version: 66.12
glider: 198
mission: 5
dive: 325
start: 9 15 114 16 22 21
data:
$ID,198
$MISSION,5
$DIVE,325
$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,-5801.1099
$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,38
$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,-14322.191,181,99.0,181,23.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.51
$_SM_ANGLEo,-17.1
$GPS2,140914,040738,7345.219,-14322.191,181,99.0,181,23.4
$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,-145.9,2677,2687,1805,1729,0.0,0.0,0,30,0.00,0.00,-12.05,0.000,16386,0.000,0.000,2677,2687,2439,2498,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2688,2499,2381,15.9,0.0,1,61,0.90,2.00,-21.90,0.000,20740,0.069,0.138,2347,3787,3785,3836,3735,0,0,0,0,0,0,14.25,14.19,14.52
$MODEM_MSG,CACST,6,1,20140915160132.724740,3,178,16,0265,0150,100,01,01,01,01,-1,-01,-01,1,3,0,0,150,14.4,0.6,-100,2.4,-01,0.3,25,900,0025*25
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5aafaa9ba5;,*52
$MODEM_MSG,CACST,6,0,20140915160440.656511,3,324,19,0167,0150,100,00,00,01,03,1,005,000,0,5,1,0,150,8.7,5.0,-100,-2.0,-01,-0.2,24,900,0025*32
$GC,287,-0.65,-145.9,2347,3788,3837,3732,85.9,-20.2,52,293,0.12,1.88,0.00,0.000,3078,0.300,0.070,2371,2678,3784,3836,3732,0,0,0,0,0,0,14.10,14.37,28.83
$GC,592,-0.65,-145.9,2372,2677,3838,3732,134.7,-14.9,83,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2678,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.65,-145.9,2373,2678,3838,3733,178.2,-13.6,113,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2677,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-0.67,-145.9,2372,2678,3838,3732,217.3,-12.4,143,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2677,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-0.70,-145.9,2372,2678,3838,3733,254.4,-11.1,173,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2677,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.74,-145.9,2372,2678,3838,3732,282.8,-9.8,183,1817,0.00,2.03,0.00,0.000,260,0.000,0.120,2364,3795,3784,3836,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1867,-0.76,-145.9,2364,3795,3838,3731,289.1,-11.9,194,1873,0.00,1.88,0.00,0.000,1030,0.000,0.071,2363,2678,3784,3837,3731,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2174,-0.80,-145.9,2364,2678,3837,3732,321.4,-10.4,205,2178,0.00,2.00,0.00,0.000,260,0.000,0.122,2361,3786,3784,3837,3732,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2218,-0.83,-145.9,2362,3787,3838,3732,326.4,-11.2,214,2223,0.12,1.85,0.00,0.000,5126,0.145,0.072,2313,2680,3784,3837,3732,0,0,0,0,0,0,14.55,14.59,28.83
$GC,2535,-0.83,-145.9,2311,2681,3837,3732,365.0,-12.0,227,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2679,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.83,-145.9,2311,2680,3838,3731,399.3,-11.4,237,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2680,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3133,-0.83,-145.9,2311,2681,3838,3732,434.0,-11.7,247,3138,0.00,2.00,0.00,0.000,260,0.000,0.121,2304,3787,3784,3837,3731,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3188,-0.83,-145.9,2305,3788,3837,3732,441.0,-12.7,258,3194,0.00,1.90,0.00,0.000,1030,0.000,0.070,2304,2653,3784,3837,3731,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3493,-0.83,-145.9,2305,2653,3838,3732,477.5,-11.9,269,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2653,3787,3844,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,-0.83,-145.9,2305,2654,3838,3731,512.8,-11.7,279,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2653,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.83,-145.9,2305,2653,3837,3731,547.8,-11.6,289,4098,0.00,2.05,0.00,0.000,260,0.000,0.122,2304,3788,3784,3837,3731,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4128,-0.83,-145.9,2305,3788,3838,3739,552.2,-12.5,296,4133,0.00,1.90,0.00,0.000,1030,0.000,0.069,2304,2680,3786,3837,3735,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4455,-0.83,-145.9,2304,2680,3840,3732,590.0,-11.6,311,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4753,-0.83,-145.9,2305,2680,3838,3732,624.9,-11.7,321,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5053,-0.83,-145.9,2305,2681,3838,3734,659.7,-11.4,331,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5354,-0.83,-145.9,2305,2680,3838,3733,693.9,-11.4,341,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,-0.83,-145.9,2305,2680,3838,3733,727.7,-11.1,351,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5866,-0.14,0.0,2305,3056,3838,3733,751.5,-11.3,358,5998,0.90,0.00,129.25,1.729,10246,0.256,0.000,2540,3056,3186,3286,3087,0,0,0,0,0,0,14.26,28.83,13.25
$STATE,5999,end apogee,CONTROL_FINISHED_OK
$STATE,5999,begin climb
$GC,6001,0.70,145.9,2541,3056,3282,3080,754.6,0.0,362,6136,0.90,0.00,126.95,1.697,10502,0.163,0.000,2804,3056,2585,2667,2503,0,0,0,0,0,0,13.88,28.83,12.82
$GC,6433,0.70,145.9,2805,3057,2658,2496,708.9,12.4,392,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3061,2579,2657,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6733,0.70,145.9,2805,3057,2659,2496,671.6,12.6,402,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2658,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7033,0.70,145.9,2805,3056,2659,2495,634.0,12.4,412,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2658,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7333,0.70,145.9,2805,3056,2659,2495,596.0,12.6,422,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2658,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7633,0.70,145.9,2805,3057,2659,2495,558.4,12.6,432,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3061,2576,2657,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7933,0.70,145.9,2805,3057,2659,2496,521.2,12.3,442,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2575,2657,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8233,0.70,145.9,2805,3056,2659,2495,484.3,12.2,452,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2576,2658,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8533,0.70,145.9,2805,3056,2659,2495,448.2,11.8,462,8538,0.00,2.40,0.00,0.000,516,0.000,0.074,2818,1643,2576,2658,2495,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8578,0.71,160.3,2816,1643,2659,2496,443.1,10.9,471,8595,0.00,2.47,12.43,1.388,9222,0.000,0.102,2814,3052,2530,2613,2447,0,0,0,0,0,0,28.83,14.52,13.94
$GC,8895,0.71,160.3,2816,3052,2598,2438,403.6,12.5,484,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3052,2519,2602,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9193,0.71,160.3,2816,3052,2602,2438,365.8,12.7,494,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3052,2519,2602,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9493,0.71,160.3,2816,3052,2603,2438,327.7,12.7,504,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3051,2519,2602,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9793,0.71,160.3,2816,3053,2603,2438,291.2,11.9,514,9798,0.00,1.35,0.00,0.000,260,0.000,0.116,2815,3789,2519,2602,2437,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9858,0.68,160.3,2816,3789,2598,2438,283.1,12.7,527,9863,0.00,1.25,0.00,0.000,1030,0.000,0.071,2825,3057,2519,2602,2437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10165,0.68,167.4,2819,3057,2604,2437,248.5,11.2,542,10168,0.00,0.00,1.98,0.233,8198,0.000,0.000,2820,2885,2502,2586,2419,0,0,0,0,0,0,28.83,28.83,14.31
$GC,10463,0.73,235.6,2821,2857,2616,2421,222.2,8.0,572,10534,0.00,0.00,64.28,1.088,8198,0.000,0.000,2821,2857,2217,2295,2139,0,0,0,0,0,0,28.83,28.83,13.82
$GC,10833,0.78,269.5,2821,2857,2285,2132,184.9,9.8,609,10869,0.00,1.75,29.35,1.060,8452,0.000,0.116,2820,3786,2079,2157,2001,0,0,0,0,0,0,28.83,14.28,13.83
$GC,10905,0.78,269.5,2821,3786,2148,1997,177.5,11.7,623,10910,0.00,1.27,0.00,0.000,1030,0.000,0.072,2823,3051,2071,2147,1995,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11216,0.83,293.6,2824,3052,2145,1994,145.6,10.3,655,11246,0.10,2.47,20.73,1.035,10756,0.168,0.078,2885,1647,1978,2052,1905,0,0,0,0,0,0,14.42,14.38,13.88
$GC,11326,0.83,293.6,2886,1648,2046,1903,132.5,11.8,677,11331,0.00,2.50,0.00,0.000,1030,0.000,0.103,2885,3049,1974,2045,1903,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11636,0.83,293.6,2886,3049,2043,1900,95.7,11.6,709,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3049,1970,2042,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11936,0.84,299.0,2886,3049,2043,1898,63.9,11.3,739,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3049,1973,2049,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12236,1.08,602.6,2886,3049,2043,1898,53.1,-4.5,769,12408,0.17,2.47,162.55,0.328,10756,0.113,0.080,2973,1641,732,718,746,0,0,0,0,0,0,14.41,14.19,13.99
$GC,12543,1.22,700.6,2975,1644,727,747,23.9,6.4,830,12583,0.00,2.58,33.20,0.249,9222,0.000,0.105,2973,3053,499,490,508,0,0,0,0,0,0,28.83,14.12,14.03
$FREEZE,8.29,-1.427,-1.447,2,12,0
$STATE,12696,end climb,FINISH_DEPTH_REACHED
$STATE,12696,begin subsurface finish
$FINISH1,8.3,1.021253,349
$GC,12701,0.24,349.0,2974,3053,501,508,8.3,9.9,850,12740,1.08,2.53,-32.55,0.000,20996,0.189,0.098,2667,1638,1765,1821,1710,0,0,0,0,0,0,14.14,14.26,14.50
$FINISH2,8.1
$STATE,12741,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12741,begin surface
$RAFOS_CLK,840
$MODEM,5,1410797080,74.29000,-141.34840,39.657,57435.3
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.21
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3876224
$24V_AH,12.82,105.179
$10V_AH,12.72,0.000
$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,4.300,45.150,580.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10387.903,597.802,1722.240,154.737,0.000,1284.195,0.000,1275.147,0.000,0.535,0.000
$DEVICE_MAMPS,299.880,137.700,1728.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.222,0.000,0.000,0.000
$MEM,190384
$DATA_FILE_SIZE,30005,855
$CAP_FILE_SIZE,131162,0
$CFSIZE,2097872896,2023653376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12698.76,0x2378b6,5,5
$SOUNDSPEED,1448.5
$GPS,140914,040738,7345.219,-14322.191,181,99.0,181,23.4