32,-1.312,-1.431,2,3,0
$FREEZE,5.39,-1.316,-1.430,2,3,0
$FREEZE,4.37,-1.318,-1.429,2,3,0
$FREEZE,3.53,-1.330,-1.428,2,3,0
$STATE,12852,end climb,FINISH_DEPTH_REACHED
$STATE,12852,begin subsurface finish
$FINISH1,3.5,1.021041,360
$GC,12857,0.25,360.1,2970,3050,902,884,3.5,9.3,826,12896,1.05,0.00,-30.70,0.000,20486,0.213,0.000,2677,3049,1719,1765,1673,0,0,0,0,0,0,14.24,28.83,14.57
$FINISH2,3.7
$STATE,12896,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12896,begin surface
$RAFOS_CLK,365
$RAFOS_FIX,7332.107422,-14511.022461,260814,161621,2,255,0.19
$IRIDIUM_FIX,7304.81,-14508.62,270814,022342
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.09
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3931808
$24V_AH,12.93,66.650
$10V_AH,13.07,0.000
$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,4.325,43.550,525.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10602.983,588.550,1700.298,117.075,0.000,1231.860,0.000,1245.483,1485.000,0.535,0.000
$DEVICE_MAMPS,300.645,144.585,1732.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.481,0.000,0.000,0.000
$MEM,256608
$DATA_FILE_SIZE,26707,830
$CAP_FILE_SIZE,130318,0
$CFSIZE,2097872896,2047737856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12855.43,0x2378b6,5,5
$SOUNDSPEED,1448.7
$GPS,270814,022421,7337.721,-14513.202,181,99.0,181,22.8