version: 66.12
glider: 198
mission: 5
dive: 326
start: 9 15 114 19 57 26
data:
$ID,198
$MISSION,5
$DIVE,326
$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,35
$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,16.94
$_SM_ANGLEo,-16.4
$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,-145.9,2665,2684,1826,1712,0.0,0.0,0,30,0.00,0.00,-11.80,0.000,16386,0.000,0.000,2664,2683,2506,2570,2443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2664,2683,2572,2444,19.5,0.0,1,56,0.88,2.00,-18.85,0.000,20740,0.067,0.137,2339,3788,3782,3838,3726,0,0,0,0,0,0,14.30,14.28,14.61
$GC,292,-0.64,-145.9,2340,3788,3834,3729,88.8,-23.1,51,297,0.17,1.90,0.00,0.000,3078,0.290,0.070,2377,2670,3782,3837,3728,0,0,0,0,0,0,14.04,14.27,28.83
$GC,602,-0.64,-145.9,2377,2669,3839,3729,138.5,-14.5,83,606,0.00,2.08,0.00,0.000,260,0.000,0.121,2374,3794,3783,3838,3729,0,0,0,0,0,0,28.83,14.25,28.83
$GC,782,-0.64,-145.9,2375,3796,3838,3730,165.0,-13.9,119,786,0.00,1.95,0.00,0.000,1030,0.000,0.070,2374,2650,3783,3837,3729,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1092,-0.66,-145.9,2375,2649,3839,3730,206.0,-13.0,151,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2649,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.69,-145.9,2375,2649,3839,3730,240.8,-10.1,181,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2648,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140915200137.325498,3,326,19,0288,0150,100,00,00,01,04,1,000,000,2,5,1,0,150,12.1,9.6,-100,-6.6,-01,0.6,23,900,0025*2A
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5aba7a9a47;,*50
$MODEM_MSG,CACST,6,0,20140915200439.854564,3,1803,32,0432,0150,100,00,00,00,02,1,005,000,0,5,1,0,150,18.3,9.0,-100,-6.0,-01,0.2,23,900,0025*17
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;8000080000;,*32
$MODEM_MSG,CACST,6,0,20140915201657.586690,3,233,17,0144,0150,100,00,00,01,03,1,014,000,0,5,1,0,150,9.4,6.2,-100,-3.2,-01,0.4,24,900,0025*1D
$GC,1694,-0.73,-145.9,2375,2650,3838,3730,270.7,-9.7,197,1698,0.00,2.08,0.00,0.000,260,0.000,0.123,2374,3786,3783,3837,3729,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1748,-0.76,-145.9,2373,3786,3838,3730,276.4,-10.0,208,1754,0.00,1.85,0.00,0.000,1030,0.000,0.071,2374,2680,3783,3838,3729,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2055,-0.81,-145.9,2375,2680,3839,3730,306.4,-9.4,219,2060,0.12,2.03,0.00,0.000,4356,0.148,0.120,2315,3787,3783,3838,3729,0,0,0,0,0,0,14.51,14.39,28.83
$GC,2120,-0.81,-145.9,2316,3788,3839,3729,314.8,-13.4,232,2125,0.00,1.92,0.00,0.000,1030,0.000,0.070,2315,2676,3783,3837,3729,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2446,-0.81,-145.9,2316,2677,3838,3730,354.8,-12.0,247,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2745,-0.81,-145.9,2317,2677,3845,3730,389.6,-11.5,257,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3045,-0.81,-145.9,2316,2676,3838,3729,424.0,-11.5,267,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2676,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3345,-0.81,-145.9,2316,2676,3839,3729,458.4,-11.5,277,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2676,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-0.81,-145.9,2317,2677,3839,3730,492.7,-11.4,287,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3781,3834,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.81,-145.9,2317,2677,3838,3730,526.4,-11.2,297,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-0.81,-145.9,2317,2677,3838,3730,559.2,-10.8,307,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2676,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-0.81,-145.9,2317,2682,3838,3731,591.6,-10.8,317,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-0.81,-145.9,2316,2676,3839,3731,623.5,-10.6,327,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.81,-145.9,2316,2677,3838,3732,654.9,-10.4,337,5150,0.00,2.03,0.00,0.000,260,0.000,0.117,2307,3796,3784,3838,3730,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5185,-0.81,-145.9,2308,3797,3838,3731,659.5,-11.7,345,5190,0.00,1.92,0.00,0.000,1030,0.000,0.068,2307,2676,3787,3844,3730,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5506,-0.81,-145.9,2308,2677,3838,3732,694.4,-11.0,359,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5805,-0.81,-145.9,2308,2677,3838,3732,727.1,-10.9,369,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6013,begin apogee
$GC,6018,-0.14,0.0,2306,3056,3839,3732,750.1,-10.9,376,6150,0.90,0.00,129.60,1.715,10246,0.256,0.000,2539,3054,3186,3291,3082,0,0,0,0,0,0,14.21,28.83,13.25
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6153,0.70,145.9,2540,3055,3286,3074,752.9,0.0,380,6286,0.90,0.00,127.18,1.694,10502,0.164,0.000,2805,3054,2584,2674,2495,0,0,0,0,0,0,13.89,28.83,12.81
$GC,6585,0.70,145.9,2806,3056,2663,2488,706.7,12.3,405,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3053,2575,2663,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6885,0.70,145.9,2806,3055,2664,2487,669.1,12.6,415,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3054,2574,2662,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7185,0.70,145.9,2806,3055,2663,2487,631.9,12.3,425,7190,0.00,1.35,0.00,0.000,260,0.000,0.117,2805,3783,2574,2663,2486,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7245,0.66,145.9,2805,3783,2663,2486,623.7,13.6,437,7250,0.00,1.27,0.00,0.000,1030,0.000,0.071,2810,3046,2574,2662,2486,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7576,0.66,145.9,2811,3047,2664,2486,581.6,12.7,453,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3045,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7875,0.66,145.9,2810,3046,2664,2486,543.8,12.6,463,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2574,2663,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8175,0.66,145.9,2810,3046,2664,2486,505.6,12.6,473,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3046,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8475,0.66,145.9,2810,3046,2664,2486,467.9,12.5,483,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8775,0.66,145.9,2811,3046,2664,2486,431.2,12.2,493,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9075,0.66,145.9,2811,3046,2663,2487,394.5,12.2,503,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,0.66,145.9,2811,3046,2663,2487,357.6,12.3,513,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9675,0.67,148.8,2811,3046,2663,2487,322.5,11.5,523,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9975,0.67,151.3,2811,3046,2663,2486,288.3,11.5,533,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3046,2574,2662,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10275,0.69,179.4,2811,3047,2663,2487,256.6,10.1,543,10306,0.00,0.00,28.58,1.154,8198,0.000,0.000,2810,3046,2448,2540,2356,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10605,0.71,213.3,2810,3046,2527,2347,223.8,9.8,570,10636,0.00,0.00,28.98,1.111,8198,0.000,0.000,2810,3046,2312,2399,2225,0,0,0,0,0,0,28.83,28.83,13.89
$GC,10936,0.78,269.2,2811,3046,2383,2214,192.6,8.7,603,10990,0.00,2.42,48.78,1.054,8708,0.000,0.073,2820,1645,2080,2163,1997,0,0,0,0,0,0,28.83,14.26,13.79
$GC,11036,0.87,327.7,2820,1645,2151,1995,183.8,8.5,618,11091,0.15,2.53,50.58,1.025,11270,0.127,0.102,2889,3050,1850,1923,1778,0,0,0,0,0,0,14.32,14.22,13.68
$GC,11396,0.87,327.7,2890,3051,1899,1758,131.8,14.0,660,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,3050,1827,1898,1757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11696,0.87,327.7,2890,3050,1897,1756,91.7,12.7,690,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,3050,1825,1897,1754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11997,0.92,369.3,2890,3051,1898,1753,60.3,9.4,720,12022,0.00,2.47,18.65,0.347,8708,0.000,0.075,2899,1651,1686,1763,1609,0,0,0,0,0,0,28.83,14.28,14.10
$GC,12042,1.05,502.2,2901,1652,1776,1611,57.8,4.6,729,12123,0.00,2.53,74.70,0.344,9222,0.000,0.102,2899,3054,1139,1181,1098,0,0,0,0,0,0,28.83,14.29,14.02
$GC,12429,1.20,593.3,2901,3055,1200,1099,27.1,6.8,776,12491,0.22,2.50,52.15,0.254,11012,0.107,0.076,3005,1642,768,774,763,0,0,0,0,0,0,14.33,14.23,14.08
$GC,12535,1.28,648.1,3006,1643,787,764,17.3,8.7,795,12572,0.00,2.55,31.62,0.224,9222,0.000,0.102,3005,3053,543,542,544,0,0,0,0,0,0,28.83,14.21,14.10
$FREEZE,7.97,-1.414,-1.429,2,13,0
$STATE,12610,end climb,FINISH_DEPTH_REACHED
$STATE,12610,begin subsurface finish
$FINISH1,8.0,1.020994,363
$GC,12615,0.25,362.5,3006,3054,549,545,8.0,13.3,806,12652,1.20,0.00,-31.38,0.000,20486,0.223,0.000,2677,3055,1710,1761,1660,0,0,0,0,0,0,14.08,28.83,14.49
$FINISH2,7.3
$STATE,12653,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12653,begin surface
$RAFOS_CLK,817
$MODEM,14,1410812217,104.85760,-209.71519,56.587,81967.0
$MODEM,5,1410811479,74.32460,-141.48840,38.855,56281.7
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.70
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3875776
$24V_AH,12.81,105.468
$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,4.550,40.000,590.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10352.679,610.821,1663.361,150.577,0.000,1252.867,0.000,1206.107,1495.000,0.536,0.000
$DEVICE_MAMPS,289.935,136.935,1715.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12704.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.527,0.000,0.000,0.000
$MEM,189896
$DATA_FILE_SIZE,26750,810
$CAP_FILE_SIZE,126492,0
$CFSIZE,2097872896,2023489536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12612.32,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,140914,040738,7345.219,-14322.191,181,99.0,181,23.4