version: 66.12
glider: 198
mission: 5
dive: 330
start: 9 16 114 10 25 57
data:
$ID,198
$MISSION,5
$DIVE,330
$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,37
$R_STBD_OVSHOOT,19
$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,15.60
$_SM_ANGLEo,-18.8
$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,15,begin dive
$GC,17,-0.70,-145.9,2666,2686,1822,1737,0.0,0.0,0,30,0.00,0.00,-11.77,0.000,16386,0.000,0.000,2665,2688,2467,2524,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2666,2688,2526,2412,17.1,0.0,1,62,0.88,2.03,-20.52,0.000,20740,0.068,0.140,2341,3783,3782,3836,3729,0,0,0,0,0,0,14.33,14.28,14.61
$GC,286,-0.64,-145.9,2341,3783,3838,3732,87.3,-21.6,52,293,0.12,1.90,0.00,0.000,3078,0.278,0.069,2372,2683,3784,3836,3732,0,0,0,0,0,0,14.08,14.34,28.83
$GC,591,-0.64,-145.9,2374,2683,3837,3733,137.2,-14.8,83,596,0.00,2.00,0.00,0.000,260,0.000,0.118,2365,3786,3784,3837,3732,0,0,0,0,0,0,28.83,14.31,28.83
$GC,741,-0.64,-145.9,2365,3786,3838,3732,160.6,-15.8,113,746,0.00,1.90,0.00,0.000,1030,0.000,0.070,2364,2683,3784,3837,3732,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1051,-0.64,-145.9,2365,2683,3838,3732,203.8,-12.4,145,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2683,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.67,-145.9,2366,2684,3837,3733,241.3,-12.1,175,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2683,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1673,-0.70,-145.9,2365,2683,3838,3732,278.0,-10.7,191,1678,0.00,2.00,0.00,0.000,260,0.000,0.121,2360,3787,3784,3837,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1718,-0.70,-145.9,2362,3788,3838,3732,283.2,-11.3,200,1722,0.00,1.90,0.00,0.000,1030,0.000,0.071,2361,2682,3784,3836,3732,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2034,-0.73,-145.9,2362,2682,3837,3732,315.7,-10.1,213,2039,0.00,2.40,0.00,0.000,516,0.000,0.081,2360,1273,3785,3837,3733,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2064,-0.77,-145.9,2361,1273,3837,3732,318.8,-9.7,219,2069,0.00,2.53,0.00,0.000,1030,0.000,0.107,2361,2687,3784,3837,3731,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2396,-0.81,-145.9,2362,2687,3838,3731,350.1,-9.3,235,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2687,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2694,-0.84,-145.9,2362,2687,3837,3732,377.8,-9.3,245,2699,0.15,1.98,0.00,0.000,4356,0.133,0.119,2293,3787,3783,3836,3731,0,0,0,0,0,0,14.59,14.45,28.83
$GC,2749,-0.82,-145.9,2293,3788,3837,3731,384.8,-13.4,256,2756,0.12,1.90,0.00,0.000,3078,0.308,0.073,2318,2651,3785,3839,3731,0,0,0,0,0,0,14.24,14.57,28.83
$GC,3056,-0.82,-145.9,2319,2651,3838,3731,419.7,-11.2,267,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2651,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,-0.82,-145.9,2319,2652,3837,3732,453.5,-11.3,277,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2651,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.82,-145.9,2319,2651,3838,3731,487.6,-11.3,287,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2650,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,-0.82,-145.9,2318,2651,3837,3736,522.0,-11.4,297,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2651,3787,3843,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4255,-0.82,-145.9,2319,2651,3838,3732,555.6,-11.1,307,4259,0.00,2.05,0.00,0.000,260,0.000,0.121,2309,3789,3787,3843,3732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4314,-0.82,-145.9,2310,3789,3838,3732,562.9,-12.5,319,4319,0.00,1.88,0.00,0.000,1030,0.000,0.072,2310,2669,3784,3837,3732,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4646,-0.82,-145.9,2311,2670,3836,3733,600.3,-11.3,335,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2669,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.82,-145.9,2311,2669,3838,3733,634.0,-11.2,345,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2669,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5244,-0.82,-145.9,2311,2669,3837,3734,667.3,-11.1,355,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2669,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5544,-0.82,-145.9,2310,2669,3838,3733,699.8,-10.9,365,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2669,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,-0.82,-145.9,2311,2675,3837,3734,732.1,-10.7,375,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2668,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6022,begin apogee
$GC,6027,-0.14,0.0,2307,3059,3838,3733,751.5,-10.7,381,6220,0.88,0.00,189.25,1.417,10246,0.255,0.000,2535,3060,3185,3278,3093,0,0,0,0,0,0,14.17,28.83,13.22
$STATE,6221,end apogee,CONTROL_FINISHED_OK
$STATE,6221,begin climb
$GC,6223,0.70,145.9,2536,3061,3277,3089,755.9,0.0,387,6356,0.95,0.00,130.00,1.695,10502,0.167,0.000,2809,3061,2588,2665,2512,0,0,0,0,0,0,13.78,28.83,12.71
$GC,6654,0.70,145.9,2810,3060,2648,2497,708.6,12.9,407,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3059,2571,2646,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6954,0.70,145.9,2810,3060,2648,2495,669.8,12.9,417,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3060,2567,2642,2492,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5ae23a97b3;,*08
$MODEM_MSG,CACST,6,0,20140916120442.237702,3,405,14,0103,0150,100,00,00,02,04,1,005,000,0,5,1,0,150,8.8,5.1,-100,-2.1,-01,-0.0,22,900,0025*3A
$GC,7254,0.70,145.9,2810,3061,2647,2497,631.6,12.6,427,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2571,2646,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7554,0.70,145.9,2810,3060,2648,2496,594.1,12.3,437,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3060,2571,2646,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7854,0.70,145.9,2810,3060,2648,2496,557.2,12.3,447,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3061,2570,2646,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,0.70,145.9,2810,3061,2647,2497,520.4,12.3,457,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3060,2571,2646,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8454,0.70,145.9,2811,3061,2647,2497,483.6,12.2,467,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2571,2646,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8754,0.70,145.9,2811,3061,2647,2497,447.1,12.2,477,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2570,2646,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9054,0.70,145.9,2810,3060,2648,2496,410.3,12.4,487,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2570,2646,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9354,0.70,145.9,2811,3059,2647,2497,372.9,12.6,497,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2571,2646,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9654,0.70,145.9,2808,3061,2647,2497,336.4,11.8,507,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2570,2646,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9954,0.71,159.8,2811,3061,2647,2497,302.8,10.9,517,9966,0.00,0.00,10.80,1.233,8198,0.000,0.000,2810,3060,2534,2612,2457,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10254,0.72,176.9,2811,3061,2599,2446,270.2,10.7,527,10272,0.00,0.00,16.15,1.189,8198,0.000,0.000,2809,3060,2463,2542,2384,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10554,0.75,216.5,2811,3061,2525,2370,238.5,9.5,543,10595,0.00,2.47,33.72,1.132,8708,0.000,0.077,2820,1653,2292,2365,2220,0,0,0,0,0,0,28.83,14.42,13.88
$GC,10632,0.81,254.7,2821,1653,2356,2218,231.0,9.6,556,10671,0.00,2.50,33.53,1.109,9222,0.000,0.103,2820,3050,2140,2212,2069,0,0,0,0,0,0,28.83,14.38,13.74
$GC,10976,0.84,264.8,2821,3052,2196,2053,192.4,11.1,595,10980,0.12,0.00,2.00,0.218,10246,0.138,0.000,2881,3050,2106,2178,2034,0,0,0,0,0,0,14.47,28.83,12.76
$GC,11277,0.84,264.8,2882,3051,2200,2035,153.9,13.1,625,11280,0.00,0.00,1.65,0.230,8198,0.000,0.000,2881,3051,2105,2180,2031,0,0,0,0,0,0,28.83,28.83,14.29
$GC,11576,0.85,268.6,2882,3050,2202,2031,117.7,11.4,655,11581,0.00,0.00,3.67,0.868,8198,0.000,0.000,2887,3050,2090,2166,2014,0,0,0,0,0,0,28.83,28.83,13.74
$GC,11876,0.88,319.2,2882,3051,2194,2015,87.2,8.9,685,11912,0.00,2.47,29.33,0.423,8708,0.000,0.079,2890,1656,1889,1963,1816,0,0,0,0,0,0,28.83,14.34,14.05
$GC,11962,0.95,372.4,2890,1656,1984,1816,79.9,8.8,702,11998,0.00,2.53,31.00,0.399,9222,0.000,0.106,2890,3054,1668,1728,1609,0,0,0,0,0,0,28.83,14.28,14.01
$GC,12297,1.10,524.3,2891,3055,1751,1610,50.2,3.5,739,12388,0.15,2.47,84.15,0.318,10756,0.124,0.080,2963,1647,1052,1078,1026,0,0,0,0,0,0,14.28,14.23,14.01
$GC,12430,1.15,542.6,2964,1647,1093,1027,37.9,10.7,759,12451,0.00,2.55,12.30,0.278,9222,0.000,0.103,2963,3050,977,996,958,0,0,0,0,0,0,28.83,14.20,14.02
$FREEZE,8.62,-1.425,-1.451,2,17,0
$STATE,12718,end climb,FINISH_DEPTH_REACHED
$STATE,12720,begin subsurface finish
$FINISH1,8.6,1.021314,346
$GC,12725,0.24,345.8,2964,3051,1011,958,8.6,10.1,790,12751,1.02,0.00,-20.73,0.000,20998,0.202,0.000,2672,3050,1779,1819,1740,0,0,0,0,0,0,14.13,28.83,14.54
$FINISH2,8.1
$STATE,12752,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12752,begin surface
$RAFOS_CLK,466
$MODEM,5,1410869082,74.45180,-141.75240,41.238,59766.4
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.043442,0.043442
$HUMID,50.15
$INTERNAL_PRESSURE,8.66168
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3873984
$24V_AH,12.71,106.658
$10V_AH,12.60,0.000
$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,4.400,42.075,577.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10457.613,616.957,1643.743,160.011,0.000,1236.193,0.000,1194.105,1481.000,0.536,0.000
$DEVICE_MAMPS,308.295,139.995,1695.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12802.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.615,0.000,0.000,0.000
$MEM,187856
$DATA_FILE_SIZE,26728,794
$CAP_FILE_SIZE,126070,0
$CFSIZE,2097872896,2022735872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12721.97,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,140914,040738,7345.219,-14322.191,181,99.0,181,23.4