version: 66.12
glider: 198
mission: 5
dive: 244
start: 9 3 114 1 7 44
data:
$ID,198
$MISSION,5
$DIVE,244
$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,-5022.3872
$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,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
$GPS1,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.14
$_SM_ANGLEo,-16.8
$GPS2,010914,200702,7427.344,-14305.143,5,0.8,25,23.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.0,22370,-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
$GC,16,-0.70,-145.9,2678,2683,1789,1708,0.0,0.0,0,30,0.00,0.00,-12.48,0.000,16386,0.000,0.000,2677,2682,2491,2554,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2684,2682,2557,2429,17.8,0.0,1,61,0.90,2.03,-19.80,0.000,20740,0.071,0.141,2344,3786,3785,3843,3728,0,0,0,0,0,0,14.37,14.35,14.62
$GC,286,-0.65,-145.9,2345,3786,3845,3731,86.6,-22.1,52,292,0.10,1.90,0.00,0.000,3078,0.285,0.069,2370,2683,3786,3843,3730,0,0,0,0,0,0,14.19,14.40,28.83
$GC,591,-0.65,-145.9,2371,2683,3844,3732,136.1,-15.6,83,596,0.00,2.03,0.00,0.000,260,0.000,0.119,2362,3785,3787,3843,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,731,-0.65,-145.9,2363,3784,3844,3731,158.9,-16.3,111,736,0.00,1.90,0.00,0.000,1030,0.000,0.070,2363,2679,3787,3843,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1041,-0.65,-145.9,2363,2679,3845,3731,203.8,-13.7,143,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2679,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.65,-145.9,2364,2680,3844,3732,242.9,-11.8,173,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2679,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-0.67,-145.9,2363,2679,3845,3732,277.3,-11.1,187,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2679,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-0.70,-145.9,2363,2679,3845,3726,308.7,-10.2,197,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2679,3786,3843,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2241,-0.73,-145.9,2363,2680,3845,3732,338.0,-9.5,207,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2679,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-0.76,-145.9,2362,2679,3845,3731,366.5,-9.6,217,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2679,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2841,-0.80,-145.9,2364,2680,3844,3732,394.8,-9.5,227,2846,0.00,2.00,0.00,0.000,260,0.000,0.123,2361,3790,3786,3842,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2906,-0.83,-145.9,2362,3791,3844,3731,401.4,-10.3,240,2911,0.08,1.90,0.00,0.000,5126,0.106,0.072,2316,2676,3786,3843,3730,0,0,0,0,0,0,14.62,14.69,28.83
$GC,3231,-0.83,-145.9,2317,2676,3844,3731,438.3,-11.4,255,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3786,3843,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3531,-0.83,-145.9,2317,2677,3843,3731,472.4,-11.3,265,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3786,3843,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3831,-0.83,-145.9,2317,2675,3844,3732,506.2,-11.3,275,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4131,-0.83,-145.9,2317,2676,3845,3731,540.0,-11.3,285,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.83,-145.9,2317,2677,3844,3732,573.3,-11.1,295,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3787,3843,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.83,-145.9,2317,2676,3845,3732,606.4,-11.0,305,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3788,3844,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5031,-0.83,-145.9,2317,2676,3845,3732,638.9,-10.8,315,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2676,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5331,-0.83,-145.9,2317,2678,3844,3733,670.9,-10.7,325,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3788,3844,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5631,-0.83,-145.9,2317,2676,3845,3733,702.9,-10.7,335,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3788,3843,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,-0.83,-145.9,2317,2676,3845,3733,735.1,-10.8,345,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3788,3844,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6079,begin apogee
$GC,6084,-0.14,0.0,2314,3060,3845,3733,751.4,-10.8,350,6276,0.85,0.00,189.55,1.440,10246,0.260,0.000,2539,3059,3186,3291,3082,0,0,0,0,0,0,14.47,28.83,13.31
$STATE,6277,end apogee,CONTROL_FINISHED_OK
$STATE,6277,begin climb
$GC,6278,0.70,145.9,2540,3060,3287,3077,756.3,0.0,356,6414,0.93,1.42,126.15,1.714,10500,0.172,0.112,2807,3790,2582,2670,2495,0,0,0,0,0,0,13.84,13.39,12.79
$GC,6559,0.66,145.9,2808,3791,2659,2488,726.3,15.1,415,6565,0.00,1.33,0.00,0.000,1030,0.000,0.070,2813,3058,2572,2658,2486,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6865,0.64,145.9,2813,3058,2660,2487,686.1,13.1,426,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3058,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,0.61,145.9,2814,3059,2659,2488,646.8,13.1,436,7169,0.00,1.35,0.00,0.000,260,0.000,0.116,2813,3784,2572,2658,2487,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7219,0.57,145.9,2813,3784,2659,2487,638.9,14.3,447,7225,0.12,1.27,0.00,0.000,5126,0.256,0.071,2784,3044,2572,2658,2487,0,0,0,0,0,0,14.28,14.50,28.83
$GC,7525,0.57,146.4,2784,3044,2659,2487,603.1,11.6,458,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3044,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7825,0.57,147.7,2785,3045,2659,2487,568.4,11.6,468,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3044,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8124,0.57,148.8,2784,3044,2659,2488,533.8,11.6,478,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3044,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8424,0.58,151.6,2784,3044,2659,2487,499.3,11.5,488,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3044,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8724,0.58,160.7,2785,3044,2659,2487,465.5,11.1,498,8737,0.00,0.00,12.40,1.411,8198,0.000,0.000,2784,3044,2529,2618,2441,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9024,0.59,168.5,2785,3045,2604,2430,431.7,11.2,508,9045,0.00,12.90,1.98,0.223,8452,0.000,0.001,2806,25,2507,2605,2409,0,0,84,1,0,0,28.83,14.75,14.50
$GC,9270,0.63,188.5,2806,26,2616,2413,404.9,10.6,557,9305,0.00,5.32,24.73,1.341,9222,0.000,0.097,2805,3045,2407,2497,2317,0,0,0,0,0,0,28.83,14.55,13.89
$GC,9624,0.63,188.5,2807,3046,2484,2310,358.3,13.3,578,9629,0.00,1.35,0.00,0.000,260,0.000,0.116,2806,3783,2396,2483,2309,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9854,0.63,188.5,2806,3787,2484,2309,325.0,14.2,624,9859,0.00,1.25,0.00,0.000,1030,0.000,0.069,2810,3048,2396,2483,2309,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10165,0.63,188.5,2811,3048,2484,2309,285.4,12.6,636,10170,0.00,1.35,0.00,0.000,260,0.000,0.116,2810,3786,2396,2484,2309,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10405,0.63,188.5,2811,3786,2484,2310,253.9,13.1,682,10410,0.00,1.25,0.00,0.000,1030,0.000,0.070,2815,3049,2396,2483,2309,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10715,0.65,214.1,2816,3050,2483,2310,220.1,10.3,712,10741,0.00,1.33,21.38,1.142,8452,0.000,0.112,2815,3788,2305,2393,2218,0,0,0,0,0,0,28.83,14.41,13.92
$GC,10851,0.65,219.0,2816,3789,2380,2211,204.9,11.4,739,10857,0.00,1.25,0.00,0.000,1030,0.000,0.070,2820,3058,2294,2379,2210,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11157,0.69,267.1,2821,3058,2379,2211,176.0,9.1,770,11212,0.00,2.45,50.15,1.053,8708,0.000,0.075,2828,1637,2092,2175,2010,0,0,0,0,0,0,28.83,14.25,13.79
$GC,11261,0.75,295.7,2828,1638,2165,2005,165.8,10.1,791,11292,0.00,2.55,26.20,1.052,9222,0.000,0.103,2828,3059,1981,2058,1905,0,0,0,0,0,0,28.83,14.21,13.73
$GC,11597,0.81,320.4,2828,3054,2035,1881,129.6,10.3,828,11623,0.00,2.42,21.30,1.032,8708,0.000,0.075,2834,1643,1871,1947,1795,0,0,0,0,0,0,28.83,14.29,13.78
$GC,11674,0.89,361.5,2834,1643,1934,1789,122.1,9.4,843,11714,0.12,2.53,35.40,0.998,11270,0.143,0.105,2888,3046,1716,1782,1650,0,0,0,0,0,0,14.33,14.28,13.71
$MODEM_MSG,CACST,6,1,20140903042129.292770,3,1011,05,0200,0150,100,00,00,04,06,1,000,000,2,5,1,0,150,30.3,-12.7,-100,15.7,-01,1.0,15,900,0025*1C
$GC,12018,0.89,361.5,2890,3047,1756,1627,76.2,12.6,882,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,3046,1691,1755,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12319,1.02,485.3,2889,3046,1756,1624,48.5,5.0,912,12388,0.00,2.42,64.25,0.320,8708,0.000,0.074,2902,1647,1208,1258,1158,0,0,0,0,0,0,28.83,14.29,14.07
$GC,12487,1.18,580.0,2897,1648,1277,1159,37.6,6.6,945,12548,0.22,2.53,53.20,0.283,11270,0.107,0.106,2983,3049,822,825,820,0,0,0,0,0,0,14.36,14.30,14.06
$FREEZE,8.63,-1.323,-1.438,2,9,0
$FREEZE,7.56,-1.329,-1.437,2,9,0
$FREEZE,6.48,-1.331,-1.436,2,9,0
$FREEZE,5.39,-1.345,-1.434,2,9,0
$STATE,12761,end climb,FINISH_DEPTH_REACHED
$STATE,12761,begin subsurface finish
$FINISH1,5.4,1.021107,357
$GC,12765,0.25,356.6,2984,3049,840,820,5.4,10.8,979,12802,1.10,1.40,-28.83,0.000,20740,0.215,0.171,2673,3788,1734,1771,1698,0,0,0,0,0,0,14.22,14.29,14.57
$FINISH2,5.5
$STATE,12802,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12802,begin surface
$RAFOS_CLK,164
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.01
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3912544
$24V_AH,12.79,79.756
$10V_AH,12.73,0.000
$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,4.425,62.025,626.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10202.413,633.001,1947.713,134.609,0.000,1416.443,0.000,1462.864,1499.000,0.535,0.000
$DEVICE_MAMPS,285.345,170.595,1714.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12852.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.799,0.000,0.000,0.000
$MEM,234192
$DATA_FILE_SIZE,33324,986
$CAP_FILE_SIZE,140142,8
$CFSIZE,2097872896,2039414784
$ERRORS,0,2,0,0,0,0,0,0,0,1,0,0,84,0,0,0
$INTR,0,12379.36,0x234484,1,24
$INTR,1,12762.92,0x2378b6,5,5
$SOUNDSPEED,1450.0
$GPS,010914,200702,7427.344,-14305.143,5,0.8,25,23.7