version: 66.12
glider: 198
mission: 5
dive: 248
start: 9 3 114 15 51 3
data:
$ID,198
$MISSION,5
$DIVE,248
$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,-5023.6465
$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,37
$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
$GPS1,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.91
$_SM_ANGLEo,-18.5
$GPS2,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,172.3,353001,-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,-145.9,2675,2685,1793,1683,0.0,0.0,0,29,0.00,0.00,-12.05,0.000,16386,0.000,0.000,2674,2685,2425,2489,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2675,2685,2491,2362,16.5,0.0,1,60,0.88,2.00,-21.73,0.000,20740,0.068,0.140,2347,3792,3784,3840,3728,0,0,0,0,0,0,14.39,14.35,14.63
$GC,285,-0.64,-145.9,2348,3796,3841,3729,85.9,-21.6,52,291,0.10,1.92,0.00,0.000,3078,0.274,0.068,2374,2678,3785,3840,3730,0,0,0,0,0,0,14.22,14.45,28.83
$GC,594,-0.64,-145.9,2374,2678,3842,3730,136.3,-15.7,83,599,0.00,2.00,0.00,0.000,260,0.000,0.122,2373,3785,3788,3842,3734,0,0,0,0,0,0,28.83,14.40,28.83
$GC,824,-0.64,-145.9,2375,3787,3841,3731,172.0,-15.0,129,829,0.00,1.90,0.00,0.000,1030,0.000,0.070,2373,2685,3785,3840,3730,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1134,-0.64,-145.9,2374,2686,3842,3730,213.8,-13.1,161,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2686,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1434,-0.67,-145.9,2374,2686,3842,3730,249.8,-11.1,191,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2686,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1744,-0.70,-145.9,2373,2685,3841,3730,281.8,-10.1,202,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2686,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bc36a6d7c;,*5B
$MODEM_MSG,CACST,6,0,20140903160127.146912,3,3294,29,0436,0150,100,00,00,01,03,1,004,000,0,5,1,0,150,19.2,14.7,-100,-11.7,-01,-0.3,18,900,0025*3B
$GC,2044,-0.74,-145.9,2374,2686,3841,3731,312.0,-9.9,212,2049,0.00,2.00,0.00,0.000,260,0.000,0.122,2373,3792,3785,3840,3730,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2124,-0.78,-145.9,2374,3792,3841,3730,320.4,-10.3,228,2129,0.00,1.90,0.00,0.000,1030,0.000,0.070,2374,2653,3785,3840,3730,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2435,-0.82,-145.9,2374,2654,3842,3727,349.7,-9.3,240,2436,0.17,0.00,0.00,0.000,4102,0.123,0.000,2304,2653,3785,3840,3730,0,0,0,0,0,0,14.62,28.83,28.83
$GC,2734,-0.82,-145.9,2306,2654,3840,3731,386.6,-12.4,250,2739,0.00,2.05,0.00,0.000,260,0.000,0.122,2305,3797,3785,3840,3730,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2753,-0.82,-145.9,2305,3798,3841,3731,389.4,-13.6,254,2759,0.00,1.90,0.00,0.000,1030,0.000,0.070,2304,2684,3785,3840,3730,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3064,-0.82,-145.9,2305,2685,3838,3731,427.7,-12.2,266,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2684,3788,3847,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3364,-0.82,-145.9,2305,2685,3841,3730,464.3,-12.1,276,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2684,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3664,-0.82,-145.9,2304,2684,3842,3730,500.6,-12.0,286,3669,0.00,2.38,0.00,0.000,516,0.000,0.081,2305,1269,3785,3840,3730,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3698,-0.82,-145.9,2305,1268,3842,3730,504.8,-12.0,293,3704,0.00,2.53,0.00,0.000,1030,0.000,0.105,2304,2678,3785,3840,3730,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4025,-0.82,-145.9,2305,2679,3841,3731,543.6,-11.9,308,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2679,3785,3841,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4324,-0.82,-145.9,2305,2679,3842,3731,579.0,-11.8,318,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4624,-0.82,-145.9,2305,2679,3842,3730,614.1,-11.6,328,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2679,3785,3840,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4924,-0.82,-145.9,2305,2679,3842,3731,649.1,-11.7,338,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3785,3840,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5224,-0.82,-145.9,2301,2679,3842,3731,684.0,-11.6,348,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5524,-0.82,-145.9,2305,2679,3841,3733,718.5,-11.5,358,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5822,begin apogee
$GC,5827,-0.14,0.0,2304,3056,3842,3731,752.7,-11.5,368,5958,0.88,0.00,128.65,1.735,10246,0.267,0.000,2535,3056,3186,3292,3081,0,0,0,0,0,0,14.47,28.83,13.32
$STATE,5959,end apogee,CONTROL_FINISHED_OK
$STATE,5959,begin climb
$GC,5961,0.70,145.9,2536,3057,3286,3075,755.9,0.0,372,6090,0.93,0.00,124.32,1.706,10502,0.171,0.000,2806,3056,2591,2683,2500,0,0,0,0,0,0,13.92,28.83,12.89
$GC,6365,0.70,145.9,2807,3057,2668,2488,712.0,12.8,406,6370,0.00,1.38,0.00,0.000,260,0.000,0.116,2806,3786,2577,2667,2487,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6466,0.66,145.9,2806,3786,2667,2487,697.7,14.2,426,6470,0.00,1.27,0.00,0.000,1030,0.000,0.071,2811,3051,2576,2667,2486,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6786,0.64,145.9,2812,3052,2663,2488,655.9,13.0,440,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3051,2576,2667,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7085,0.61,145.9,2812,3051,2667,2488,617.1,13.0,450,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3051,2576,2666,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7385,0.59,145.9,2812,3051,2666,2487,578.3,12.8,460,7390,0.00,1.35,0.00,0.000,260,0.000,0.117,2810,3784,2576,2666,2487,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7435,0.55,145.9,2812,3785,2666,2488,571.2,14.3,470,7440,0.17,1.25,0.00,0.000,5126,0.249,0.071,2768,3047,2575,2665,2486,0,0,0,0,0,0,14.40,14.62,28.83
$GC,7747,0.57,165.5,2768,3047,2662,2487,537.8,10.6,482,7765,0.00,0.00,17.25,1.470,8198,0.000,0.000,2768,3046,2510,2603,2418,0,0,0,0,0,0,28.83,28.83,13.92
$GC,8047,0.60,179.9,2769,3047,2589,2406,505.1,10.9,492,8060,0.00,0.00,12.62,1.426,8198,0.000,0.000,2768,3046,2452,2546,2358,0,0,0,0,0,0,28.83,28.83,13.89
$GC,8347,0.63,190.2,2769,3047,2532,2350,472.0,11.1,502,8352,0.00,0.00,3.65,1.050,8710,0.000,0.000,2768,3046,2410,2504,2317,0,0,0,0,0,0,28.83,28.83,13.71
$GC,8678,0.66,201.7,2768,3046,2528,2330,435.5,11.0,518,8702,0.12,2.42,17.65,1.352,10756,0.145,0.077,2842,1645,2355,2446,2265,0,0,0,0,0,0,14.64,14.50,13.90
$GC,8741,0.66,201.7,2843,1644,2439,2264,426.6,14.0,531,8747,0.15,2.47,0.00,0.000,5126,0.271,0.102,2809,3049,2349,2436,2263,0,0,0,0,0,0,14.35,14.49,28.83
$GC,9068,0.66,201.7,2810,3049,2435,2262,382.2,13.5,546,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3049,2348,2434,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9366,0.66,201.7,2809,3049,2435,2262,342.1,13.3,556,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3049,2348,2434,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9666,0.66,201.7,2810,3049,2435,2262,302.8,12.8,566,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3049,2347,2433,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9967,0.66,201.7,2810,3049,2435,2262,265.9,12.2,576,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3049,2347,2434,2261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10266,0.68,226.5,2810,3050,2435,2263,232.0,10.3,596,10289,0.00,0.00,21.48,1.132,8198,0.000,0.000,2809,3049,2261,2349,2174,0,0,0,0,0,0,28.83,28.83,14.02
$GC,10588,0.73,257.4,2809,3049,2330,2163,199.7,10.0,628,10619,0.00,2.47,26.70,1.086,8708,0.000,0.075,2819,1644,2131,2216,2046,0,0,0,0,0,0,28.83,14.46,13.93
$GC,10650,0.80,300.0,2820,1644,2208,2044,193.8,9.4,640,10694,0.00,2.50,38.03,1.051,9222,0.000,0.103,2819,3054,1954,2033,1876,0,0,0,0,0,0,28.83,14.42,13.81
$GC,10999,0.86,318.7,2820,3055,2018,1865,156.3,10.6,680,11021,0.12,2.42,15.48,1.050,10756,0.145,0.075,2888,1640,1878,1954,1802,0,0,0,0,0,0,14.50,14.40,13.86
$GC,11071,0.86,318.7,2889,1640,1947,1801,147.1,13.4,694,11076,0.00,2.53,0.00,0.000,1030,0.000,0.101,2888,3059,1872,1946,1799,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11381,0.86,318.7,2890,3059,1943,1797,104.8,13.8,726,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,3059,1869,1942,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11681,0.87,335.7,2889,3059,1943,1794,68.8,10.7,756,11693,0.00,2.40,6.57,0.345,8708,0.000,0.073,2898,1651,1821,1902,1741,0,0,0,0,0,0,28.83,14.40,14.14
$GC,11727,0.93,373.8,2899,1652,1920,1743,64.3,9.6,765,11755,0.00,2.50,22.55,0.369,9222,0.000,0.103,2898,3050,1662,1733,1592,0,0,0,0,0,0,28.83,14.39,14.14
$GC,12053,1.07,514.3,2898,3051,1755,1593,41.9,4.1,800,12140,0.10,2.42,79.03,0.303,10756,0.161,0.077,2956,1648,1091,1133,1050,0,0,0,0,0,0,14.43,14.23,14.12
$GC,12169,1.13,535.0,2956,1649,1145,1050,31.9,10.5,823,12187,0.00,2.53,13.07,0.275,9222,0.000,0.103,2956,3053,1003,1031,976,0,0,0,0,0,0,28.83,14.28,14.08
$FREEZE,8.81,-1.373,-1.433,2,3,0
$STATE,12413,end climb,FINISH_DEPTH_REACHED
$STATE,12413,begin subsurface finish
$FINISH1,8.8,1.021054,359
$GC,12417,0.25,359.4,2958,3054,1048,976,8.8,7.5,849,12444,0.98,2.47,-18.05,0.000,20996,0.207,0.099,2678,1648,1724,1765,1683,0,0,0,0,0,0,14.23,14.35,14.57
$FINISH2,8.6
$STATE,12445,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12445,begin surface
$RAFOS_CLK,779
$MODEM,4,1409760087,75.17240,-146.07520,86.147,124861.4
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.043442,0.043442
$HUMID,50.19
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3910752
$24V_AH,12.89,81.002
$10V_AH,12.81,0.000
$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,4.600,55.550,527.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10143.476,545.049,1735.184,138.227,0.000,1223.553,0.000,1277.055,1499.000,0.535,0.000
$DEVICE_MAMPS,273.870,139.995,1735.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12494.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.699,0.000,0.000,0.000
$MEM,232076
$DATA_FILE_SIZE,30042,854
$CAP_FILE_SIZE,133975,0
$CFSIZE,2097872896,2038628352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12415.55,0x2378b6,5,5
$SOUNDSPEED,1449.5
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0