version: 66.12
glider: 198
mission: 5
dive: 266
start: 9 6 114 9 20 47
data:
$ID,198
$MISSION,5
$DIVE,266
$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,-5391.5137
$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,33
$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
$GPS1,060914,090524,7407.456,-14308.842,32,0.7,52,23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-71.5
$GPS2,060914,092027,7407.505,-14308.573,5,0.8,25,23.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,170.6,289427,-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,-145.9,198,2672,461,532,0.0,0.0,0,71,0.00,0.00,-51.70,0.000,16386,0.000,0.000,197,2672,1713,1725,1701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.70,-145.9,198,2671,1728,1701,3.1,-1.6,5,155,11.12,2.05,-65.22,0.000,18692,0.441,0.141,2350,3789,3781,3837,3726,0,0,0,0,0,0,13.95,14.25,14.53
$GC,376,-0.63,-145.9,2351,3789,3838,3729,76.7,-21.6,66,382,0.10,1.95,0.00,0.000,3078,0.294,0.076,2376,2679,3783,3837,3729,0,0,0,0,0,0,14.12,14.36,28.83
$GC,681,-0.63,-145.9,2376,2679,3838,3729,127.4,-15.4,97,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2679,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,981,-0.63,-145.9,2376,2680,3838,3731,172.8,-14.4,127,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2679,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1281,-0.63,-145.9,2376,2680,3838,3731,212.9,-12.8,157,1286,0.00,2.42,0.00,0.000,516,0.000,0.090,2376,1264,3783,3838,3729,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1326,-0.66,-145.9,2376,1265,3838,3729,218.3,-11.4,166,1333,0.00,2.58,0.00,0.000,1030,0.000,0.112,2374,2684,3783,3837,3729,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1631,-0.68,-145.9,2375,2685,3837,3730,254.0,-11.0,195,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2684,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.72,-145.9,2375,2684,3838,3729,286.2,-10.6,205,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.75,-145.9,2375,2685,3838,3730,316.6,-10.1,215,2236,0.00,2.00,0.00,0.000,260,0.000,0.129,2373,3787,3783,3837,3729,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2286,-0.78,-145.9,2374,3788,3838,3729,322.5,-10.9,226,2293,0.08,1.92,0.00,0.000,5126,0.099,0.078,2326,2670,3783,3837,3729,0,0,0,0,0,0,14.58,14.60,28.83
$GC,2592,-0.78,-145.9,2327,2670,3837,3730,358.8,-11.8,237,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2669,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.78,-145.9,2327,2670,3838,3730,393.8,-11.5,247,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2669,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.78,-145.9,2327,2670,3838,3730,428.1,-11.4,257,3196,0.00,2.40,0.00,0.000,516,0.000,0.087,2325,1266,3783,3837,3729,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3221,-0.78,-145.9,2326,1266,3838,3729,431.4,-11.0,263,3226,0.00,2.50,0.00,0.000,1030,0.000,0.109,2317,2681,3783,3837,3729,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3552,-0.78,-145.9,2318,2682,3837,3729,470.1,-11.8,279,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-0.78,-145.9,2319,2683,3837,3730,505.2,-11.6,289,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2687,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-0.78,-145.9,2318,2682,3838,3731,540.0,-11.6,299,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4451,-0.78,-145.9,2318,2682,3838,3732,574.1,-11.4,309,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2682,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4751,-0.78,-145.9,2318,2681,3838,3731,608.0,-11.3,319,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5051,-0.78,-145.9,2318,2682,3838,3730,641.5,-11.1,329,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5351,-0.78,-145.9,2318,2682,3838,3733,675.1,-11.2,339,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5651,-0.78,-145.9,2318,2682,3838,3732,708.4,-11.1,349,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5951,-0.78,-145.9,2318,2682,3838,3734,741.8,-11.2,359,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6039,begin apogee
$GC,6044,-0.14,0.0,2315,3057,3838,3732,751.7,-11.0,362,6186,0.85,0.00,134.65,2.519,10246,0.268,0.000,2536,3057,3187,3273,3101,0,0,0,0,1,0,14.41,28.83,12.76
$STATE,6187,end apogee,CONTROL_FINISHED_OK
$STATE,6187,begin climb
$GC,6189,0.70,145.9,2537,3058,3282,3102,755.3,0.0,366,6329,0.95,1.50,132.82,1.708,10500,0.173,0.118,2805,3783,2587,2657,2517,0,0,0,0,0,0,13.59,13.26,12.66
$GC,6379,0.66,145.9,2807,3784,2649,2512,739.5,14.7,407,6385,0.00,1.35,0.00,0.000,1030,0.000,0.074,2810,3060,2579,2648,2511,0,0,0,0,0,0,28.83,13.57,28.83
$GC,6685,0.64,145.9,2810,3060,2650,2508,700.4,12.9,418,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2578,2648,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6984,0.62,145.9,2811,3060,2648,2510,662.1,12.8,428,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2578,2647,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7284,0.59,145.9,2811,3060,2648,2510,624.0,12.7,438,7289,0.00,1.35,0.00,0.000,260,0.000,0.122,2810,3783,2578,2648,2509,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7334,0.55,145.9,2811,3783,2649,2509,617.1,14.0,448,7339,0.15,1.27,0.00,0.000,5126,0.253,0.076,2774,3046,2578,2647,2509,0,0,0,0,0,0,14.32,14.53,28.83
$GC,7645,0.56,161.2,2776,3047,2648,2510,583.1,10.8,460,7660,0.00,0.00,13.35,1.587,8198,0.000,0.000,2774,3046,2528,2600,2456,0,0,0,0,0,0,28.83,28.83,13.88
$GC,7944,0.57,169.9,2778,3046,2593,2448,549.7,11.2,470,7949,0.00,0.00,3.75,1.373,8198,0.000,0.000,2774,3046,2494,2567,2422,0,0,0,0,0,0,28.83,28.83,13.58
$GC,8244,0.57,176.0,2775,3046,2596,2422,515.9,11.3,480,8257,0.00,0.00,11.55,1.522,8198,0.000,0.000,2774,3046,2468,2545,2392,0,0,0,0,0,0,28.83,28.83,13.90
$GC,8544,0.58,181.4,2776,3047,2534,2387,481.7,11.3,490,8547,0.00,0.00,1.35,0.249,8198,0.000,0.000,2774,3045,2446,2520,2373,0,0,0,0,0,0,28.83,28.83,14.41
$GC,8844,0.58,192.3,2774,3047,2545,2374,448.1,11.0,500,8860,0.00,0.00,14.85,1.437,8198,0.000,0.000,2774,3047,2400,2473,2328,0,0,0,0,0,0,28.83,28.83,13.93
$GC,9145,0.61,200.0,2775,3046,2465,2321,414.5,11.2,510,9149,0.00,0.00,2.83,0.939,8198,0.000,0.000,2774,3047,2372,2444,2301,0,0,0,0,0,0,28.83,28.83,13.59
$GC,9445,0.64,206.4,2775,3048,2470,2302,380.5,11.3,520,9459,0.00,0.00,11.98,1.386,8198,0.000,0.000,2774,3046,2344,2418,2271,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9744,0.68,214.0,2775,3048,2408,2265,346.5,11.2,530,9748,0.10,0.00,3.03,1.014,10246,0.163,0.000,2823,3045,2314,2385,2244,0,0,0,0,0,0,14.52,28.83,13.59
$GC,10045,0.68,214.0,2824,3046,2411,2244,305.8,13.5,540,10048,0.00,0.00,1.77,0.258,8198,0.000,0.000,2823,3045,2314,2388,2240,0,0,0,0,0,0,28.83,28.83,14.21
$GC,10344,0.68,214.0,2824,3046,2413,2242,266.2,13.1,550,10347,0.00,0.00,1.60,0.253,8198,0.000,0.000,2823,3046,2315,2389,2241,0,0,0,0,0,0,28.83,28.83,14.28
$GC,10644,0.68,226.5,2823,3046,2413,2241,228.7,11.0,570,10666,0.00,2.47,16.92,1.200,8708,0.000,0.080,2833,1644,2256,2328,2185,0,0,0,0,0,0,28.83,14.43,13.91
$GC,10736,0.72,243.3,2834,1648,2322,2185,218.9,10.7,588,10757,0.00,2.53,14.90,1.196,9222,0.000,0.108,2833,3048,2190,2257,2123,0,0,0,0,0,0,28.83,14.38,13.85
$MODEM_MSG,CACST,6,1,20140906120127.328570,3,3021,10,0150,0150,100,00,00,04,05,1,000,000,2,5,1,0,150,4.9,2.4,-100,0.6,-01,-0.0,18,900,0025*24
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b032a959e;,*59
$MODEM_MSG,CACST,6,0,20140906120443.606096,3,642,16,0181,0150,100,00,00,02,04,1,005,000,0,5,1,0,150,11.0,3.0,-100,0.0,-01,0.5,18,900,0025*0D
$GC,11056,0.74,264.8,2834,3048,2250,2119,183.9,10.5,622,11077,0.00,0.00,19.50,1.140,8454,0.000,0.000,2833,3048,2103,2170,2036,0,0,0,0,0,0,28.83,28.83,13.85
$GC,11377,0.78,291.3,2834,3049,2159,2031,150.5,10.2,656,11406,0.00,0.00,23.33,1.089,8198,0.000,0.000,2833,3048,1992,2055,1929,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11707,0.83,318.3,2834,3048,2047,1926,115.6,10.2,689,11737,0.00,2.47,23.33,1.048,8708,0.000,0.083,2842,1641,1882,1941,1823,0,0,0,0,0,0,28.83,14.35,13.89
$GC,11783,0.91,354.2,2842,1640,1936,1823,108.2,9.7,704,11819,0.12,2.55,30.85,1.001,11270,0.145,0.109,2899,3050,1740,1796,1684,0,0,0,0,0,0,14.38,14.33,13.80
$GC,12117,0.92,364.1,2900,3050,1781,1675,63.9,11.1,741,12122,0.00,0.00,3.42,0.312,8198,0.000,0.000,2899,3051,1701,1756,1646,0,0,0,0,0,0,28.83,28.83,14.07
$GC,12418,1.04,503.5,2901,3051,1777,1646,40.3,4.2,771,12503,0.00,2.45,78.50,0.301,8708,0.000,0.080,2905,1645,1133,1164,1102,0,0,0,0,0,0,28.83,14.28,14.11
$GC,12589,1.20,591.8,2905,1645,1173,1102,28.8,6.9,805,12645,0.22,2.55,48.40,0.265,11270,0.112,0.110,2990,3051,771,761,782,0,0,0,0,0,0,14.35,14.28,14.11
$FREEZE,8.81,-1.386,-1.440,2,1,0
$STATE,12778,end climb,FINISH_DEPTH_REACHED
$STATE,12778,begin subsurface finish
$FINISH1,8.8,1.021148,354
$GC,12783,0.25,354.5,2991,3052,765,784,8.8,10.5,830,12814,1.15,1.42,-24.92,0.000,20740,0.216,0.171,2673,3788,1742,1788,1697,0,0,0,0,0,0,14.16,14.27,14.54
$FINISH2,8.2
$STATE,12814,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12814,begin surface
$RAFOS_CLK,216
$MODEM,5,1410005083,74.55720,-141.96561,282.606,409566.9
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7358.04,-14212.50,030914,082912
$TT8_MAMPS,0.042693,0.042693
$HUMID,48.93
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,1
$SC_FREEKB,3902656
$24V_AH,12.66,86.373
$10V_AH,12.51,0.000
$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,14.850,40.425,592.675,0.000,0.000,0.000,0.000,643.725,0.250,0.000,26.729,0.000,10411.798,666.691,2354.371,290.035,0.000,2000.830,0.000,1248.856,1491.000,0.536,0.000
$DEVICE_MAMPS,441.405,171.360,2519.145,0.000,0.000,0.000,0.000,194.310,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12862.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.645,0.000,0.000,0.000
$MEM,222688
$DATA_FILE_SIZE,30037,835
$CAP_FILE_SIZE,147387,0
$CFSIZE,2097872896,2035122176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,14060.16,0x2378b6,7,5
$INTR,1,12780.22,0x2378b6,5,5
$SOUNDSPEED,1448.7
$GPS,060914,092027,7407.505,-14308.573,5,0.8,25,23.6