version: 66.12
glider: 198
mission: 5
dive: 339
start: 9 17 114 19 14 22
data:
$ID,198
$MISSION,5
$DIVE,339
$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,13.87
$_SM_ANGLEo,-17.0
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.70,-145.9,2675,2680,1828,1744,0.0,0.0,0,30,0.00,0.00,-11.75,0.000,16386,0.000,0.000,2674,2679,2432,2487,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2678,2681,2488,2378,15.6,0.0,1,62,0.90,2.00,-22.00,0.000,20740,0.073,0.135,2347,3792,3781,3835,3727,0,0,0,0,0,0,14.31,14.27,14.62
$GC,116,-0.61,-145.9,2347,3792,3836,3731,40.9,-32.1,18,123,0.10,1.92,0.00,0.000,3078,0.286,0.069,2384,2680,3783,3835,3731,0,0,0,0,0,0,14.07,14.32,28.83
$GC,421,-0.61,-145.9,2385,2679,3842,3731,99.3,-16.0,49,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2680,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,721,-0.61,-145.9,2385,2680,3836,3732,141.8,-13.7,79,726,0.00,2.03,0.00,0.000,260,0.000,0.119,2376,3793,3783,3835,3731,0,0,0,0,0,0,28.83,14.31,28.83
$GC,776,-0.61,-145.9,2376,3793,3836,3731,149.8,-15.0,90,783,0.00,1.92,0.00,0.000,1030,0.000,0.070,2376,2680,3783,3835,3731,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1082,-0.63,-145.9,2376,2679,3836,3731,191.6,-13.3,121,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2678,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1382,-0.66,-145.9,2376,2680,3836,3731,226.6,-11.1,151,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2679,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-0.70,-145.9,2376,2679,3836,3737,259.2,-10.1,176,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2679,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,-0.74,-145.9,2377,2679,3836,3731,289.0,-9.9,186,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2678,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.79,-145.9,2376,2679,3836,3731,318.2,-9.4,196,2293,0.12,0.00,0.00,0.000,4102,0.152,0.000,2325,2679,3782,3835,3730,0,0,0,0,0,0,14.58,28.83,28.83
$GC,2592,-0.79,-145.9,2322,2679,3834,3730,352.5,-11.3,206,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2679,3782,3835,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,-0.79,-145.9,2327,2680,3834,3731,386.0,-11.1,216,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2679,3782,3835,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,-0.79,-145.9,2326,2680,3836,3731,419.2,-11.1,226,3196,0.00,2.03,0.00,0.000,260,0.000,0.119,2317,3787,3782,3835,3730,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3256,-0.79,-145.9,2318,3789,3836,3731,426.9,-12.9,239,3261,0.00,1.92,0.00,0.000,1030,0.000,0.072,2317,2682,3782,3835,3730,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3583,-0.79,-145.9,2318,2681,3836,3730,464.1,-11.3,254,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3782,3835,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-0.79,-145.9,2317,2682,3836,3731,497.6,-11.1,264,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3782,3835,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.79,-145.9,2318,2682,3839,3731,530.8,-11.0,274,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3781,3835,3727,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b097a8d0b;,*09
$MODEM_MSG,CACST,6,0,20140917200500.855909,3,1249,12,0110,0150,100,00,00,03,05,1,005,000,0,5,1,0,150,8.5,3.4,-100,-0.4,-01,0.4,18,900,0025*2D
$GC,4481,-0.79,-145.9,2317,2681,3836,3731,563.7,-10.9,284,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.79,-145.9,2317,2681,3836,3731,596.4,-10.8,294,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3783,3835,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.79,-145.9,2318,2682,3835,3732,628.5,-10.6,304,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3783,3835,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5382,-0.79,-145.9,2317,2682,3836,3733,659.9,-10.4,314,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3783,3835,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5682,-0.79,-145.9,2317,2682,3837,3732,691.1,-10.4,324,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3783,3835,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5982,-0.79,-145.9,2318,2681,3837,3733,722.0,-10.3,334,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2681,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6279,begin apogee
$GC,6285,-0.14,0.0,2315,3060,3836,3733,752.9,-10.3,344,6419,0.85,0.00,131.35,1.723,10246,0.256,0.000,2536,3060,3184,3285,3083,0,0,0,0,0,0,14.24,28.83,13.24
$STATE,6420,end apogee,CONTROL_FINISHED_OK
$STATE,6420,begin climb
$GC,6422,0.70,145.9,2537,3061,3281,3077,755.7,0.0,348,6553,0.95,0.00,127.78,1.711,10502,0.168,0.000,2808,3060,2589,2672,2506,0,0,0,0,0,0,13.87,28.83,12.78
$GC,6851,0.70,145.9,2808,3060,2658,2494,708.5,12.8,368,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2575,2657,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7152,0.70,145.9,2809,3060,2657,2493,670.7,12.6,378,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7451,0.70,145.9,2808,3060,2658,2490,632.9,12.6,388,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2574,2656,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7751,0.70,145.9,2807,3060,2658,2492,595.6,12.4,398,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8052,0.70,145.9,2809,3060,2657,2493,558.1,12.4,408,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8351,0.70,145.9,2808,3061,2657,2492,521.3,12.4,418,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8651,0.70,145.9,2808,3060,2658,2492,484.6,12.3,428,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8951,0.70,145.9,2809,3061,2657,2493,448.2,12.0,438,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9251,0.70,145.9,2809,3061,2657,2493,412.6,11.7,448,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3060,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9552,0.70,146.9,2809,3061,2657,2493,377.7,11.6,458,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,0.70,147.1,2809,3061,2657,2492,343.0,11.6,468,9856,0.00,1.35,0.00,0.000,260,0.000,0.116,2808,3790,2574,2657,2492,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9953,0.67,147.1,2808,3791,2658,2492,330.4,12.6,488,9957,0.00,1.27,0.00,0.000,1030,0.000,0.072,2813,3047,2574,2657,2492,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10274,0.68,162.1,2814,3047,2658,2492,295.1,10.8,502,10288,0.00,0.00,13.73,1.230,8198,0.000,0.000,2813,3047,2528,2609,2447,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10572,0.68,162.1,2815,3048,2595,2428,260.0,12.0,512,10577,0.00,2.38,0.00,0.000,516,0.000,0.074,2822,1647,2511,2595,2427,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10627,0.68,162.8,2823,1647,2595,2428,253.5,11.6,523,10633,0.00,2.47,0.00,0.000,1030,0.000,0.101,2822,3050,2511,2595,2427,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10932,0.72,217.5,2823,3050,2596,2427,221.2,8.7,552,10983,0.00,0.00,47.60,1.122,8198,0.000,0.000,2822,3050,2292,2372,2213,0,0,0,0,0,0,28.83,28.83,13.85
$GC,11284,0.76,279.9,2823,3050,2357,2202,190.8,8.3,587,11344,0.00,2.42,54.35,1.082,8708,0.000,0.073,2831,1646,2033,2106,1961,0,0,0,0,0,0,28.83,14.26,13.74
$GC,11389,0.83,307.9,2832,1646,2097,1958,180.9,10.1,608,11419,0.00,2.53,24.40,1.076,9222,0.000,0.101,2831,3050,1923,1993,1853,0,0,0,0,0,0,28.83,14.25,13.69
$GC,11724,0.89,335.2,2832,3050,1979,1839,145.1,10.2,645,11756,0.15,2.47,22.75,1.060,10756,0.129,0.076,2903,1648,1809,1874,1745,0,0,0,0,0,0,14.43,14.34,13.83
$GC,11796,0.89,335.2,2904,1648,1866,1744,135.9,12.8,659,11801,0.00,2.50,0.00,0.000,1030,0.000,0.101,2903,3049,1804,1864,1744,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12106,0.89,335.2,2905,3049,1863,1740,93.4,13.4,691,12107,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,3049,1800,1862,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12406,0.89,335.2,2905,3049,1862,1737,56.3,12.4,721,12411,0.00,2.42,0.00,0.000,516,0.000,0.075,2913,1649,1798,1861,1736,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12506,1.05,502.6,2914,1649,1863,1736,51.8,2.7,741,12603,0.00,2.50,88.68,0.328,9222,0.000,0.104,2913,3048,1138,1177,1099,0,0,0,0,0,0,28.83,14.26,14.02
$GC,12908,1.19,589.9,2914,3049,1198,1100,22.5,7.0,791,12964,0.15,2.45,50.00,0.241,10756,0.138,0.077,2987,1647,783,796,771,0,0,0,0,0,0,14.28,14.22,14.08
$FREEZE,8.74,-1.431,-1.453,2,6,0
$STATE,13077,end climb,FINISH_DEPTH_REACHED
$STATE,13077,begin subsurface finish
$FINISH1,8.7,1.021334,345
$GC,13085,0.24,344.8,2988,3056,809,772,8.7,9.1,825,13119,1.12,2.50,-25.65,0.000,20996,0.218,0.099,2675,1645,1783,1825,1742,0,0,0,0,0,0,14.09,14.24,14.52
$FINISH2,8.5
$STATE,13120,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13120,begin surface
$RAFOS_CLK,683
$MODEM,5,1410984300,74.57740,-142.84360,59.856,86690.6
$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,50.00
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3869952
$24V_AH,12.78,109.352
$10V_AH,12.91,0.000
$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,4.350,44.325,560.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10798.143,585.304,1700.457,156.355,0.000,1239.804,0.000,1251.025,1499.000,0.535,0.000
$DEVICE_MAMPS,286.110,134.640,1722.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13164.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.104,0.000,0.000,0.000
$MEM,183220
$DATA_FILE_SIZE,30058,832
$CAP_FILE_SIZE,131423,0
$CFSIZE,2097872896,2020999168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$GPS,170914,011422,7357.010,-14133.164,4,0.8,24,24.1