version: 66.12
glider: 198
mission: 5
dive: 296
start: 9 11 114 3 27 47
data:
$ID,198
$MISSION,5
$DIVE,296
$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,-5417.1006
$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,39
$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
$GPS1,110914,001058,7331.966,-14502.252,0,2255.0,0,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,26.11
$_SM_ANGLEo,-12.0
$GPS2,110914,001058,7331.966,-14502.252,0,2255.0,0,22.9
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7400.000,-14100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,44.3,134122,-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,-145.9,2592,2681,3259,3121,0.0,0.0,0,29,0.00,0.00,-7.55,0.000,16390,0.000,0.000,2591,2681,3784,3857,3712,0,0,0,0,0,0,28.83,28.83,14.61
$GC,31,-0.70,-145.9,2593,2681,3857,3714,29.3,0.0,1,36,0.65,2.03,0.00,0.000,4356,0.072,0.118,2353,3795,3785,3857,3713,0,0,0,0,0,0,14.40,14.32,28.83
$GC,262,-0.66,-145.9,2354,3795,3858,3715,80.0,-19.3,47,267,0.00,1.88,0.00,0.000,1030,0.000,0.071,2353,2682,3785,3856,3715,0,0,0,0,0,0,28.83,14.43,28.83
$GC,572,-0.66,-145.9,2354,2682,3858,3716,131.4,-15.8,79,577,0.00,2.03,0.00,0.000,260,0.000,0.121,2347,3793,3786,3857,3716,0,0,0,0,0,0,28.83,14.39,28.83
$GC,668,-0.66,-145.9,2349,3794,3857,3717,147.3,-16.3,98,674,0.10,1.90,0.00,0.000,3078,0.298,0.071,2367,2665,3786,3856,3716,0,0,0,0,0,0,14.23,14.47,28.83
$GC,972,-0.66,-145.9,2368,2666,3857,3717,188.9,-12.9,129,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2664,3786,3857,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-0.69,-145.9,2368,2666,3857,3717,225.3,-11.7,159,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2666,3786,3857,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1592,-0.72,-145.9,2367,2665,3858,3716,260.0,-10.6,185,1597,0.00,2.05,0.00,0.000,260,0.000,0.124,2361,3792,3786,3856,3716,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1667,-0.75,-145.9,2361,3792,3858,3716,268.3,-11.4,200,1672,0.00,1.88,0.00,0.000,1030,0.000,0.073,2361,2678,3786,3856,3716,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1982,-0.78,-145.9,2361,2678,3858,3716,300.0,-9.8,213,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2678,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2282,-0.82,-145.9,2362,2678,3858,3716,328.5,-9.4,223,2283,0.12,0.00,0.00,0.000,4102,0.148,0.000,2310,2675,3786,3856,3716,0,0,0,0,0,0,14.48,28.83,28.83
$GC,2582,-0.82,-145.9,2311,2678,3858,3716,363.7,-11.6,233,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2882,-0.82,-145.9,2311,2678,3858,3716,397.9,-11.3,243,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3182,-0.82,-145.9,2311,2679,3858,3717,432.0,-11.4,253,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140911041609.148004,3,581,21,0126,0150,100,00,00,01,03,1,000,000,2,5,1,0,150,8.2,1.7,-100,1.3,-01,0.1,29,900,0025*3A
$GC,3483,-0.82,-145.9,2311,2678,3858,3716,465.8,-11.2,263,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2678,3786,3856,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,-0.82,-145.9,2311,2678,3857,3717,499.4,-11.2,273,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2678,3786,3857,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4082,-0.82,-145.9,2311,2679,3857,3717,533.2,-11.4,283,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2678,3786,3857,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4382,-0.82,-145.9,2311,2677,3858,3717,566.5,-11.1,293,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3857,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4682,-0.82,-145.9,2312,2678,3857,3718,599.6,-11.0,303,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3787,3857,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4982,-0.82,-145.9,2311,2678,3858,3717,632.2,-10.9,313,4987,0.00,2.00,0.00,0.000,260,0.000,0.121,2304,3787,3787,3857,3717,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5031,-0.82,-145.9,2305,3788,3857,3718,638.1,-12.2,323,5037,0.00,1.90,0.00,0.000,1030,0.000,0.071,2304,2677,3786,3856,3717,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5343,-0.82,-145.9,2305,2678,3857,3717,672.8,-11.1,335,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3787,3857,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5642,-0.82,-145.9,2305,2679,3857,3719,705.7,-10.8,345,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3787,3857,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,-0.82,-145.9,2305,2678,3858,3719,738.7,-11.0,355,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2678,3787,3856,3718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6060,begin apogee
$GC,6065,-0.14,0.0,2305,3056,3858,3719,751.8,-10.9,359,6196,0.88,0.00,128.62,1.705,10246,0.253,0.000,2537,3056,3187,3262,3112,0,0,0,0,0,0,14.35,28.83,13.28
$STATE,6197,end apogee,CONTROL_FINISHED_OK
$STATE,6197,begin climb
$GC,6199,0.70,145.9,2537,3056,3257,3105,754.7,0.0,363,6335,0.90,1.48,125.43,1.668,10500,0.162,0.118,2805,3787,2582,2640,2524,0,0,0,0,0,0,13.90,13.45,12.87
$GC,6390,0.66,145.9,2805,3789,2635,2519,737.4,13.6,404,6396,0.00,1.35,0.00,0.000,1030,0.000,0.070,2810,3052,2576,2634,2518,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6695,0.66,145.9,2811,3052,2636,2517,697.5,13.1,415,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2575,2634,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6995,0.66,145.9,2811,3054,2636,2516,659.0,12.8,425,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2575,2634,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,0.66,145.9,2811,3053,2635,2516,620.0,13.1,435,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2575,2635,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7595,0.66,145.9,2811,3052,2636,2516,580.7,13.1,445,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2575,2634,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7895,0.66,145.9,2811,3052,2635,2516,541.7,13.0,455,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2574,2634,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8195,0.66,145.9,2811,3052,2636,2515,503.1,12.8,465,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3052,2575,2635,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8495,0.66,145.9,2811,3052,2636,2516,465.2,12.5,475,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2574,2634,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8795,0.66,145.9,2811,3057,2636,2516,427.7,12.6,485,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2574,2634,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9095,0.66,145.9,2811,3052,2637,2515,390.6,12.3,495,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2574,2634,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9395,0.66,145.9,2811,3052,2635,2516,354.7,11.9,505,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2574,2634,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9695,0.66,145.9,2810,3052,2636,2516,319.1,11.8,515,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2575,2635,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9995,0.66,149.3,2812,3053,2636,2515,284.2,11.4,525,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2575,2635,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10295,0.68,169.3,2811,3053,2635,2516,251.4,10.6,535,10316,0.00,0.00,19.70,1.138,8198,0.000,0.000,2810,3052,2494,2557,2432,0,0,0,0,0,0,28.83,28.83,14.04
$GC,10595,0.71,214.6,2811,3052,2545,2420,220.6,9.2,563,10636,0.00,0.00,38.40,1.071,8198,0.000,0.000,2810,3052,2306,2361,2251,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10936,0.76,261.1,2811,3052,2349,2238,187.3,9.2,597,10978,0.00,0.00,39.97,1.028,8710,0.000,0.000,2810,3051,2120,2176,2065,0,0,0,0,0,0,28.83,28.83,13.85
$GC,11275,0.83,307.4,2811,3051,2156,2050,154.9,9.2,633,11321,0.15,2.45,39.55,0.992,10756,0.125,0.079,2889,1641,1926,1974,1879,0,0,0,0,0,0,14.50,14.31,13.84
$GC,11406,0.83,307.4,2889,1641,1963,1877,138.5,12.3,659,11411,0.00,2.53,0.00,0.000,1030,0.000,0.103,2888,3047,1919,1961,1877,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11716,0.83,307.4,2889,3049,1961,1869,97.9,13.3,691,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,3048,1914,1961,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12016,0.85,328.6,2889,3048,1962,1867,63.0,10.5,721,12027,0.00,0.00,8.88,0.340,8198,0.000,0.000,2888,3048,1846,1895,1798,0,0,0,0,0,0,28.83,28.83,14.09
$GC,12327,0.96,446.3,2889,3049,1923,1799,39.4,5.4,752,12402,0.00,2.50,66.40,0.300,8708,0.000,0.076,2897,1644,1370,1411,1329,0,0,0,0,0,0,28.83,14.27,14.09
$GC,12517,1.10,532.5,2898,1644,1423,1329,26.4,7.0,790,12572,0.15,2.55,47.97,0.258,11270,0.125,0.103,2962,3057,1013,1026,1001,0,0,0,0,0,0,14.35,14.27,14.05
$FREEZE,8.92,-0.449,-1.418,2,2,0
$FREEZE,8.22,-0.427,-1.417,2,2,0
$FREEZE,7.39,-0.423,-1.416,2,2,0
$FREEZE,6.58,-0.373,-1.415,2,2,0
$FREEZE,5.98,-0.314,-1.414,2,2,0
$FREEZE,5.25,-0.266,-1.413,2,2,0
$FREEZE,4.42,-0.227,-1.413,2,2,0
$FREEZE,3.70,-0.183,-1.412,2,2,0
$FREEZE,2.94,-0.181,-1.412,2,2,0
$FREEZE,2.26,-0.192,-1.412,2,2,0
$FREEZE,1.59,-0.193,-1.411,2,2,0
$STATE,12835,end climb,SURFACE_DEPTH_REACHED
$STATE,12835,begin surface coast
$FREEZE,1.56,-0.235,-0.744,2,2,0
$FREEZE,1.60,-0.220,-0.688,2,2,0
$FINISH,1.6,1.010112
$STATE,12856,end surface coast,CONTROL_FINISHED_OK
$STATE,12856,begin surface
$SM_CCo,12873,68.55,0.192,0,0,499,659.12
$SM_GC,2.67,8.32,0.65,68.55,0.091,0.076,0.192,194,2673,499,-7.41,0.90,659.12,0,0,0,0,0,0,14.45,14.45,14.23
$RAFOS_CLK,725
$RAFOS_FIX,7331.966309,-14502.251953,110914,000058,2,255,1.24
$IRIDIUM_FIX,7257.42,-14439.25,100914,084252
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.80
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3889216
$24V_AH,12.87,96.153
$10V_AH,12.76,0.000
$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,11.275,31.750,514.925,68.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10659.977,557.478,1715.998,142.520,0.000,1203.491,0.000,1242.090,1484.000,0.535,0.000
$DEVICE_MAMPS,297.585,123.930,1705.185,192.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12910.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.288,0.000,0.000,0.000
$MEM,205808
$DATA_FILE_SIZE,26748,830
$CAP_FILE_SIZE,129370,0
$CFSIZE,2097872896,2029223936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$GPS,110914,070513,7332.872,-14448.457,40,0.8,61,22.9