version: 66.12
glider: 198
mission: 5
dive: 228
start: 8 31 114 15 6 36
data:
$ID,198
$MISSION,5
$DIVE,228
$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,-5021.1265
$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,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
$GPS1,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.90
$_SM_ANGLEo,-17.6
$GPS2,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.7,50652,-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,16,-0.70,-145.9,2676,2679,1805,1727,0.0,0.0,0,29,0.00,0.00,-12.18,0.000,16386,0.000,0.000,2674,2678,2494,2552,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2675,2678,2554,2436,17.8,0.0,1,58,0.90,0.00,-19.92,0.000,20998,0.073,0.000,2351,2678,3785,3840,3730,0,0,0,0,0,0,14.41,28.83,14.65
$GC,358,-0.67,-145.9,2351,2678,3842,3732,93.0,-18.2,36,362,0.00,2.03,0.00,0.000,260,0.000,0.125,2347,3793,3786,3840,3733,0,0,0,0,0,0,28.83,14.40,28.83
$GC,507,-0.64,-145.9,2348,3793,3842,3732,121.1,-18.1,66,512,0.10,1.92,0.00,0.000,3078,0.282,0.075,2374,2678,3786,3839,3733,0,0,0,0,0,0,14.28,14.50,28.83
$GC,817,-0.64,-145.9,2375,2678,3839,3733,167.5,-14.4,98,822,0.00,2.40,0.00,0.000,516,0.000,0.088,2374,1271,3786,3840,3733,0,0,0,0,0,0,28.83,14.53,28.83
$GC,867,-0.64,-145.9,2375,1271,3842,3732,174.6,-13.7,108,872,0.00,2.53,0.00,0.000,1030,0.000,0.112,2373,2691,3786,3840,3733,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1177,-0.64,-145.9,2373,2691,3842,3733,217.6,-12.9,140,1182,0.00,2.42,0.00,0.000,516,0.000,0.086,2373,1271,3786,3840,3733,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1302,-0.67,-145.9,2374,1271,3841,3733,233.4,-12.2,165,1308,0.00,2.53,0.00,0.000,1030,0.000,0.112,2373,2687,3786,3840,3733,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1627,-0.70,-145.9,2374,2688,3840,3734,269.8,-10.4,186,1632,0.00,1.98,0.00,0.000,260,0.000,0.128,2373,3796,3786,3840,3733,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1667,-0.72,-145.9,2374,3796,3841,3733,274.4,-11.7,194,1672,0.00,1.92,0.00,0.000,1030,0.000,0.076,2373,2675,3787,3841,3734,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1989,-0.76,-145.9,2375,2674,3841,3734,306.3,-9.7,208,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2674,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2287,-0.80,-145.9,2375,2674,3842,3733,334.6,-9.3,218,2289,0.12,0.00,0.00,0.000,4102,0.153,0.000,2325,2673,3786,3840,3732,0,0,0,0,0,0,14.66,28.83,28.83
$GC,2587,-0.80,-145.9,2325,2674,3841,3733,369.4,-11.5,228,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2674,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,-0.80,-145.9,2326,2674,3841,3734,403.3,-11.3,238,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2673,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3188,-0.80,-145.9,2325,2672,3842,3732,437.2,-11.3,248,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2672,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3487,-0.80,-145.9,2325,2674,3841,3732,470.5,-11.1,258,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2673,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3787,-0.80,-145.9,2326,2674,3842,3733,503.4,-10.9,268,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2673,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-0.80,-145.9,2326,2674,3842,3737,535.8,-10.7,278,4092,0.00,2.03,0.00,0.000,260,0.000,0.123,2315,3796,3786,3840,3732,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4142,-0.80,-145.9,2317,3797,3841,3740,542.2,-11.9,289,4148,0.00,1.92,0.00,0.000,1030,0.000,0.073,2316,2678,3786,3840,3733,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4448,-0.80,-145.9,2316,2679,3841,3733,575.3,-10.7,300,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2676,3784,3841,3728,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b75ba69b4;,*01
$MODEM_MSG,CACST,6,0,20140831160114.428780,3,116,08,0101,0150,100,00,00,02,06,1,004,000,0,5,1,0,150,11.7,4.7,-100,-1.7,-01,0.1,12,900,0025*26
$GC,4747,-0.80,-145.9,2317,2679,3841,3734,607.9,-11.0,310,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2678,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5047,-0.80,-145.9,2317,2679,3841,3734,640.6,-11.0,320,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5347,-0.80,-145.9,2317,2679,3842,3734,673.1,-10.8,330,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2678,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5647,-0.80,-145.9,2316,2678,3841,3734,705.6,-10.8,340,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2678,3787,3840,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5947,-0.80,-145.9,2316,2679,3842,3733,737.5,-10.6,350,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2678,3787,3840,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6065,begin apogee
$GC,6070,-0.14,0.0,2314,3060,3841,3735,750.1,-10.5,354,6203,0.85,0.00,130.32,1.771,10246,0.263,0.000,2538,3059,3184,3282,3086,0,0,0,0,0,0,14.47,28.83,13.29
$STATE,6204,end apogee,CONTROL_FINISHED_OK
$STATE,6204,begin climb
$GC,6206,0.70,145.9,2539,3060,3276,3080,752.8,0.0,358,6339,0.95,0.00,126.55,1.756,10246,0.174,0.000,2808,3060,2583,2664,2502,0,0,0,0,0,0,13.88,28.83,12.83
$GC,6637,0.70,145.9,2808,3061,2653,2495,702.8,13.4,373,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6937,0.70,145.9,2808,3060,2653,2495,663.0,13.2,383,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,0.70,145.9,2809,3060,2653,2494,623.7,13.1,393,7242,0.00,1.35,0.00,0.000,260,0.000,0.121,2807,3790,2573,2653,2493,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7292,0.66,145.9,2808,3790,2654,2494,615.7,14.5,404,7298,0.00,1.27,0.00,0.000,1030,0.000,0.077,2813,3051,2576,2660,2493,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7598,0.64,145.9,2815,3051,2653,2494,575.2,13.2,415,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3051,2573,2653,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7897,0.64,145.9,2814,3051,2654,2493,535.7,13.1,425,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3051,2573,2653,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,0.64,145.9,2814,3051,2653,2494,496.6,13.0,435,8202,0.00,1.35,0.00,0.000,260,0.000,0.121,2813,3784,2573,2653,2493,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8262,0.60,145.9,2814,3784,2653,2494,487.1,14.5,448,8267,0.10,1.25,0.00,0.000,5126,0.262,0.077,2791,3050,2572,2652,2493,0,0,0,0,0,0,14.46,14.67,28.83
$GC,8588,0.60,147.4,2791,3050,2653,2493,448.8,11.5,463,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,3049,2573,2652,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8887,0.60,154.5,2792,3051,2653,2495,414.9,11.3,473,8890,0.00,0.00,1.92,0.223,8198,0.000,0.000,2791,3050,2554,2637,2472,0,0,0,0,0,0,28.83,28.83,14.51
$GC,9187,0.61,160.4,2792,3050,2665,2477,381.1,11.3,483,9200,0.00,0.00,11.82,1.344,8198,0.000,0.000,2791,3050,2532,2617,2447,0,0,0,0,0,0,28.83,28.83,14.02
$GC,9487,0.61,167.9,2792,3051,2602,2437,347.0,11.2,493,9491,0.00,0.00,2.10,0.347,8198,0.000,0.000,2791,3050,2501,2585,2417,0,0,0,0,0,0,28.83,28.83,13.70
$GC,9787,0.62,182.9,2792,3050,2616,2417,313.9,10.8,503,9808,0.00,0.00,19.65,1.280,8198,0.000,0.000,2791,3049,2441,2528,2354,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10087,0.63,189.4,2792,3051,2508,2340,280.3,11.3,513,10090,0.00,0.00,1.25,0.241,8198,0.000,0.000,2791,3050,2411,2495,2328,0,0,0,0,0,0,28.83,28.83,14.43
$GC,10387,0.65,221.1,2792,3051,2517,2329,249.3,9.9,523,10429,0.00,2.45,32.75,1.213,8708,0.000,0.079,2801,1648,2272,2354,2190,0,0,0,0,0,0,28.83,14.43,13.91
$GC,10483,0.72,253.4,2802,1648,2344,2193,239.9,9.9,542,10520,0.00,2.50,28.45,1.202,9222,0.000,0.106,2801,3053,2141,2220,2063,0,0,0,0,0,0,28.83,14.43,13.79
$GC,10819,0.78,287.7,2802,3054,2208,2053,205.9,9.8,579,10855,0.12,2.47,29.02,1.153,10756,0.141,0.080,2863,1651,2003,2076,1930,0,0,0,0,0,0,14.45,14.33,13.77
$GC,10974,0.81,287.7,2864,1652,2064,1934,187.5,11.7,610,10981,0.00,2.50,0.00,0.000,1030,0.000,0.106,2863,3049,1994,2062,1927,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11279,0.81,287.7,2863,3050,2063,1922,149.9,12.3,641,11284,0.00,2.40,0.00,0.000,516,0.000,0.080,2872,1647,1992,2062,1922,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11404,0.84,302.5,2872,1647,2064,1920,135.8,10.8,666,11421,0.00,2.50,11.57,1.086,9222,0.000,0.107,2872,3051,1952,2023,1882,0,0,0,0,0,0,28.83,14.49,13.90
$GC,11720,0.84,308.8,2869,3051,2010,1868,97.8,11.3,699,11725,0.00,1.33,1.27,0.240,8452,0.000,0.117,2868,3792,1926,1998,1855,0,0,0,0,0,0,28.83,14.40,14.31
$GC,11880,0.84,308.8,2873,3792,2010,1855,77.3,12.6,731,11885,0.00,1.27,0.00,0.000,1030,0.000,0.076,2877,3057,1932,2009,1855,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12191,0.94,406.6,2878,3057,2011,1854,50.0,6.4,763,12252,0.00,1.40,52.97,0.324,8452,0.000,0.125,2876,3793,1530,1594,1467,0,0,0,0,0,0,28.83,14.30,14.15
$GC,12476,1.06,499.6,2878,3793,1608,1468,31.9,6.7,820,12533,0.10,1.30,51.33,0.269,11270,0.088,0.076,2941,3050,1150,1196,1104,0,0,0,0,0,0,14.36,14.36,14.16
$FREEZE,8.50,-1.371,-1.447,2,13,0
$STATE,12800,end climb,FINISH_DEPTH_REACHED
$STATE,12800,begin subsurface finish
$FINISH1,8.5,1.021249,349
$GC,12804,0.24,349.2,2941,3050,1215,1104,8.5,6.5,858,12826,0.93,2.42,-15.70,0.000,20996,0.205,0.099,2677,1642,1764,1803,1726,0,0,0,0,0,0,14.26,14.36,14.59
$FINISH2,8.1
$STATE,12827,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12827,begin surface
$RAFOS_CLK,628
$MODEM,4,1409500874,74.92380,-146.46240,73.429,106385.3
$RAFOS_FIX,7417.013672,-14347.504883,310814,080806,2,255,0.16
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.80
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3919712
$24V_AH,12.83,74.969
$10V_AH,12.95,0.000
$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,4.175,52.075,501.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10489.937,570.609,1754.496,128.010,0.000,1232.685,0.000,1285.332,1489.000,0.536,0.000
$DEVICE_MAMPS,281.520,127.755,1770.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12867.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.185,0.000,0.000,0.000
$MEM,242536
$DATA_FILE_SIZE,29991,862
$CAP_FILE_SIZE,135295,0
$CFSIZE,2097872896,2042396672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12802.39,0x2378b6,5,5
$SOUNDSPEED,1447.9
$GPS,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2