version: 66.12
glider: 198
mission: 5
dive: 258
start: 9 5 114 4 4 48
data:
$ID,198
$MISSION,5
$DIVE,258
$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,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
$GPS1,030914,083844,7438.946,-14220.536,181,99.0,181,24.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.96
$_SM_ANGLEo,-16.6
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-145.9,2674,2682,1806,1722,0.0,0.0,0,30,0.00,0.00,-12.32,0.000,16386,0.000,0.000,2673,2682,2507,2563,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2674,2682,2568,2450,18.1,0.0,1,61,0.90,2.08,-19.48,0.000,20740,0.070,0.149,2342,3789,3785,3841,3729,0,0,0,0,0,0,14.31,14.27,14.56
$GC,285,-0.64,-145.9,2343,3792,3842,3731,85.9,-21.2,52,292,0.12,1.95,0.00,0.000,3078,0.285,0.073,2379,2675,3786,3841,3731,0,0,0,0,0,0,14.12,14.35,28.83
$GC,590,-0.64,-145.9,2375,2675,3843,3731,134.7,-15.0,83,595,0.00,2.08,0.00,0.000,260,0.000,0.125,2373,3806,3786,3841,3731,0,0,0,0,0,0,28.83,14.30,28.83
$GC,820,-0.64,-145.9,2374,3807,3842,3732,170.7,-15.6,129,825,0.00,1.98,0.00,0.000,1030,0.000,0.074,2373,2673,3786,3841,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1130,-0.64,-145.9,2374,2674,3842,3731,213.0,-13.1,161,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2673,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5ac11a29d0;,*3B
$MODEM_MSG,CACST,6,0,20140905041533.055213,3,429,14,0246,0150,100,00,00,02,04,1,010,000,0,5,1,0,150,5.1,6.9,-100,-3.9,-01,0.0,22,900,0025*19
$MODEM_MSG,CACST,6,1,20140905041805.356075,3,106,08,0106,0150,100,00,00,02,05,-1,-01,-01,1,3,1,0,150,8.2,-0.7,-100,3.7,-01,-4.1,23,900,0025*1E
$GC,1431,-0.67,-145.9,2374,2673,3842,3731,248.5,-11.3,191,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2673,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-0.70,-145.9,2379,2674,3839,3733,281.4,-10.1,203,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2673,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.74,-145.9,2375,2673,3842,3732,311.4,-9.9,213,2055,0.00,2.03,0.00,0.000,260,0.000,0.129,2373,3787,3783,3840,3727,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2126,-0.78,-145.9,2374,3787,3842,3732,319.1,-10.4,228,2130,0.00,1.88,0.00,0.000,1030,0.000,0.076,2373,2676,3786,3841,3731,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2442,-0.82,-145.9,2374,2675,3842,3731,348.4,-9.1,241,2443,0.15,0.00,0.00,0.000,4102,0.141,0.000,2314,2674,3786,3841,3731,0,0,0,0,0,0,14.64,28.83,28.83
$GC,2740,-0.82,-145.9,2315,2675,3842,3728,384.1,-11.9,251,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2675,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3040,-0.82,-145.9,2315,2675,3842,3732,419.2,-11.7,261,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2674,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.82,-145.9,2315,2675,3842,3732,453.5,-11.4,271,3345,0.00,2.00,0.00,0.000,260,0.000,0.123,2305,3788,3786,3841,3731,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3375,-0.82,-145.9,2306,3788,3842,3731,457.9,-12.8,278,3380,0.00,1.90,0.00,0.000,1030,0.000,0.074,2302,2680,3786,3841,3731,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3702,-0.82,-145.9,2306,2681,3842,3732,496.1,-11.7,293,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.82,-145.9,2306,2681,3842,3732,531.2,-11.6,303,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.82,-145.9,2306,2680,3842,3731,565.8,-11.5,313,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2680,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4601,-0.82,-145.9,2306,2680,3843,3732,600.4,-11.4,323,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-0.82,-145.9,2306,2680,3842,3733,634.7,-11.4,333,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2680,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,-0.82,-145.9,2306,2681,3842,3733,669.1,-11.5,343,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2680,3787,3841,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.82,-145.9,2306,2680,3842,3734,703.6,-11.5,353,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3787,3842,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,-0.82,-145.9,2306,2680,3843,3733,737.6,-11.3,363,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5919,begin apogee
$GC,5923,-0.14,0.0,2304,3060,3843,3733,751.1,-11.2,367,6057,0.88,0.00,131.00,1.698,10246,0.262,0.000,2535,3060,3185,3290,3081,0,0,0,0,0,0,14.45,28.83,13.32
$STATE,6058,end apogee,CONTROL_FINISHED_OK
$STATE,6058,begin climb
$GC,6060,0.70,145.9,2536,3060,3285,3073,754.1,0.0,371,6195,0.93,1.45,124.50,1.694,10500,0.175,0.120,2804,3783,2583,2670,2496,0,0,0,0,0,0,13.90,13.47,12.88
$GC,6255,0.66,145.9,2805,3784,2660,2491,735.9,14.3,413,6260,0.00,1.35,0.00,0.000,1030,0.000,0.073,2809,3050,2575,2660,2491,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6586,0.66,145.9,2816,3050,2661,2490,693.3,12.9,429,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3050,2574,2660,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6885,0.66,145.9,2810,3050,2661,2489,654.9,12.8,439,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3050,2574,2660,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7185,0.66,145.9,2810,3049,2661,2489,616.6,12.8,449,7190,0.00,1.38,0.00,0.000,260,0.000,0.121,2810,3790,2574,2660,2488,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7245,0.62,145.9,2814,3791,2660,2489,608.1,14.3,461,7250,0.00,1.30,0.00,0.000,1030,0.000,0.075,2815,3041,2574,2660,2488,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7576,0.60,145.9,2815,3042,2661,2494,564.9,13.1,477,7577,0.12,0.00,0.00,0.000,4102,0.293,0.000,2788,3041,2574,2660,2488,0,0,0,0,0,0,14.42,28.83,28.83
$GC,7875,0.60,145.9,2789,3042,2660,2489,529.6,11.7,487,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3041,2573,2659,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8175,0.60,148.9,2789,3042,2660,2489,495.0,11.5,497,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,3041,2573,2659,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8475,0.60,149.1,2789,3042,2660,2489,460.1,11.6,507,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,3041,2573,2659,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8775,0.60,149.6,2789,3042,2661,2488,425.2,11.6,517,8780,0.00,1.35,0.00,0.000,260,0.000,0.120,2788,3783,2573,2659,2488,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8835,0.60,149.6,2789,3783,2661,2488,417.6,13.4,529,8840,0.00,1.25,0.00,0.000,1030,0.000,0.076,2793,3050,2573,2659,2488,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9166,0.60,153.9,2794,3050,2661,2488,379.5,11.4,545,9169,0.00,0.00,1.90,0.228,8198,0.000,0.000,2793,3050,2557,2644,2470,0,0,0,0,0,0,28.83,28.83,14.51
$GC,9465,0.61,161.6,2795,3050,2667,2479,345.5,11.2,555,9479,0.00,0.00,13.40,1.258,8198,0.000,0.000,2794,3049,2526,2616,2437,0,0,0,0,0,0,28.83,28.83,14.05
$GC,9765,0.61,164.1,2795,3051,2601,2426,310.9,11.5,565,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3050,2512,2600,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10065,0.62,183.3,2795,3050,2601,2426,278.3,10.6,575,10085,0.00,0.00,19.27,1.175,8198,0.000,0.000,2791,3050,2437,2528,2347,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10366,0.63,195.2,2795,3050,2509,2333,245.6,11.0,587,10376,0.00,0.00,3.97,0.966,8198,0.000,0.000,2794,3050,2393,2486,2300,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10676,0.70,258.4,2795,3050,2511,2303,216.8,8.3,618,10746,0.00,2.47,61.47,1.072,8708,0.000,0.080,2803,1651,2123,2205,2041,0,0,0,0,0,0,28.83,14.29,13.83
$GC,10786,0.79,306.8,2804,1652,2196,2039,207.2,9.1,640,10838,0.12,2.53,42.38,1.045,11270,0.148,0.107,2857,3056,1923,1997,1849,0,0,0,0,0,0,14.35,14.29,13.71
$GC,11136,0.79,306.8,2858,3057,1984,1839,162.4,12.5,680,11141,0.00,2.42,0.00,0.000,516,0.000,0.080,2862,1646,1910,1983,1838,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11166,0.82,310.7,2864,1646,1985,1839,158.9,11.4,686,11172,0.00,2.53,0.00,0.000,1030,0.000,0.106,2862,3056,1910,1983,1838,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11476,0.82,310.7,2864,3056,1982,1833,120.6,12.1,718,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,3056,1907,1979,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11776,0.85,325.8,2863,3056,1983,1835,86.6,10.8,748,11788,0.00,2.50,6.70,0.360,8708,0.000,0.080,2870,1649,1860,1940,1780,0,0,0,0,0,0,28.83,14.42,14.12
$GC,11849,0.92,360.7,2871,1646,1963,1785,79.3,9.8,762,11879,0.00,2.53,21.17,0.399,9222,0.000,0.107,2870,3060,1717,1790,1644,0,0,0,0,0,0,28.83,14.40,14.12
$GC,12178,1.05,468.5,2871,3060,1814,1646,48.8,5.9,798,12241,0.17,0.00,61.15,0.320,10246,0.118,0.000,2943,3060,1275,1328,1222,0,0,0,0,0,0,14.45,28.83,14.12
$GC,12538,1.16,558.1,2945,3061,1352,1223,18.0,6.9,834,12594,0.00,2.47,49.55,0.230,8708,0.000,0.082,2945,1645,911,940,882,0,0,0,0,0,0,28.83,14.31,14.19
$FREEZE,8.92,-1.377,-1.445,2,13,0
$STATE,12667,end climb,FINISH_DEPTH_REACHED
$STATE,12667,begin subsurface finish
$FINISH1,8.9,1.021228,350
$GC,12674,0.25,350.3,2946,3049,953,882,8.9,6.0,860,12704,0.95,2.45,-21.05,0.000,20996,0.198,0.103,2674,1643,1759,1797,1722,0,0,0,0,0,0,14.20,14.29,14.56
$FINISH2,8.9
$STATE,12704,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12704,begin surface
$RAFOS_CLK,834
$MODEM,10,1409890533,74.34580,-153.00481,212.055,307405.9
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.04494,0.04494
$HUMID,50.43
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3906240
$24V_AH,12.88,83.919
$10V_AH,12.79,0.000
$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,4.350,49.075,536.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10381.972,562.467,1740.126,133.610,0.000,1250.914,0.000,1290.740,0.000,0.535,0.000
$DEVICE_MAMPS,292.995,149.175,1697.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12750.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.568,0.000,0.000,0.000
$MEM,226976
$DATA_FILE_SIZE,29986,866
$CAP_FILE_SIZE,133888,0
$CFSIZE,2097872896,2036695040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,030914,083844,7438.946,-14220.536,181,99.0,181,24.0