version: 66.12
glider: 198
mission: 5
dive: 256
start: 9 4 114 20 52 33
data:
$ID,198
$MISSION,5
$DIVE,256
$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,-5390.1587
$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,31
$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,-14220.536,181,99.0,181,24.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-47.7
$GPS2,030914,083844,7438.946,-14220.536,181,99.0,181,24.0
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.70,-145.9,203,2684,500,507,0.0,0.0,0,71,0.00,0.00,-51.50,0.000,16386,0.000,0.000,202,2684,1776,1796,1756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.70,-145.9,203,2684,1798,1757,3.3,-1.1,5,146,10.85,2.08,-56.88,0.000,18692,0.441,0.145,2349,3789,3782,3837,3728,0,0,0,0,0,0,14.10,14.35,14.69
$GC,372,-0.63,-145.9,2350,3789,3838,3731,79.7,-22.7,65,377,0.10,1.92,0.00,0.000,3078,0.296,0.072,2381,2677,3784,3837,3731,0,0,0,0,0,0,14.16,14.45,28.83
$GC,681,-0.63,-145.9,2382,2678,3838,3732,131.0,-15.2,97,686,0.00,2.03,0.00,0.000,260,0.000,0.121,2374,3793,3784,3837,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,831,-0.63,-145.9,2375,3794,3838,3732,154.8,-15.8,127,836,0.00,1.92,0.00,0.000,1030,0.000,0.071,2374,2676,3784,3837,3731,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1141,-0.63,-145.9,2375,2677,3838,3732,198.9,-13.5,159,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1442,-0.63,-145.9,2375,2677,3838,3732,236.8,-11.7,189,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,-0.66,-145.9,2374,2676,3839,3731,270.3,-10.8,207,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2042,-0.69,-145.9,2374,2676,3839,3731,301.7,-10.5,217,2047,0.00,2.03,0.00,0.000,260,0.000,0.125,2373,3793,3784,3838,3731,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2138,-0.72,-145.9,2374,3793,3839,3731,312.0,-11.0,236,2142,0.00,1.88,0.00,0.000,1030,0.000,0.073,2373,2676,3784,3837,3731,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2463,-0.76,-145.9,2380,2677,3838,3732,344.1,-9.8,251,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-0.80,-145.9,2374,2676,3839,3731,372.9,-9.6,261,2767,0.12,2.00,0.00,0.000,4356,0.153,0.119,2317,3787,3784,3838,3731,0,0,0,0,0,0,14.65,14.50,28.83
$GC,2807,-0.80,-145.9,2317,3788,3839,3731,378.3,-12.5,270,2812,0.00,1.90,0.00,0.000,1030,0.000,0.071,2317,2677,3784,3838,3731,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3122,-0.80,-145.9,2317,2677,3839,3731,416.8,-12.0,283,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3422,-0.80,-145.9,2317,2677,3839,3731,452.3,-11.8,293,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-0.80,-145.9,2317,2677,3839,3733,487.9,-11.8,303,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.80,-145.9,2317,2677,3835,3732,523.0,-11.6,313,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,-0.80,-145.9,2317,2677,3839,3732,557.4,-11.5,323,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,-0.80,-145.9,2318,2678,3839,3734,591.4,-11.2,333,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4922,-0.80,-145.9,2318,2678,3839,3734,625.0,-11.2,343,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2678,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-0.80,-145.9,2318,2678,3839,3734,658.4,-11.1,353,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-0.80,-145.9,2317,2677,3843,3733,692.1,-11.3,363,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2677,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,-0.80,-145.9,2318,2677,3840,3733,725.5,-11.1,373,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6060,begin apogee
$GC,6065,-0.14,0.0,2315,3061,3839,3734,752.3,-11.2,381,6254,0.85,0.00,187.05,1.424,10246,0.262,0.000,2538,3060,3185,3292,3079,0,0,0,0,0,0,14.44,28.83,13.33
$STATE,6256,end apogee,CONTROL_FINISHED_OK
$STATE,6256,begin climb
$GC,6257,0.70,145.9,2538,3061,3289,3073,757.1,0.0,387,6395,0.93,1.48,125.78,1.694,10500,0.177,0.117,2805,3784,2582,2671,2494,0,0,0,0,0,0,13.85,13.40,12.81
$GC,6460,0.66,145.9,2806,3785,2663,2488,738.4,14.1,430,6465,0.00,1.33,0.00,0.000,1030,0.000,0.070,2810,3056,2575,2663,2487,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6786,0.64,145.9,2811,3056,2662,2487,696.3,12.8,445,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3056,2574,2661,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7085,0.62,145.9,2812,3057,2662,2488,657.5,12.9,455,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3056,2572,2661,2484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7385,0.62,145.9,2812,3057,2662,2488,618.9,12.8,465,7390,0.00,1.35,0.00,0.000,260,0.000,0.118,2810,3784,2574,2661,2487,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7455,0.58,145.9,2812,3785,2662,2486,608.9,14.7,479,7460,0.12,1.25,0.00,0.000,5126,0.259,0.073,2781,3053,2573,2660,2487,0,0,0,0,0,0,14.34,14.56,28.83
$GC,7776,0.58,147.7,2783,3053,2661,2488,571.7,11.5,493,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,3052,2573,2660,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8075,0.58,150.5,2782,3052,2661,2488,537.2,11.5,503,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3053,2573,2660,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8375,0.58,155.6,2782,3052,2662,2487,503.1,11.4,513,8379,0.00,0.00,2.58,0.669,8198,0.000,0.000,2782,3052,2550,2640,2461,0,0,0,0,0,0,28.83,28.83,13.76
$GC,8675,0.59,160.3,2783,3053,2664,2473,469.0,11.4,523,8687,0.00,0.00,11.10,1.384,8198,0.000,0.000,2782,3052,2532,2624,2441,0,0,0,0,0,0,28.83,28.83,13.97
$GC,8975,0.59,162.3,2783,3053,2611,2431,434.4,11.5,533,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,3052,2521,2612,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9275,0.59,169.2,2782,3052,2611,2431,400.2,11.3,543,9279,0.00,0.00,3.03,0.822,8198,0.000,0.000,2782,3053,2495,2586,2405,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9575,0.60,179.6,2783,3052,2614,2412,366.8,11.1,553,9593,0.00,0.00,16.80,1.276,8198,0.000,0.000,2782,3052,2451,2546,2357,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9875,0.61,188.6,2783,3052,2529,2351,333.1,11.1,563,9878,0.00,0.00,2.30,0.483,8198,0.000,0.000,2782,3052,2416,2508,2325,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10175,0.62,204.7,2783,3053,2535,2329,300.2,10.8,573,10200,0.00,0.00,20.85,1.193,8710,0.000,0.000,2782,3052,2343,2434,2253,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10506,0.66,224.6,2783,3053,2421,2249,264.7,10.6,589,10530,0.00,2.42,17.12,1.152,8708,0.000,0.076,2791,1653,2262,2348,2176,0,0,0,0,0,0,28.83,14.50,13.94
$GC,10560,0.73,253.9,2793,1654,2341,2174,259.1,10.1,600,10591,0.10,2.47,26.17,1.118,11270,0.164,0.103,2839,3049,2148,2233,2063,0,0,0,0,0,0,14.50,14.45,13.85
$GC,10897,0.73,253.9,2839,3048,2214,2046,215.2,12.3,633,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,3049,2129,2213,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11196,0.74,265.8,2839,3050,2213,2046,180.6,11.0,663,11200,0.00,0.00,3.17,0.769,8198,0.000,0.000,2839,3049,2103,2188,2018,0,0,0,0,0,0,28.83,28.83,13.78
$GC,11499,0.75,286.5,2836,3050,2211,2022,147.9,10.5,693,11531,0.00,0.00,25.90,1.020,8198,0.000,0.000,2838,3049,2009,2094,1925,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11831,0.80,311.3,2839,3049,2081,1919,113.4,10.3,726,11861,0.00,2.47,22.00,0.988,8708,0.000,0.077,2847,1647,1907,1986,1829,0,0,0,0,0,0,28.83,14.29,13.85
$GC,11902,0.88,352.6,2848,1647,1979,1828,106.5,9.4,740,11946,0.00,2.53,36.75,0.953,9222,0.000,0.105,2847,3048,1740,1812,1669,0,0,0,0,0,0,28.83,14.28,13.75
$GC,12251,0.96,395.3,2847,3048,1796,1657,71.0,9.4,780,12277,0.15,2.45,20.35,0.383,10756,0.130,0.075,2919,1643,1577,1649,1506,0,0,0,0,0,0,14.32,14.26,14.01
$GC,12342,0.98,395.3,2920,1644,1670,1505,60.1,11.6,798,12353,0.00,2.55,2.15,0.227,9222,0.000,0.104,2919,3049,1579,1652,1506,0,0,0,0,0,0,28.83,14.23,14.13
$GC,12653,1.07,486.3,2920,3049,1669,1505,34.9,6.8,830,12713,0.00,2.50,52.33,0.289,8708,0.000,0.077,2928,1622,1206,1263,1150,0,0,0,0,0,0,28.83,14.24,14.09
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bb72a6cce;,*05
$MODEM_MSG,CACST,6,0,20140905000131.581826,3,947,23,0335,0150,100,00,00,01,04,1,004,000,0,5,1,0,150,7.1,5.6,-100,-2.6,-01,0.1,24,900,0025*1F
$GC,12790,1.21,573.4,2928,1622,1278,1150,24.8,7.0,857,12846,0.15,2.60,48.67,0.252,11270,0.128,0.106,2992,3055,849,858,841,0,0,0,0,0,0,14.29,14.22,14.11
$FREEZE,8.76,-1.340,-1.445,2,11,0
$FREEZE,7.72,-1.340,-1.444,2,11,0
$FREEZE,6.77,-1.340,-1.444,2,11,0
$FREEZE,5.87,-1.341,-1.443,2,11,0
$FREEZE,5.09,-1.342,-1.442,2,11,0
$FREEZE,4.14,-1.342,-1.441,2,11,0
$STATE,13003,end climb,FINISH_DEPTH_REACHED
$STATE,13004,begin subsurface finish
$FINISH1,4.1,1.021223,351
$GC,13008,0.25,350.6,2993,3056,872,841,4.1,8.8,884,13047,1.15,1.42,-32.58,0.000,20740,0.223,0.168,2674,3793,1757,1797,1718,0,0,0,0,0,0,14.18,14.27,14.54
$FINISH2,3.9
$STATE,13047,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13047,begin surface
$RAFOS_CLK,119
$MODEM,4,1409875291,75.13320,-146.14481,90.582,131210.9
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.043442,0.043442
$HUMID,48.30
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,13.00
$XPDR_PINGS,3
$SC_FREEKB,3907168
$24V_AH,12.81,83.365
$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,14.525,43.275,624.100,0.000,0.000,0.000,0.000,121.050,0.750,0.000,182.257,0.000,10648.225,695.642,2110.990,304.616,0.000,1548.284,0.000,1331.744,1434.000,0.536,0.000
$DEVICE_MAMPS,441.405,167.535,1693.710,0.000,0.000,0.000,0.000,48.960,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13103.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.944,0.000,0.000,0.000
$MEM,227852
$DATA_FILE_SIZE,30052,891
$CAP_FILE_SIZE,145854,0
$CFSIZE,2097872896,2037088256
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14121.78,0x2378b6,7,5
$INTR,1,13005.71,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,030914,083844,7438.946,-14220.536,181,99.0,181,24.0