version: 66.12
glider: 198
mission: 5
dive: 298
start: 9 11 114 11 17 8
data:
$ID,198
$MISSION,5
$DIVE,298
$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,-5419.6206
$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,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
$GPS1,110914,110125,7333.658,-14443.511,31,0.8,52,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-73.1
$GPS2,110914,111649,7333.628,-14443.715,5,0.8,26,23.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7400.000,-14100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.8,124208,-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,-145.9,201,2674,460,541,0.0,0.0,0,81,0.00,0.00,-61.30,0.000,16386,0.000,0.000,200,2674,1948,1961,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.70,-145.9,201,2674,1963,1935,3.0,-1.5,6,146,11.02,2.45,-46.55,0.000,18948,0.439,0.101,2354,1270,3783,3851,3715,0,0,0,0,0,0,13.93,14.21,14.52
$GC,256,-0.64,-145.9,2355,1270,3851,3718,45.9,-24.7,41,263,0.15,2.55,0.00,0.000,3078,0.327,0.103,2377,2681,3784,3851,3717,0,0,0,0,0,0,14.05,14.26,28.83
$GC,561,-0.64,-145.9,2378,2679,3851,3719,102.7,-16.5,72,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2681,3784,3851,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-0.64,-145.9,2377,2681,3852,3718,149.3,-15.2,102,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2681,3784,3851,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1161,-0.64,-145.9,2378,2683,3851,3719,192.1,-13.8,132,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2681,3784,3851,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1461,-0.66,-145.9,2378,2682,3852,3719,229.7,-11.9,162,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2681,3784,3850,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1761,-0.69,-145.9,2377,2682,3851,3719,263.6,-11.0,184,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2681,3784,3850,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2061,-0.73,-145.9,2377,2681,3852,3719,294.8,-10.2,194,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2681,3784,3851,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-0.77,-145.9,2377,2681,3852,3718,324.1,-9.5,204,2363,0.12,0.00,0.00,0.000,4102,0.148,0.000,2323,2681,3784,3851,3718,0,0,0,0,0,0,14.63,28.83,28.83
$GC,2661,-0.77,-145.9,2323,2681,3852,3719,359.7,-12.0,214,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2681,3784,3850,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2961,-0.77,-145.9,2320,2682,3851,3719,395.1,-11.6,224,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2680,3784,3850,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.77,-145.9,2323,2682,3847,3718,429.9,-11.5,234,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3784,3850,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,-0.77,-145.9,2323,2681,3852,3718,463.9,-11.4,244,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3784,3851,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.77,-145.9,2326,2682,3851,3718,498.2,-11.4,254,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3784,3851,3718,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140911121612.412247,3,478,20,0109,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,6.6,1.4,-100,1.6,-01,0.2,28,900,0025*10
$GC,4163,-0.77,-145.9,2324,2681,3852,3719,532.4,-11.6,264,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2681,3785,3851,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.77,-145.9,2324,2678,3851,3720,566.0,-11.2,274,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3782,3846,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.77,-145.9,2324,2682,3851,3720,599.1,-11.0,284,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3785,3851,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.77,-145.9,2324,2682,3852,3721,632.5,-11.0,294,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3851,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5361,-0.77,-145.9,2324,2681,3852,3721,665.0,-10.8,304,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3851,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-0.77,-145.9,2324,2680,3852,3721,697.4,-10.9,314,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3851,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5962,-0.77,-145.9,2323,2681,3851,3723,729.7,-10.8,324,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3851,3722,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6169,begin apogee
$GC,6174,-0.14,0.0,2321,3058,3852,3722,752.2,-10.8,331,6307,0.82,0.00,129.20,1.701,10246,0.254,0.000,2538,3058,3183,3261,3105,0,0,0,0,0,0,14.33,28.83,13.28
$STATE,6308,end apogee,CONTROL_FINISHED_OK
$STATE,6308,begin climb
$GC,6310,0.70,145.9,2539,3058,3258,3105,755.5,0.0,335,6442,0.90,0.00,126.07,1.685,10502,0.168,0.000,2803,3057,2583,2645,2522,0,0,0,0,0,0,13.90,28.83,12.85
$GC,6741,0.70,145.9,2801,3058,2639,2515,710.0,12.5,365,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3057,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,0.70,145.9,2804,3058,2639,2515,672.8,12.5,375,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3057,2576,2638,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,0.70,145.9,2804,3057,2639,2513,635.6,12.4,385,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7641,0.70,145.9,2804,3058,2639,2513,598.1,12.5,395,7646,0.00,1.33,0.00,0.000,260,0.000,0.116,2803,3784,2576,2639,2513,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7696,0.66,145.9,2804,3785,2639,2514,590.6,14.3,406,7702,0.00,1.25,0.00,0.000,1030,0.000,0.070,2808,3048,2575,2638,2513,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8001,0.66,145.9,2808,3048,2640,2513,551.9,12.6,417,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3048,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8301,0.66,145.9,2809,3048,2638,2514,514.2,12.6,427,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3049,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8601,0.66,145.9,2809,3048,2640,2513,477.1,12.2,437,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3048,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8901,0.66,145.9,2809,3049,2639,2513,440.4,12.2,447,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3048,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9201,0.66,145.9,2809,3048,2640,2513,404.0,12.1,457,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3048,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9501,0.66,145.9,2809,3049,2639,2514,368.5,11.8,467,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3049,2575,2638,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9801,0.66,145.9,2809,3049,2639,2514,333.5,11.6,477,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3048,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10101,0.67,160.5,2809,3048,2639,2514,300.2,10.9,487,10114,0.00,0.00,12.02,1.263,8198,0.000,0.000,2808,3048,2534,2596,2473,0,0,0,0,0,0,28.83,28.83,14.03
$GC,10401,0.68,168.3,2809,3049,2587,2458,266.5,11.2,497,10406,0.00,0.00,2.92,0.810,8198,0.000,0.000,2808,3048,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10701,0.70,203.4,2809,3048,2596,2433,235.1,9.8,515,10742,0.00,0.00,35.80,1.118,8710,0.000,0.000,2808,3048,2347,2410,2285,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11042,0.74,257.7,2809,3049,2400,2281,202.6,8.7,550,11092,0.00,0.00,46.12,1.063,8198,0.000,0.000,2808,3048,2130,2189,2072,0,0,0,0,0,0,28.83,28.83,13.82
$GC,11393,0.80,292.1,2809,3049,2177,2061,168.5,9.8,585,11424,0.12,0.00,29.88,1.032,10758,0.145,0.000,2867,3048,1993,2049,1938,0,0,0,0,0,0,14.48,28.83,13.85
$GC,11721,0.80,292.1,2867,3048,2032,1926,127.1,12.2,620,11726,0.00,2.40,0.00,0.000,516,0.000,0.076,2875,1641,1978,2031,1925,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11792,0.83,292.1,2876,1641,2030,1925,119.1,12.0,634,11797,0.00,2.50,0.00,0.000,1030,0.000,0.100,2875,3046,1977,2030,1925,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12103,0.85,320.6,2876,3048,2030,1924,84.2,10.1,666,12122,0.00,0.00,13.10,0.416,8198,0.000,0.000,2875,3047,1883,1941,1825,0,0,0,0,0,0,28.83,28.83,14.06
$GC,12424,0.93,403.1,2876,3048,1956,1826,53.1,7.2,698,12473,0.00,0.00,46.20,0.341,8710,0.000,0.000,2875,3047,1544,1593,1496,0,0,0,0,0,0,28.83,28.83,14.08
$GC,12772,1.07,508.9,2876,3047,1608,1496,29.0,6.0,736,12836,0.17,2.50,57.97,0.267,10756,0.116,0.076,2958,1645,1112,1143,1082,0,0,0,0,0,0,14.40,14.24,14.11
$GC,12881,1.17,569.9,2959,1644,1152,1082,19.0,8.4,757,12922,0.00,2.55,34.03,0.239,9222,0.000,0.103,2958,3057,861,860,862,0,0,0,0,0,0,28.83,14.20,14.09
$FREEZE,8.68,-0.667,-1.416,2,1,0
$FREEZE,7.89,-0.678,-1.416,2,1,0
$FREEZE,7.07,-0.702,-1.415,2,1,0
$FREEZE,6.24,-0.666,-1.414,2,1,0
$FREEZE,5.49,-0.767,-1.414,2,1,0
$FREEZE,4.71,-0.742,-1.413,2,1,0
$FREEZE,3.88,-0.809,-1.413,2,1,0
$FREEZE,3.08,-0.817,-1.412,2,1,0
$FREEZE,2.23,-0.872,-1.412,2,1,0
$FREEZE,1.60,-0.888,-1.411,2,1,0
$STATE,13105,end climb,SURFACE_DEPTH_REACHED
$STATE,13106,begin surface coast
$FREEZE,1.58,-0.888,-0.481,2,1,0
$FINISH,1.6,1.006980
$STATE,13115,end surface coast,FINISH_DEPTH_REACHED
$STATE,13115,begin surface
$SM_CCo,13131,48.55,0.193,0,0,501,658.88
$SM_GC,2.66,8.40,0.65,48.55,0.100,0.074,0.193,203,2670,501,-7.39,0.88,658.88,0,0,0,0,0,0,14.43,14.42,14.23
$RAFOS_CLK,700
$RAFOS_FIX,7331.966309,-14502.251953,110914,000058,2,255,1.24
$IRIDIUM_FIX,7250.09,-14448.04,110914,070926
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.03
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.30
$XPDR_PINGS,1
$SC_FREEKB,3888320
$24V_AH,12.85,96.815
$10V_AH,12.75,0.000
$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,21.725,18.850,533.325,48.550,0.000,0.000,0.000,647.700,0.250,0.000,27.445,0.000,10883.585,643.238,2273.050,302.924,0.000,1914.444,0.000,1181.654,1473.000,0.535,0.000
$DEVICE_MAMPS,439.110,117.045,1701.360,192.780,0.000,0.000,0.000,203.490,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13168.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.439,0.000,0.000,0.000
$MEM,204596
$DATA_FILE_SIZE,26704,785
$CAP_FILE_SIZE,137510,0
$CFSIZE,2097872896,2028863488
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14203.20,0x2378b6,7,5
$INTR,1,12797.23,0x234484,1,24
$SOUNDSPEED,1448.5
$GPS,110914,145825,7334.580,-14438.263,41,0.8,62,23.0