version: 66.12
glider: 198
mission: 5
dive: 317
start: 9 14 114 11 6 0
data:
$ID,198
$MISSION,5
$DIVE,317
$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,-5436.165
$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,36
$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
$GPS1,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.71
$_SM_ANGLEo,-16.9
$GPS2,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7400.000,-14100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,45.9,77576,-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,-145.9,2678,2688,1789,1708,0.0,0.0,0,30,0.00,0.00,-12.25,0.000,16386,0.000,0.000,2677,2688,2451,2510,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2688,2512,2393,16.7,0.0,1,61,0.90,2.00,-21.08,0.000,20740,0.070,0.145,2346,3787,3784,3838,3731,0,0,0,0,0,0,14.34,14.30,14.62
$GC,286,-0.65,-145.9,2347,3789,3839,3735,84.9,-21.1,52,293,0.10,1.92,0.00,0.000,3078,0.284,0.069,2372,2679,3785,3838,3733,0,0,0,0,0,0,14.09,14.35,28.83
$GC,591,-0.65,-145.9,2372,2679,3839,3733,133.7,-15.2,83,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2679,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-0.65,-145.9,2372,2679,3839,3734,176.4,-13.8,113,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2678,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1191,-0.67,-145.9,2372,2679,3840,3733,216.1,-12.5,143,1196,0.00,2.03,0.00,0.000,260,0.000,0.121,2364,3793,3785,3838,3733,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1231,-0.67,-145.9,2365,3794,3839,3733,221.5,-13.3,151,1236,0.00,1.92,0.00,0.000,1030,0.000,0.070,2364,2679,3785,3838,3733,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1562,-0.69,-145.9,2365,2679,3840,3733,260.3,-11.0,179,1566,0.00,2.03,0.00,0.000,260,0.000,0.123,2361,3790,3785,3838,3733,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1653,-0.71,-145.9,2361,3791,3840,3733,270.8,-11.1,197,1658,0.00,1.88,0.00,0.000,1030,0.000,0.070,2361,2676,3784,3838,3731,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1984,-0.75,-145.9,2362,2676,3840,3733,304.9,-10.2,213,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.78,-145.9,2362,2676,3839,3732,334.2,-9.6,223,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,-0.82,-145.9,2362,2677,3839,3734,362.6,-9.4,233,2588,0.12,2.03,0.00,0.000,4356,0.157,0.118,2305,3790,3785,3837,3733,0,0,0,0,0,0,14.54,14.47,28.83
$GC,2657,-0.82,-145.9,2305,3791,3839,3733,372.1,-13.2,248,2662,0.00,1.90,0.00,0.000,1030,0.000,0.070,2305,2683,3785,3838,3733,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2972,-0.82,-145.9,2307,2684,3839,3734,410.0,-11.8,261,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2683,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.82,-145.9,2306,2683,3840,3733,445.6,-11.9,271,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-0.82,-145.9,2308,2683,3839,3734,481.0,-11.9,281,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2683,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,-0.82,-145.9,2306,2684,3839,3730,516.2,-11.7,291,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2683,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,-0.82,-145.9,2306,2683,3840,3732,551.4,-11.8,301,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2683,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-0.82,-145.9,2305,2683,3839,3733,586.2,-11.5,311,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2683,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140914121641.743818,3,149,15,0163,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,4.1,1.0,-100,2.0,-01,0.0,27,900,0025*15
$GC,4774,-0.82,-145.9,2306,2683,3839,3734,620.9,-11.5,321,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2682,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-0.82,-145.9,2305,2683,3840,3734,655.1,-11.4,331,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2683,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5373,-0.82,-145.9,2306,2683,3840,3734,688.8,-11.2,341,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2683,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5673,-0.82,-145.9,2306,2683,3840,3734,722.3,-11.1,351,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2683,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5940,begin apogee
$GC,5946,-0.14,0.0,2303,3063,3839,3735,751.9,-11.0,360,6079,0.90,0.00,130.05,1.720,10246,0.260,0.000,2537,3062,3182,3282,3082,0,0,0,0,0,0,14.26,28.83,13.24
$STATE,6080,end apogee,CONTROL_FINISHED_OK
$STATE,6080,begin climb
$GC,6082,0.70,145.9,2538,3063,3278,3078,754.9,0.0,364,6214,0.95,0.00,126.43,1.686,10502,0.169,0.000,2808,3066,2585,2668,2502,0,0,0,0,0,0,13.87,28.83,12.83
$GC,6512,0.70,145.9,2808,3060,2657,2494,707.2,12.9,389,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3062,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6812,0.70,145.9,2808,3062,2657,2494,668.9,12.8,399,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3062,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7113,0.70,145.9,2809,3063,2664,2494,630.7,12.6,409,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3062,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7412,0.70,145.9,2809,3063,2656,2493,593.4,12.4,419,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3062,2574,2656,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7713,0.70,145.9,2809,3063,2656,2493,556.6,12.3,429,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3062,2574,2655,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8013,0.70,145.9,2809,3062,2657,2493,519.6,12.3,439,8017,0.00,2.42,0.00,0.000,516,0.000,0.073,2818,1647,2574,2655,2493,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8043,0.70,154.9,2819,1648,2657,2494,516.1,11.1,445,8052,0.00,2.50,2.12,0.379,9222,0.000,0.102,2819,3054,2558,2645,2471,0,0,0,0,0,0,28.83,14.53,13.63
$GC,8372,0.70,154.9,2819,3055,2669,2473,474.0,12.7,461,8376,0.00,0.00,2.17,0.415,8198,0.000,0.000,2819,3054,2553,2640,2466,0,0,0,0,0,0,28.83,28.83,13.64
$GC,8673,0.68,154.9,2820,3055,2668,2471,435.8,12.7,471,8676,0.00,0.00,1.77,0.229,8198,0.000,0.000,2818,3054,2554,2642,2467,0,0,0,0,0,0,28.83,28.83,14.35
$GC,8973,0.68,154.9,2820,3055,2669,2471,398.0,12.6,481,8976,0.00,0.00,2.00,0.227,8198,0.000,0.000,2819,3054,2553,2641,2465,0,0,0,0,0,0,28.83,28.83,12.38
$GC,9273,0.68,154.9,2819,3054,2669,2470,360.3,12.6,491,9278,0.00,1.38,1.90,0.228,8452,0.000,0.115,2818,3794,2555,2646,2464,0,0,0,0,0,0,28.83,14.53,14.34
$GC,9338,0.64,154.9,2820,3795,2668,2471,351.4,14.0,504,9343,0.00,1.27,1.70,0.214,9222,0.000,0.070,2824,3044,2553,2642,2465,0,0,0,0,0,0,28.83,14.60,14.39
$GC,9663,0.64,154.9,2825,3048,2669,2471,310.5,12.4,519,9666,0.00,0.00,1.95,0.227,8198,0.000,0.000,2824,3047,2553,2642,2464,0,0,0,0,0,0,28.83,28.83,14.33
$GC,9963,0.64,154.9,2825,3047,2670,2470,274.7,11.8,529,9966,0.00,0.00,1.98,0.226,8198,0.000,0.000,2825,2874,2552,2642,2463,0,0,0,0,0,0,28.83,28.83,14.38
$GC,10265,0.66,176.1,2827,2846,2670,2470,242.5,10.5,543,10295,0.00,1.75,24.77,1.126,8452,0.000,0.115,2825,3787,2458,2547,2369,0,0,0,0,0,0,28.83,14.52,13.97
$GC,10471,0.64,190.7,2826,3787,2538,2365,218.8,10.8,584,10487,0.10,1.25,12.27,1.102,13318,0.256,0.071,2803,3060,2404,2491,2318,0,0,0,0,0,0,14.23,14.50,13.90
$GC,10785,0.72,260.2,2804,3060,2478,2310,192.2,7.9,617,10850,0.00,2.45,60.38,1.037,8708,0.000,0.073,2813,1644,2115,2193,2038,0,0,0,0,0,0,28.83,14.28,13.77
$GC,10956,0.81,308.3,2814,1643,2181,2035,177.4,9.1,651,11006,0.12,2.53,41.30,1.015,11270,0.143,0.102,2868,3048,1920,1989,1852,0,0,0,0,0,0,14.32,14.26,13.71
$GC,11305,0.81,308.3,2868,3048,1980,1840,133.2,12.6,691,11310,0.00,2.42,0.00,0.000,516,0.000,0.077,2875,1640,1909,1979,1840,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11346,0.84,311.1,2875,1642,1980,1840,128.6,11.5,699,11351,0.00,2.53,0.00,0.000,1030,0.000,0.102,2875,3056,1909,1979,1840,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11655,0.86,332.2,2875,3056,1979,1838,91.6,10.5,731,11667,0.00,0.00,9.68,0.396,8198,0.000,0.000,2875,3056,1835,1907,1763,0,0,0,0,0,0,28.83,28.83,14.01
$GC,11967,0.91,362.0,2876,3057,1934,1766,60.0,10.0,762,11988,0.00,0.00,19.23,0.340,8710,0.000,0.000,2875,3056,1710,1779,1641,0,0,0,0,0,0,28.83,28.83,14.07
$GC,12287,1.05,484.5,2876,3056,1806,1642,41.4,5.1,796,12367,0.17,2.50,70.10,0.295,10756,0.116,0.076,2958,1647,1215,1264,1166,0,0,0,0,0,0,14.38,14.27,14.09
$GC,12438,1.11,501.8,2959,1648,1278,1167,27.6,10.7,822,12454,0.00,2.55,11.12,0.256,9222,0.000,0.104,2958,3054,1141,1184,1098,0,0,0,0,0,0,28.83,14.23,14.07
$FREEZE,8.43,-1.406,-1.440,2,4,0
$STATE,12667,end climb,FINISH_DEPTH_REACHED
$STATE,12667,begin subsurface finish
$FINISH1,8.4,1.021149,354
$GC,12672,0.25,354.4,2960,3055,1208,1099,8.4,9.1,847,12695,1.02,1.33,-15.82,0.000,20740,0.216,0.158,2673,3786,1742,1778,1707,0,0,0,0,0,0,14.09,14.24,14.55
$FINISH2,7.5
$STATE,12695,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12695,begin surface
$RAFOS_CLK,614
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7257.42,-14347.65,130914,052906
$TT8_MAMPS,0.043442,0.043442
$HUMID,50.15
$INTERNAL_PRESSURE,8.66168
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3879808
$24V_AH,12.38,102.839
$10V_AH,12.93,0.000
$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,4.400,45.200,520.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10387.337,542.831,1731.543,152.585,0.000,1207.234,0.000,1279.394,1470.000,0.535,0.000
$DEVICE_MAMPS,283.815,157.590,1720.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12738.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.218,0.000,0.000,0.000
$MEM,194452
$DATA_FILE_SIZE,30056,851
$CAP_FILE_SIZE,130304,0
$CFSIZE,2097872896,2025160704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12669.50,0x2378b6,5,5
$SOUNDSPEED,1448.6
$GPS,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4