version: 66.12
glider: 198
mission: 5
dive: 264
start: 9 6 114 1 45 6
data:
$ID,198
$MISSION,5
$DIVE,264
$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,34
$R_STBD_OVSHOOT,12
$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,12.15
$_SM_ANGLEo,-17.8
$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,17,-0.70,-145.9,2673,2680,1795,1708,0.0,0.0,0,30,0.00,0.00,-12.23,0.000,16386,0.000,0.000,2673,2680,2380,2440,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2673,2680,2443,2321,13.8,0.0,1,62,0.88,2.10,-24.17,0.000,20740,0.071,0.149,2349,3796,3782,3838,3727,0,0,0,0,0,0,14.39,14.37,14.66
$GC,286,-0.65,-145.9,2349,3796,3840,3731,82.9,-20.3,52,293,0.10,1.95,0.00,0.000,3078,0.276,0.073,2375,2680,3784,3838,3730,0,0,0,0,0,0,14.21,14.42,28.83
$GC,591,-0.65,-145.9,2376,2680,3839,3732,131.3,-15.3,83,596,0.00,2.08,0.00,0.000,260,0.000,0.126,2373,3811,3784,3838,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,746,-0.65,-145.9,2374,3813,3839,3731,155.5,-15.2,114,753,0.00,1.98,0.00,0.000,1030,0.000,0.075,2373,2677,3784,3838,3731,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1051,-0.65,-145.9,2374,2677,3839,3732,197.4,-13.5,145,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2676,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.67,-145.9,2374,2677,3839,3732,234.9,-12.0,175,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1672,-0.70,-145.9,2374,2676,3840,3731,269.4,-10.8,195,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2676,3787,3838,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-0.74,-145.9,2374,2676,3840,3731,299.4,-9.8,205,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2272,-0.78,-145.9,2373,2676,3840,3732,328.2,-9.4,215,2277,0.12,2.03,0.00,0.000,4356,0.154,0.122,2318,3792,3784,3838,3730,0,0,0,0,0,0,14.64,14.54,28.83
$GC,2332,-0.78,-145.9,2319,3792,3840,3730,335.7,-13.0,227,2337,0.00,1.92,0.00,0.000,1030,0.000,0.076,2318,2679,3784,3838,3730,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2663,-0.78,-145.9,2318,2679,3840,3730,375.2,-11.7,243,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,-0.78,-145.9,2318,2679,3840,3731,409.8,-11.6,253,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.78,-145.9,2319,2680,3839,3731,444.1,-11.4,263,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-0.78,-145.9,2318,2679,3840,3730,478.1,-11.4,273,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3862,-0.78,-145.9,2318,2679,3839,3731,512.1,-11.4,283,3867,0.00,2.38,0.00,0.000,516,0.000,0.085,2317,1272,3784,3838,3730,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3917,-0.78,-145.9,2318,1272,3840,3731,518.2,-10.6,294,3923,0.00,2.50,0.00,0.000,1030,0.000,0.107,2308,2686,3784,3838,3730,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4223,-0.78,-145.9,2308,2686,3840,3731,553.6,-11.6,305,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2686,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4522,-0.78,-145.9,2308,2686,3841,3731,588.6,-11.6,315,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2686,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4822,-0.78,-145.9,2309,2686,3839,3733,623.2,-11.5,325,4823,0.12,0.00,0.00,0.000,2054,0.327,0.000,2333,2686,3785,3838,3732,0,0,0,0,0,0,14.44,28.83,28.83
$GC,5123,-0.80,-145.9,2334,2686,3840,3732,653.6,-10.0,335,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2686,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.83,-145.9,2334,2686,3840,3733,683.5,-9.9,345,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2686,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5722,-0.85,-145.9,2334,2686,3840,3733,713.2,-9.8,355,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2686,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6022,-0.87,-145.9,2334,2686,3840,3733,742.6,-9.7,365,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2686,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6110,begin apogee
$GC,6114,-0.14,0.0,2331,3051,3840,3729,751.4,-9.9,368,6247,0.77,0.00,130.50,1.708,10246,0.257,0.000,2536,3050,3185,3274,3096,0,0,0,0,0,0,14.43,28.83,13.30
$STATE,6248,end apogee,CONTROL_FINISHED_OK
$STATE,6248,begin climb
$GC,6250,0.70,145.9,2536,3051,3267,3090,754.2,0.0,372,6383,0.93,0.00,126.03,1.692,10502,0.174,0.000,2806,3050,2581,2653,2509,0,0,0,0,0,0,13.90,28.83,12.88
$GC,6682,0.70,145.9,2807,3051,2642,2501,706.1,13.0,402,6687,0.00,1.40,0.00,0.000,260,0.000,0.121,2806,3787,2571,2642,2500,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6732,0.66,145.9,2806,3787,2643,2499,699.2,13.9,412,6737,0.00,1.33,0.00,0.000,1030,0.000,0.075,2811,3043,2571,2642,2500,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7042,0.66,145.9,2812,3043,2643,2500,658.3,13.1,424,7047,0.00,1.40,0.00,0.000,260,0.000,0.121,2812,3787,2570,2641,2500,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7097,0.61,145.9,2812,3787,2643,2500,650.3,14.7,435,7103,0.00,1.27,0.00,0.000,1030,0.000,0.076,2817,3052,2571,2642,2500,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7403,0.59,145.9,2818,3053,2642,2501,609.9,13.3,446,7404,0.15,0.00,0.00,0.000,4102,0.281,0.000,2783,3052,2570,2641,2499,0,0,0,0,0,0,14.35,28.83,28.83
$GC,7702,0.60,152.6,2784,3052,2643,2499,575.7,11.3,456,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3052,2570,2642,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8002,0.60,159.2,2784,3052,2643,2499,541.8,11.3,466,8007,0.00,0.00,4.05,1.151,8198,0.000,0.000,2784,3052,2537,2612,2462,0,0,0,0,0,0,28.83,28.83,13.85
$GC,8302,0.61,167.4,2785,3052,2651,2463,508.0,11.2,476,8319,0.00,0.00,15.35,1.417,8198,0.000,0.000,2783,3052,2498,2574,2423,0,0,0,0,0,0,28.83,28.83,13.88
$GC,8602,0.61,167.9,2785,3053,2566,2415,473.4,11.6,486,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3052,2489,2565,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8902,0.61,167.9,2785,3050,2565,2415,438.4,11.7,496,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3052,2490,2565,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9202,0.61,168.5,2784,3053,2566,2416,403.4,11.6,506,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3052,2489,2565,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,0.61,169.4,2784,3052,2566,2414,368.7,11.6,516,9507,0.00,1.38,0.00,0.000,260,0.000,0.122,2783,3786,2489,2565,2414,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9556,0.61,169.4,2784,3787,2570,2415,361.9,12.5,527,9563,0.00,1.27,0.00,0.000,1030,0.000,0.076,2789,3050,2490,2565,2415,0,0,0,0,0,0,28.83,14.54,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b06fa9598;,*54
$MODEM_MSG,CACST,6,0,20140906040440.192759,3,1020,18,0145,0150,100,00,00,02,04,1,005,000,0,5,1,0,150,12.1,4.2,-100,-1.2,-01,-0.0,20,900,0025*3A
$GC,9862,0.61,173.3,2789,3050,2566,2416,326.7,11.4,538,9864,0.00,0.00,1.33,0.239,8198,0.000,0.000,2789,3050,2476,2552,2401,0,0,0,0,0,0,28.83,28.83,14.45
$GC,10162,0.62,184.8,2790,3050,2577,2402,293.4,11.0,548,10178,0.00,0.00,15.55,1.184,8198,0.000,0.000,2789,3048,2432,2510,2354,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10463,0.65,197.8,2793,3050,2492,2340,260.0,10.9,558,10475,0.00,0.00,10.40,1.143,8198,0.000,0.000,2789,3050,2381,2456,2306,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10762,0.70,238.6,2790,3050,2444,2297,230.8,9.5,580,10803,0.00,0.00,37.03,1.085,8198,0.000,0.000,2789,3050,2204,2274,2135,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11103,0.78,279.7,2790,3050,2260,2124,198.8,9.4,614,11144,0.15,2.50,35.33,1.046,10756,0.129,0.081,2867,1646,2036,2102,1971,0,0,0,0,0,0,14.52,14.34,13.85
$GC,11184,0.78,288.2,2867,1646,2092,1968,189.3,11.2,629,11194,0.00,2.55,2.10,0.338,9222,0.000,0.107,2867,3056,2012,2077,1947,0,0,0,0,0,0,28.83,14.31,13.57
$GC,11495,0.78,288.2,2868,3056,2094,1947,149.0,12.9,661,11497,0.00,0.00,1.15,0.249,8198,0.000,0.000,2867,3056,2010,2078,1942,0,0,0,0,0,0,28.83,28.83,14.32
$GC,11794,0.79,293.5,2868,3056,2093,1941,112.5,11.3,691,11799,0.00,0.00,4.18,0.903,8198,0.000,0.000,2867,3055,1989,2059,1919,0,0,0,0,0,0,28.83,28.83,13.88
$GC,12094,0.80,314.6,2868,3056,2086,1919,79.0,10.5,721,12109,0.00,0.00,13.77,0.386,8198,0.000,0.000,2867,3056,1902,1971,1833,0,0,0,0,0,0,28.83,28.83,14.13
$GC,12405,0.91,411.3,2868,3056,2001,1835,51.6,6.5,752,12465,0.00,0.00,54.38,0.325,8710,0.000,0.000,2867,3056,1511,1568,1455,0,0,0,0,0,0,28.83,28.83,14.09
$GC,12764,1.07,533.2,2868,3057,1585,1456,30.8,5.1,793,12840,0.20,2.55,67.28,0.264,10756,0.123,0.081,2955,1638,1014,1040,988,0,0,0,0,0,0,14.40,14.24,14.12
$FREEZE,8.76,-1.338,-1.443,2,19,0
$FREEZE,8.35,-1.342,-1.442,2,19,0
$GC,13036,1.21,610.8,2956,1639,1052,989,11.4,7.5,847,13085,0.00,2.55,42.83,0.209,9222,0.000,0.110,2955,3047,693,685,701,0,0,0,0,0,0,28.83,14.29,14.19
$FREEZE,7.38,-1.345,-1.441,2,19,0
$STATE,13089,end climb,FINISH_DEPTH_REACHED
$STATE,13089,begin subsurface finish
$FINISH1,7.4,1.021186,352
$GC,13093,0.25,352.5,2955,3048,691,703,7.4,7.5,857,13124,1.00,0.00,-28.60,0.000,20486,0.195,0.000,2671,3047,1750,1790,1711,0,0,0,0,0,0,14.20,28.83,14.54
$FINISH2,7.0
$STATE,13125,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13125,begin surface
$RAFOS_CLK,329
$MODEM,5,1409976280,74.56940,-141.96800,279.193,404756.1
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.09
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3903552
$24V_AH,12.88,85.699
$10V_AH,12.80,0.000
$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,4.425,37.700,561.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10744.949,603.267,1754.614,139.041,0.000,1274.125,0.000,1285.631,1475.000,0.535,0.000
$DEVICE_MAMPS,327.420,149.175,1708.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13174.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.251,0.000,0.000,0.000
$MEM,223916
$DATA_FILE_SIZE,30075,860
$CAP_FILE_SIZE,135303,0
$CFSIZE,2097872896,2035515392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13090.69,0x2378b6,5,5
$SOUNDSPEED,1448.6
$GPS,030914,083844,7438.946,-14220.536,181,99.0,181,24.0