version: 66.12
glider: 198
mission: 5
dive: 262
start: 9 5 114 18 36 22
data:
$ID,198
$MISSION,5
$DIVE,262
$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,32
$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,15.27
$_SM_ANGLEo,-18.0
$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,-145.9,2678,2681,1821,1721,0.0,0.0,0,30,0.00,0.00,-12.80,0.000,16386,0.000,0.000,2677,2681,2503,2575,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2681,2577,2432,16.6,0.0,1,61,0.90,2.50,-20.50,0.000,21252,0.070,0.106,2353,1267,3786,3843,3729,0,0,0,0,0,0,14.39,14.38,14.63
$GC,286,-0.68,-145.9,2353,1267,3845,3731,77.7,-18.9,52,292,0.00,2.55,0.00,0.000,1030,0.000,0.110,2348,2685,3787,3843,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,591,-0.68,-145.9,2349,2686,3844,3732,132.5,-17.3,83,596,0.00,2.45,0.00,0.000,516,0.000,0.086,2347,1264,3787,3843,3732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,821,-0.68,-145.9,2349,1263,3845,3731,167.7,-14.3,129,826,0.00,2.53,0.00,0.000,1030,0.000,0.110,2348,2680,3787,3844,3731,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1131,-0.68,-145.9,2348,2681,3844,3731,212.7,-14.0,161,1136,0.00,2.42,0.00,0.000,516,0.000,0.086,2348,1266,3787,3843,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1271,-0.68,-145.9,2349,1264,3845,3732,230.9,-12.5,189,1276,0.00,2.55,0.00,0.000,1030,0.000,0.112,2347,2690,3787,3843,3731,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1581,-0.68,-145.9,2349,2690,3844,3732,268.0,-11.4,211,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2690,3787,3843,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-0.68,-145.9,2348,2690,3844,3732,301.4,-11.1,221,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2690,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2182,-0.70,-145.9,2348,2690,3844,3731,335.0,-11.2,231,2186,0.00,1.95,0.00,0.000,260,0.000,0.128,2344,3787,3787,3843,3731,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2221,-0.70,-145.9,2345,3788,3844,3732,339.9,-12.3,239,2226,0.00,1.90,0.00,0.000,1030,0.000,0.076,2344,2677,3787,3843,3731,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2542,-0.72,-145.9,2344,2677,3844,3731,375.0,-10.7,253,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2677,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2841,-0.75,-145.9,2344,2677,3844,3730,406.5,-10.4,263,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2677,3787,3843,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,-0.77,-145.9,2344,2677,3844,3731,436.8,-9.9,273,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2677,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,-0.80,-145.9,2344,2677,3845,3731,466.6,-10.0,283,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2677,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3741,-0.83,-145.9,2344,2677,3845,3731,496.6,-10.0,293,3746,0.00,2.00,0.00,0.000,260,0.000,0.124,2335,3790,3787,3843,3731,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3806,-0.83,-145.9,2336,3790,3845,3731,503.8,-11.2,306,3811,0.00,1.90,0.00,0.000,1030,0.000,0.074,2335,2681,3787,3843,3731,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4132,-0.85,-145.9,2336,2680,3844,3731,537.4,-10.3,321,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2680,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.87,-145.9,2336,2681,3843,3732,567.9,-10.0,331,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2680,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.89,-145.9,2336,2681,3845,3733,598.0,-10.0,341,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2681,3791,3844,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.92,-145.9,2336,2681,3844,3734,627.8,-9.9,351,5037,0.12,2.00,0.00,0.000,4356,0.155,0.121,2278,3788,3785,3839,3732,0,0,0,0,0,0,14.64,14.54,28.83
$GC,5092,-0.88,-145.9,2280,3788,3844,3733,635.6,-13.3,363,5097,0.00,1.90,0.00,0.000,1030,0.000,0.074,2278,2680,3787,3842,3732,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5423,-0.88,-145.9,2279,2680,3844,3733,676.9,-12.4,379,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2680,3788,3843,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5722,-0.88,-145.9,2279,2680,3844,3734,714.1,-12.3,389,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2680,3788,3844,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6020,begin apogee
$GC,6025,-0.14,0.0,2279,3054,3840,3734,750.4,-12.1,399,6158,1.00,0.00,129.55,1.731,10246,0.272,0.000,2536,3053,3184,3277,3091,0,0,0,0,0,0,14.29,28.83,13.24
$STATE,6159,end apogee,CONTROL_FINISHED_OK
$STATE,6159,begin climb
$GC,6161,0.70,145.9,2537,3053,3276,3086,753.2,0.0,403,6295,0.93,1.45,125.32,1.694,10500,0.172,0.116,2804,3787,2582,2659,2505,0,0,0,0,0,0,13.83,13.38,12.79
$GC,6376,0.66,145.9,2805,3787,2653,2503,731.7,14.4,449,6381,0.00,1.35,0.00,0.000,1030,0.000,0.074,2808,3051,2577,2652,2502,0,0,0,0,0,0,28.83,13.75,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b127a9455;,*01
$MODEM_MSG,CACST,6,0,20140905200436.147743,3,1162,18,0125,0150,100,00,00,02,04,1,005,000,0,5,1,0,150,10.0,4.5,-100,-1.5,-01,0.2,24,900,0025*14
$GC,6686,0.66,145.9,2809,3054,2652,2503,690.5,13.2,461,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3054,2576,2651,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,0.66,145.9,2809,3054,2650,2501,651.2,13.1,471,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3054,2575,2650,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7286,0.66,145.9,2810,3054,2651,2502,612.3,12.9,481,7291,0.00,1.38,0.00,0.000,260,0.000,0.121,2808,3790,2576,2652,2501,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7341,0.62,145.9,2810,3791,2652,2502,604.8,14.3,492,7347,0.00,1.27,0.00,0.000,1030,0.000,0.076,2814,3051,2576,2652,2501,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7647,0.59,145.9,2814,3050,2652,2501,565.0,12.9,503,7648,0.12,0.00,0.00,0.000,4102,0.292,0.000,2787,3051,2576,2651,2501,0,0,0,0,0,0,14.41,28.83,28.83
$GC,7946,0.59,145.9,2788,3051,2652,2501,530.0,11.7,513,7951,0.00,1.35,0.00,0.000,260,0.000,0.122,2787,3784,2579,2651,2507,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7996,0.57,145.9,2788,3784,2652,2501,523.7,13.1,523,8001,0.00,1.25,0.00,0.000,1030,0.000,0.076,2793,3050,2576,2651,2501,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8306,0.57,145.9,2794,3050,2651,2502,487.0,11.7,535,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3051,2576,2651,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8606,0.57,147.5,2794,3051,2652,2502,452.3,11.5,545,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2575,2650,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8906,0.57,148.0,2794,3051,2652,2502,417.7,11.6,555,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,3050,2576,2651,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9206,0.58,152.6,2796,3051,2651,2502,383.5,11.4,565,9208,0.00,0.00,1.35,0.243,8198,0.000,0.000,2793,3051,2562,2639,2486,0,0,0,0,0,0,28.83,28.83,14.52
$GC,9506,0.58,160.8,2794,3051,2662,2487,349.6,11.2,575,9519,0.00,0.00,12.38,1.281,8198,0.000,0.000,2793,3051,2530,2610,2451,0,0,0,0,0,0,28.83,28.83,14.04
$GC,9806,0.59,169.3,2794,3051,2598,2442,316.0,11.2,585,9810,0.00,0.00,3.22,0.863,8198,0.000,0.000,2793,3050,2494,2574,2414,0,0,0,0,0,0,28.83,28.83,13.82
$GC,10106,0.60,181.1,2794,3051,2606,2416,283.0,11.0,595,10124,0.00,0.00,16.75,1.187,8198,0.000,0.000,2793,3051,2446,2529,2363,0,0,0,0,0,0,28.83,28.83,14.01
$GC,10406,0.61,196.1,2793,3051,2513,2355,250.3,10.8,605,10420,0.00,0.00,12.95,1.155,8198,0.000,0.000,2793,3051,2386,2466,2307,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10706,0.67,244.9,2793,3051,2450,2298,220.7,9.0,633,10757,0.00,2.45,42.50,1.079,8708,0.000,0.080,2803,1657,2178,2250,2106,0,0,0,0,0,0,28.83,14.38,13.87
$GC,10807,0.76,303.4,2803,1657,2243,2104,211.8,8.5,653,10863,0.00,2.50,49.75,1.053,9222,0.000,0.106,2803,3050,1946,2012,1881,0,0,0,0,0,0,28.83,14.36,13.72
$GC,11168,0.83,335.6,2804,3051,1996,1867,175.3,9.9,695,11200,0.17,2.50,27.65,1.034,10756,0.119,0.083,2884,1649,1810,1872,1749,0,0,0,0,0,0,14.47,14.33,13.81
$GC,11245,0.83,335.6,2884,1650,1862,1747,165.1,13.3,710,11251,0.00,2.53,0.00,0.000,1030,0.000,0.106,2884,3050,1803,1860,1746,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11550,0.83,335.6,2885,3051,1859,1741,120.9,13.9,741,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,3050,1799,1858,1741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11850,0.83,335.6,2885,3051,1859,1739,81.3,12.2,771,11855,0.00,2.42,0.00,0.000,516,0.000,0.082,2894,1648,1798,1858,1739,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11870,0.87,353.6,2895,1649,1859,1740,79.2,10.7,775,11882,0.00,2.53,7.10,0.363,9222,0.000,0.108,2894,3058,1744,1805,1684,0,0,0,0,0,0,28.83,14.38,14.11
$GC,12181,0.98,470.8,2894,3053,1832,1683,50.1,5.4,807,12256,0.00,2.50,66.65,0.324,8708,0.000,0.082,2902,1651,1269,1318,1220,0,0,0,0,0,0,28.83,14.28,14.12
$GC,12321,1.11,555.9,2901,1651,1332,1219,40.8,7.1,835,12377,0.15,2.53,47.70,0.296,11270,0.129,0.109,2966,3044,919,929,909,0,0,0,0,0,0,14.36,14.28,14.08
$FREEZE,8.40,-1.366,-1.444,2,17,0
$STATE,12610,end climb,FINISH_DEPTH_REACHED
$STATE,12610,begin subsurface finish
$FINISH1,8.4,1.021215,351
$GC,12614,0.25,351.0,2967,3046,937,910,8.4,7.9,870,12643,1.05,0.00,-21.98,0.000,20486,0.207,0.000,2672,3043,1757,1799,1716,0,0,0,0,0,0,14.20,28.83,14.57
$FINISH2,8.0
$STATE,12644,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12644,begin surface
$RAFOS_CLK,497
$MODEM,5,1409947476,74.60620,-142.09720,275.148,398701.2
$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,49.76
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3904448
$24V_AH,12.79,85.125
$10V_AH,12.71,0.000
$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,4.450,57.275,542.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10287.183,570.539,1767.848,135.556,0.000,1271.325,0.000,1303.616,1489.000,0.535,0.000
$DEVICE_MAMPS,292.230,127.755,1731.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12693.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.322,0.000,0.000,0.000
$MEM,224936
$DATA_FILE_SIZE,30042,873
$CAP_FILE_SIZE,134070,0
$CFSIZE,2097872896,2035908608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12612.25,0x2378b6,5,5
$SOUNDSPEED,1449.7
$GPS,030914,083844,7438.946,-14220.536,181,99.0,181,24.0