version: 66.12
glider: 198
mission: 5
dive: 340
start: 9 17 114 22 55 50
data:
$ID,198
$MISSION,5
$DIVE,340
$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,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
$GPS1,170914,011422,7357.010,-14133.164,4,0.8,24,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.04
$_SM_ANGLEo,-15.8
$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,16,-0.70,-145.9,2675,2686,1827,1742,0.0,0.0,0,30,0.00,0.00,-12.55,0.000,16386,0.000,0.000,2674,2685,2529,2579,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2675,2686,2581,2480,17.8,0.0,1,57,0.90,2.08,-19.25,0.000,20740,0.067,0.145,2340,3789,3784,3837,3731,0,0,0,0,0,0,14.38,14.29,14.62
$GC,192,-0.62,-145.9,2347,3791,3838,3734,65.6,-25.3,33,197,0.20,1.90,0.00,0.000,3078,0.293,0.072,2384,2678,3785,3837,3733,0,0,0,0,0,0,14.09,14.38,28.83
$GC,502,-0.62,-145.9,2385,2678,3839,3733,116.6,-14.3,65,506,0.00,2.05,0.00,0.000,260,0.000,0.121,2376,3794,3784,3837,3732,0,0,0,0,0,0,28.83,14.28,28.83
$GC,546,-0.62,-145.9,2377,3795,3838,3734,123.4,-14.9,74,553,0.00,1.95,0.00,0.000,1030,0.000,0.073,2376,2680,3785,3837,3733,0,0,0,0,0,0,28.83,14.37,28.83
$GC,852,-0.62,-145.9,2377,2681,3840,3733,165.0,-13.7,105,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2680,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1152,-0.65,-145.9,2377,2681,3839,3733,204.2,-11.9,135,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2680,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1452,-0.68,-145.9,2377,2680,3839,3733,238.9,-10.7,165,1457,0.00,2.42,0.00,0.000,516,0.000,0.084,2376,1269,3785,3837,3733,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1507,-0.72,-145.9,2377,1270,3839,3734,244.6,-10.4,176,1513,0.00,2.55,0.00,0.000,1030,0.000,0.107,2374,2681,3785,3838,3733,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1833,-0.76,-145.9,2375,2680,3838,3734,278.2,-10.1,191,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2132,-0.81,-145.9,2374,2679,3839,3733,308.0,-9.9,201,2137,0.15,2.00,0.00,0.000,4356,0.132,0.120,2304,3787,3787,3837,3737,0,0,0,0,0,0,14.46,14.42,28.83
$GC,2224,-0.81,-145.9,2305,3787,3838,3733,320.3,-14.4,219,2228,0.00,1.88,0.00,0.000,1030,0.000,0.075,2304,2677,3785,3837,3733,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2554,-0.81,-145.9,2305,2676,3838,3733,362.0,-12.1,235,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2853,-0.81,-145.9,2305,2677,3839,3732,398.5,-12.2,245,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3153,-0.81,-145.9,2304,2677,3839,3740,434.6,-11.9,255,3158,0.00,2.03,0.00,0.000,260,0.000,0.125,2304,3796,3785,3837,3733,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3208,-0.81,-145.9,2305,3793,3838,3734,441.7,-13.1,266,3214,0.00,1.92,0.00,0.000,1030,0.000,0.074,2304,2679,3785,3837,3733,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3513,-0.81,-145.9,2305,2679,3839,3733,478.2,-11.9,277,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-0.81,-145.9,2305,2679,3838,3734,513.5,-11.7,287,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.81,-145.9,2305,2679,3838,3733,548.5,-11.7,297,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2684,3789,3842,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,-0.81,-145.9,2305,2679,3838,3734,583.7,-11.7,307,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-0.81,-145.9,2304,2679,3839,3733,619.1,-11.8,317,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5013,-0.81,-145.9,2304,2680,3838,3734,654.0,-11.6,327,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5313,-0.81,-145.9,2305,2680,3838,3734,688.7,-11.5,337,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,196,1,0,0,1;9;5b0dfa8c2e21000000;,*0E
$MODEM_MSG,CACST,6,0,20140918000503.209331,3,1101,12,0135,0150,100,00,00,03,05,1,005,196,0,5,1,0,150,9.2,2.4,-100,0.6,-01,0.1,18,900,0025*02
$GC,5613,-0.81,-145.9,2305,2679,3845,3734,722.9,-11.3,347,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2679,3786,3838,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5886,-0.14,0.0,2305,3051,3838,3734,752.9,-11.0,356,6083,0.90,0.00,192.98,1.430,10246,0.257,0.000,2538,3051,3183,3289,3077,0,0,0,0,0,0,14.18,28.83,13.21
$STATE,6084,end apogee,CONTROL_FINISHED_OK
$STATE,6084,begin climb
$GC,6086,0.70,145.9,2539,3052,3287,3075,758.1,0.0,362,6222,0.93,1.45,128.82,1.714,10500,0.167,0.114,2806,3791,2582,2669,2496,0,0,0,0,0,0,13.75,13.35,12.71
$GC,6342,0.66,145.9,2806,3792,2660,2487,732.6,13.7,416,6347,0.00,1.35,0.00,0.000,1030,0.000,0.073,2811,3053,2572,2658,2487,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6673,0.66,145.9,2811,3054,2659,2487,690.2,12.8,432,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,0.66,145.9,2811,3054,2659,2485,652.0,12.7,442,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,0.66,145.9,2812,3054,2658,2487,613.8,12.7,452,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,0.66,145.9,2812,3054,2659,2487,575.3,12.9,462,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,3054,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,0.66,145.9,2812,3054,2659,2486,536.4,12.9,472,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,0.66,145.9,2812,3054,2659,2486,498.3,12.7,482,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3053,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.66,145.9,2812,3054,2659,2487,460.7,12.5,492,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2571,2657,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,0.66,145.9,2812,3054,2659,2486,423.6,12.4,502,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,0.66,145.9,2812,3054,2658,2486,386.5,12.3,512,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9372,0.66,148.0,2812,3054,2659,2486,350.9,11.5,522,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3053,2571,2657,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9672,0.67,161.2,2812,3055,2658,2487,317.4,10.9,532,9685,0.00,0.00,12.27,1.261,8198,0.000,0.000,2811,3053,2529,2617,2441,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9972,0.68,165.9,2812,3054,2600,2429,283.7,11.4,542,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2516,2603,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10272,0.68,174.3,2811,3054,2605,2428,249.5,11.2,552,10285,0.00,0.00,11.95,1.191,8198,0.000,0.000,2811,3054,2475,2565,2385,0,0,0,0,0,0,28.83,28.83,13.96
$GC,10583,0.74,253.8,2812,3055,2553,2374,219.4,7.4,583,10658,0.00,2.45,69.07,1.110,8708,0.000,0.075,2821,1640,2139,2222,2056,0,0,0,0,0,0,28.83,14.27,13.75
$GC,10688,0.81,290.2,2822,1640,2211,2059,210.2,9.7,597,10724,0.00,2.55,31.35,1.095,9222,0.000,0.104,2821,3050,2000,2076,1924,0,0,0,0,0,0,28.83,14.18,13.67
$GC,11023,0.87,312.5,2820,3050,2056,1905,174.6,10.4,634,11049,0.15,2.45,19.92,1.071,10756,0.129,0.080,2894,1634,1907,1981,1833,0,0,0,0,0,0,14.42,14.36,13.83
$GC,11063,0.87,312.5,2895,1634,1975,1826,169.3,13.4,642,11068,0.00,2.55,0.00,0.000,1030,0.000,0.104,2894,3050,1901,1972,1830,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11373,0.87,312.5,2895,3051,1968,1826,124.8,14.0,674,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,3050,1896,1968,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11674,0.87,323.7,2895,3050,1975,1824,86.9,11.0,704,11678,0.00,0.00,3.67,0.252,8198,0.000,0.000,2894,3050,1867,1940,1794,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11975,0.92,397.1,2895,3050,1972,1802,58.2,7.7,734,12025,0.00,0.00,43.30,0.343,8454,0.000,0.000,2894,3050,1570,1641,1500,0,0,0,0,0,0,28.83,28.83,14.07
$GC,12324,1.05,486.6,2895,3050,1659,1500,34.6,6.9,773,12385,0.00,2.50,52.22,0.278,8708,0.000,0.078,2904,1647,1206,1263,1149,0,0,0,0,0,0,28.83,14.25,14.08
$GC,12505,1.23,586.6,2904,1648,1280,1150,21.0,6.3,809,12567,0.25,2.55,56.58,0.234,11270,0.116,0.106,2990,3052,794,798,790,0,0,0,0,0,0,14.28,14.22,14.07
$FREEZE,8.81,-1.433,-1.449,2,7,0
$STATE,12633,end climb,FINISH_DEPTH_REACHED
$STATE,12633,begin subsurface finish
$FINISH1,8.8,1.021287,347
$GC,12638,0.24,347.2,2991,3053,816,790,8.8,11.2,828,12671,1.15,2.47,-25.33,0.000,20996,0.215,0.101,2674,1638,1773,1814,1732,0,0,0,0,0,0,14.09,14.24,14.50
$FINISH2,8.0
$STATE,12671,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12671,begin surface
$RAFOS_CLK,570
$MODEM,5,1410998703,74.59180,-142.93201,62.209,90093.8
$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,49.48
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3869504
$24V_AH,12.71,109.654
$10V_AH,12.59,0.000
$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,4.625,43.725,622.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10314.471,619.425,1706.918,157.290,0.000,1289.203,0.000,1253.936,1419.000,0.536,0.000
$DEVICE_MAMPS,292.995,144.585,1714.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12726.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.715,0.000,0.000,0.000
$MEM,182732
$DATA_FILE_SIZE,30034,833
$CAP_FILE_SIZE,130113,0
$CFSIZE,2097872896,2020868096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12635.78,0x2378b6,5,5
$SOUNDSPEED,1449.2
$GPS,170914,011422,7357.010,-14133.164,4,0.8,24,24.1