version: 66.12
glider: 198
mission: 5
dive: 210
start: 8 28 114 20 24 9
data:
$ID,198
$MISSION,5
$DIVE,210
$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,-4652.0757
$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,33
$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,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
$GPS1,280814,200924,7354.567,-14451.393,23,0.8,43,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-69.0
$GPS2,280814,202354,7354.602,-14451.213,4,0.9,24,23.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.9,102133,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b7e5a6992;,*55
$MODEM_MSG,CACST,6,0,20140828200127.242908,3,1003,11,0175,0150,100,00,00,03,05,1,004,000,0,5,1,0,150,3.6,2.8,-100,0.2,-01,0.0,20,900,0025*09
$GC,17,-0.70,-145.9,200,2681,453,540,0.0,0.0,0,90,0.00,0.00,-71.65,0.000,16386,0.000,0.000,200,2682,2077,2107,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.70,-145.9,201,2682,2107,2048,3.4,-2.8,7,150,11.15,2.10,-38.58,0.000,18692,0.444,0.151,2347,3787,3783,3858,3709,0,0,0,0,0,0,13.94,14.21,14.49
$GC,375,-0.63,-145.9,2348,3788,3860,3712,82.3,-21.9,64,382,0.12,1.95,0.00,0.000,3078,0.298,0.074,2379,2676,3785,3858,3712,0,0,0,0,0,0,14.16,14.37,28.83
$GC,680,-0.63,-145.9,2379,2676,3859,3712,133.8,-15.7,95,685,0.00,2.08,0.00,0.000,260,0.000,0.126,2374,3788,3785,3858,3712,0,0,0,0,0,0,28.83,14.39,28.83
$GC,910,-0.63,-145.9,2375,3787,3858,3714,171.1,-15.7,141,915,0.00,1.92,0.00,0.000,1030,0.000,0.076,2374,2679,3785,3858,3712,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1220,-0.63,-145.9,2375,2679,3858,3713,214.1,-12.8,173,1225,0.00,2.05,0.00,0.000,260,0.000,0.129,2374,3786,3785,3858,3712,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1451,-0.63,-145.9,2379,3786,3860,3713,244.0,-12.1,219,1455,0.00,1.88,0.00,0.000,1030,0.000,0.077,2373,2675,3785,3858,3712,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1780,-0.66,-145.9,2371,2675,3859,3712,280.6,-10.7,235,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2675,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.69,-145.9,2374,2676,3859,3713,311.5,-10.2,245,2085,0.00,2.03,0.00,0.000,260,0.000,0.129,2373,3796,3785,3858,3712,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2150,-0.71,-145.9,2374,3796,3859,3712,319.0,-11.1,259,2155,0.00,1.92,0.00,0.000,1030,0.000,0.076,2374,2677,3783,3858,3709,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2471,-0.74,-145.9,2375,2678,3859,3713,351.3,-10.0,273,2476,0.00,2.00,0.00,0.000,260,0.000,0.129,2374,3789,3785,3858,3712,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2520,-0.77,-145.9,2374,3789,3859,3713,356.5,-10.7,283,2526,0.00,1.90,0.00,0.000,1030,0.000,0.076,2374,2680,3785,3858,3712,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2832,-0.81,-145.9,2374,2680,3859,3712,385.9,-9.3,295,2833,0.15,0.00,0.00,0.000,4102,0.137,0.000,2314,2680,3785,3858,3712,0,0,0,0,0,0,14.69,28.83,28.83
$GC,3130,-0.81,-145.9,2315,2681,3859,3713,421.7,-12.0,305,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2680,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.81,-145.9,2316,2681,3859,3710,457.6,-12.0,315,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2680,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3730,-0.81,-145.9,2315,2681,3859,3713,493.3,-11.9,325,3735,0.00,2.03,0.00,0.000,260,0.000,0.124,2306,3790,3785,3858,3712,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3775,-0.78,-145.9,2306,3790,3859,3713,499.2,-13.6,334,3781,0.10,1.90,0.00,0.000,3078,0.301,0.075,2331,2679,3785,3858,3712,0,0,0,0,0,0,14.43,14.69,28.83
$GC,4092,-0.78,-145.9,2332,2679,3859,3713,534.1,-11.0,347,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2683,3783,3854,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4390,-0.78,-145.9,2332,2680,3859,3714,567.1,-11.0,357,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2676,3785,3858,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.78,-145.9,2332,2680,3858,3715,600.1,-11.0,367,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2679,3785,3857,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4990,-0.78,-145.9,2333,2680,3859,3715,632.9,-10.9,377,4995,0.00,2.00,0.00,0.000,260,0.000,0.124,2323,3797,3786,3858,3714,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5045,-0.78,-145.9,2324,3797,3859,3714,639.4,-12.2,388,5052,0.00,1.90,0.00,0.000,1030,0.000,0.073,2323,2681,3783,3858,3709,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5351,-0.78,-145.9,2324,2682,3859,3714,673.6,-11.1,399,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2681,3789,3864,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5650,-0.78,-145.9,2324,2682,3859,3715,706.5,-10.8,409,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3787,3858,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5950,-0.78,-145.9,2325,2682,3859,3716,739.3,-10.9,419,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2681,3786,3858,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6069,begin apogee
$GC,6073,-0.14,0.0,2321,3062,3859,3715,752.4,-10.8,423,6260,0.82,0.00,184.65,1.435,10246,0.265,0.000,2544,3062,3187,3263,3112,0,0,0,0,0,0,14.52,28.83,13.36
$STATE,6261,end apogee,CONTROL_FINISHED_OK
$STATE,6261,begin climb
$GC,6263,0.70,145.9,2539,3062,3263,3108,756.5,0.0,429,6394,0.93,0.00,125.65,1.714,10502,0.177,0.000,2806,3061,2590,2652,2528,0,0,0,0,0,0,13.84,28.83,12.81
$GC,6670,0.70,145.9,2807,3062,2640,2515,711.1,13.0,463,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2577,2639,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,0.70,145.9,2807,3062,2640,2515,672.0,13.1,473,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,0.70,145.9,2807,3062,2640,2515,632.9,13.0,483,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,0.70,145.9,2807,3062,2640,2514,594.5,12.7,493,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,0.70,145.9,2806,3062,2641,2513,556.4,12.6,503,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8170,0.70,145.9,2807,3062,2640,2514,518.4,12.7,513,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8470,0.70,145.9,2807,3062,2640,2514,480.6,12.6,523,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8770,0.70,145.9,2807,3062,2641,2514,443.2,12.4,533,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9070,0.70,145.9,2807,3062,2640,2514,406.8,12.0,543,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2575,2637,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9370,0.70,145.9,2807,3062,2640,2514,370.7,12.0,553,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,0.70,145.9,2807,3062,2641,2513,334.5,12.0,563,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3062,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9970,0.70,148.8,2806,3062,2641,2513,299.6,11.5,573,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3061,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10270,0.71,160.1,2807,3062,2640,2514,266.5,11.0,583,10286,0.00,2.40,11.75,1.277,8708,0.000,0.077,2816,1644,2527,2593,2461,0,0,0,0,0,0,28.83,14.66,14.11
$GC,10357,0.73,190.6,2817,1644,2588,2461,257.6,10.0,600,10392,0.00,2.47,26.23,1.200,9222,0.000,0.108,2817,3050,2400,2464,2336,0,0,0,0,0,0,28.83,14.61,13.99
$GC,10692,0.75,218.8,2817,3053,2456,2331,219.8,10.1,633,10721,0.00,0.00,23.55,1.160,8198,0.000,0.000,2812,3050,2287,2348,2226,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11022,0.77,253.0,2817,3050,2342,2220,186.9,9.8,666,11057,0.00,1.38,29.88,1.111,8452,0.000,0.123,2816,3786,2145,2206,2084,0,0,0,0,0,0,28.83,14.35,13.89
$GC,11121,0.78,265.3,2817,3787,2199,2080,176.3,11.0,686,11134,0.00,1.27,9.57,1.153,9222,0.000,0.076,2819,3060,2106,2167,2045,0,0,0,0,0,0,28.83,14.45,13.86
$GC,11433,0.84,298.0,2821,3054,2154,2036,144.7,9.9,718,11468,0.12,2.45,29.48,1.065,10756,0.145,0.083,2889,1636,1964,2020,1909,0,0,0,0,0,0,14.50,14.35,13.86
$GC,11542,0.84,298.0,2890,1636,2012,1907,131.1,12.8,740,11548,0.08,2.58,0.00,0.000,5126,0.240,0.109,2860,3043,1958,2010,1906,0,0,0,0,0,0,14.26,14.35,28.83
$GC,11854,0.84,306.1,2861,3044,2010,1901,94.6,11.2,772,11864,0.00,2.50,1.80,0.244,8708,0.000,0.082,2870,1635,1945,2007,1883,0,0,0,0,0,0,28.83,14.37,14.27
$GC,11915,0.89,334.9,2871,1636,2020,1884,88.3,10.1,784,11940,0.00,2.55,17.45,0.441,9222,0.000,0.109,2870,3057,1822,1879,1765,0,0,0,0,0,0,28.83,14.35,14.09
$GC,12244,0.99,422.9,2871,3058,1896,1765,55.8,6.9,820,12301,0.12,2.50,48.35,0.351,10756,0.143,0.081,2939,1648,1466,1515,1417,0,0,0,0,0,0,14.44,14.31,14.12
$GC,12350,1.07,492.3,2940,1648,1528,1417,47.5,7.9,838,12397,0.00,2.53,38.38,0.329,9222,0.000,0.109,2939,3053,1180,1213,1148,0,0,0,0,0,0,28.83,14.29,14.08
$GC,12695,1.18,578.0,2940,3049,1220,1148,13.2,7.1,877,12747,0.00,2.45,45.95,0.224,8708,0.000,0.081,2945,1640,827,831,823,0,0,0,0,0,0,28.83,14.32,14.20
$FREEZE,8.90,-1.191,-1.441,2,1,0
$FREEZE,8.49,-1.197,-1.440,2,1,0
$FREEZE,8.25,-1.197,-1.440,2,1,0
$FREEZE,7.79,-1.182,-1.439,2,1,0
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$STATE,13213,end climb,NO_VERTICAL_VELOCITY
$STATE,13213,begin subsurface finish
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$FINISH2,2.8
$STATE,13224,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13224,begin surface
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$RAFOS_FIX,7349.750000,-14450.231445,280814,040408,2,255,0.27
$IRIDIUM_FIX,7312.24,-14450.30,280814,162047
$TT8_MAMPS,0.079394,0.079394
$HUMID,49.29
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3927776
$24V_AH,12.81,69.504
$10V_AH,12.75,0.000
$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,15.550,58.675,636.525,0.000,0.000,0.000,0.000,622.250,0.000,0.000,25.441,0.000,10586.158,712.768,2529.670,256.168,0.000,2100.282,0.000,1403.066,1433.000,0.535,0.000
$DEVICE_MAMPS,444.465,151.470,1713.600,0.000,0.000,0.000,0.000,202.725,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.602,0.000,0.000,0.000
$MEM,251780
$DATA_FILE_SIZE,33427,946
$CAP_FILE_SIZE,156773,0
$CFSIZE,2097872896,2045902848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13945.17,0x2378b6,7,5
$SOUNDSPEED,1447.7
$GPS,280814,202354,7354.602,-14451.213,4,0.9,24,23.0