version: 66.12
glider: 198
mission: 5
dive: 337
start: 9 17 114 12 1 53
data:
$ID,198
$MISSION,5
$DIVE,337
$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,-5802.3716
$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,18
$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
$GPS1,170914,011422,7357.010,-14133.164,4,0.8,24,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.73
$_SM_ANGLEo,-16.2
$GPS2,170914,011422,7357.010,-14133.164,4,0.8,24,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,192.9,132171,-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,17,-0.70,-145.9,2676,2683,1825,1743,0.0,0.0,0,31,0.00,0.00,-12.05,0.000,16386,0.000,0.000,2675,2682,2470,2521,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2676,2683,2525,2420,16.4,0.0,1,62,0.90,2.45,-21.23,0.000,20996,0.067,0.105,2353,1275,3785,3838,3732,0,0,0,0,0,0,14.30,14.26,14.54
$GC,142,-0.64,-145.9,2353,1274,3840,3733,45.6,-27.4,23,147,0.15,2.55,0.00,0.000,3078,0.339,0.104,2375,2678,3785,3838,3733,0,0,0,0,0,0,14.01,14.22,28.83
$GC,452,-0.64,-145.9,2378,2679,3839,3734,104.4,-15.1,55,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2678,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-0.64,-145.9,2378,2679,3839,3734,148.4,-14.0,85,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2678,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1052,-0.66,-145.9,2377,2679,3840,3734,188.2,-13.0,115,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2678,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1353,-0.68,-145.9,2378,2679,3839,3735,224.5,-11.1,145,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2678,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b074a9021;,*04
$MODEM_MSG,CACST,6,0,20140917120455.398119,3,106,14,0090,0150,100,00,00,01,04,1,005,000,0,5,1,0,150,7.6,2.4,-100,0.6,-01,0.3,22,900,0025*33
$GC,1674,-0.72,-145.9,2377,2678,3840,3734,256.0,-9.9,173,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2678,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-0.76,-145.9,2378,2679,3839,3734,285.3,-9.5,183,1977,0.00,2.00,0.00,0.000,260,0.000,0.123,2374,3787,3786,3839,3733,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2089,-0.80,-145.9,2375,3788,3839,3734,296.8,-9.9,206,2095,0.12,1.88,0.00,0.000,5126,0.141,0.071,2320,2666,3785,3838,3733,0,0,0,0,0,0,14.51,14.54,28.83
$GC,2394,-0.80,-145.9,2320,2666,3840,3734,333.4,-11.8,217,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2666,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,-0.80,-145.9,2320,2666,3840,3733,367.7,-11.2,227,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2666,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2992,-0.80,-145.9,2320,2666,3840,3734,400.9,-11.1,237,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2666,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3292,-0.80,-145.9,2321,2667,3839,3734,434.1,-11.0,247,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2667,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,-0.80,-145.9,2321,2667,3839,3734,467.6,-11.1,257,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2666,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,-0.80,-145.9,2321,2666,3839,3734,500.5,-10.9,267,3897,0.00,2.03,0.00,0.000,260,0.000,0.118,2311,3790,3785,3838,3733,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3957,-0.80,-145.9,2312,3791,3839,3735,508.3,-12.3,280,3962,0.00,1.90,0.00,0.000,1030,0.000,0.069,2311,2679,3785,3838,3733,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4284,-0.80,-145.9,2312,2680,3839,3734,545.3,-11.3,295,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4582,-0.80,-145.9,2311,2679,3840,3734,579.2,-11.4,305,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2678,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4882,-0.80,-145.9,2311,2679,3839,3734,612.9,-11.2,315,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,-0.80,-145.9,2311,2679,3840,3734,646.2,-11.0,325,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.80,-145.9,2311,2678,3840,3734,678.8,-10.8,335,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5782,-0.80,-145.9,2311,2679,3840,3735,710.5,-10.6,345,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,-0.80,-145.9,2311,2679,3840,3735,742.0,-10.5,355,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2679,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6170,begin apogee
$GC,6175,-0.14,0.0,2309,3059,3839,3736,751.3,-10.4,358,6309,0.88,0.00,131.70,1.737,10246,0.256,0.000,2537,3058,3185,3288,3083,0,0,0,0,0,0,14.25,28.83,13.22
$STATE,6310,end apogee,CONTROL_FINISHED_OK
$STATE,6311,begin climb
$GC,6313,0.70,145.9,2538,3058,3282,3075,753.9,0.0,362,6444,0.95,0.00,127.75,1.717,10246,0.165,0.000,2809,3059,2586,2670,2503,0,0,0,0,0,0,13.88,28.83,12.79
$GC,6742,0.70,145.9,2810,3058,2659,2492,706.0,12.9,377,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3059,2575,2658,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7042,0.70,145.9,2810,3059,2659,2492,667.8,12.7,387,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3059,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7342,0.70,145.9,2810,3059,2659,2492,630.1,12.5,397,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3059,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,0.70,145.9,2810,3059,2658,2492,592.7,12.5,407,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3061,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7942,0.70,145.9,2811,3059,2658,2492,555.4,12.4,417,7947,0.00,1.33,0.00,0.000,260,0.000,0.116,2810,3779,2574,2657,2491,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7987,0.66,145.9,2811,3780,2657,2492,549.3,13.9,426,7992,0.00,1.25,0.00,0.000,1030,0.000,0.071,2815,3050,2574,2657,2491,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8304,0.66,145.9,2815,3050,2658,2491,509.8,12.5,439,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2572,2653,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8602,0.66,145.9,2815,3050,2658,2491,472.3,12.5,449,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2573,2656,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8902,0.66,145.9,2816,3050,2658,2497,435.1,12.3,459,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,3050,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9202,0.66,145.9,2815,3047,2659,2491,398.2,12.2,469,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,0.66,145.9,2815,3050,2658,2491,361.8,12.0,479,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2573,2657,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9802,0.66,147.8,2816,3051,2658,2492,326.6,11.5,489,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3050,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10102,0.68,167.0,2815,3050,2658,2491,293.7,10.6,499,10127,0.00,2.40,17.55,1.227,8708,0.000,0.073,2825,1649,2496,2582,2411,0,0,0,0,0,0,28.83,14.58,13.98
$GC,10147,0.70,195.8,2825,1649,2577,2410,288.9,10.1,508,10177,0.00,2.47,25.05,1.202,9222,0.000,0.101,2825,3049,2383,2467,2300,0,0,0,0,0,0,28.83,14.51,13.87
$GC,10492,0.70,195.8,2825,3050,2448,2291,247.8,11.8,527,10497,0.00,1.35,0.00,0.000,260,0.000,0.116,2825,3785,2369,2450,2289,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10574,0.70,195.8,2825,3780,2450,2289,236.9,13.7,543,10578,0.00,1.25,0.00,0.000,1030,0.000,0.070,2830,3052,2369,2449,2289,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10885,0.71,218.8,2830,3052,2451,2289,202.1,10.4,575,10909,0.00,2.38,19.52,1.138,8708,0.000,0.071,2836,1646,2285,2365,2206,0,0,0,0,0,0,28.83,14.50,13.91
$GC,10966,0.76,252.5,2837,1646,2357,2204,194.1,9.8,591,11005,0.00,2.50,30.00,1.105,9222,0.000,0.101,2836,3050,2145,2222,2069,0,0,0,0,0,0,28.83,14.38,13.79
$GC,11304,0.79,283.6,2837,3050,2213,2059,157.4,10.0,629,11335,0.00,0.00,26.85,1.076,8198,0.000,0.000,2836,3050,2022,2096,1948,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11635,0.84,317.6,2837,3051,2083,1939,124.1,9.8,662,11670,0.00,2.40,30.08,1.033,8708,0.000,0.072,2844,1650,1883,1955,1812,0,0,0,0,0,0,28.83,14.36,13.83
$GC,11735,0.93,370.5,2845,1651,1941,1811,114.6,8.8,682,11787,0.15,2.53,46.97,1.001,11270,0.127,0.102,2911,3053,1674,1734,1615,0,0,0,0,0,0,14.29,14.23,13.69
$GC,12085,0.93,370.5,2912,3054,1710,1595,65.5,14.3,722,12090,0.00,2.42,0.00,0.000,516,0.000,0.074,2921,1650,1652,1710,1594,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12125,0.97,377.9,2920,1649,1710,1596,60.9,11.2,730,12130,0.00,2.53,0.00,0.000,1030,0.000,0.102,2917,3052,1651,1709,1594,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12437,1.09,517.8,2920,3054,1709,1593,38.7,4.2,762,12520,0.00,1.33,78.32,0.288,8452,0.000,0.115,2919,3787,1075,1115,1036,0,0,0,0,0,0,28.83,14.19,14.04
$GC,12622,1.22,600.4,2920,3788,1130,1037,24.0,7.2,799,12673,0.15,1.27,46.92,0.244,11270,0.077,0.070,2995,3059,737,736,739,0,0,0,0,0,0,14.23,14.24,14.07
$FREEZE,8.64,-1.425,-1.453,2,4,0
$STATE,12756,end climb,FINISH_DEPTH_REACHED
$STATE,12756,begin subsurface finish
$FINISH1,8.6,1.021345,344
$GC,12761,0.24,344.2,2995,3059,756,739,8.6,12.1,818,12794,1.15,2.53,-26.33,0.000,20996,0.214,0.096,2675,1634,1784,1826,1742,0,0,0,0,0,0,14.09,14.26,14.51
$FINISH2,8.4
$STATE,12794,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12794,begin surface
$RAFOS_CLK,848
$MODEM,5,1410955495,74.57040,-142.52760,54.398,78799.3
$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,49.01
$INTERNAL_PRESSURE,8.66168
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3870848
$24V_AH,12.79,108.771
$10V_AH,12.92,0.000
$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,4.450,44.050,580.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10480.276,595.847,1681.027,162.719,0.000,1252.454,0.000,1235.770,0.000,0.535,0.000
$DEVICE_MAMPS,338.895,123.165,1737.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12838.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.143,0.000,0.000,0.000
$MEM,184240
$DATA_FILE_SIZE,26750,824
$CAP_FILE_SIZE,131877,0
$CFSIZE,2097872896,2021392384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12758.02,0x2378b6,5,5
$SOUNDSPEED,1448.5
$GPS,170914,011422,7357.010,-14133.164,4,0.8,24,24.1