version: 66.12
glider: 198
mission: 5
dive: 341
start: 9 18 114 2 29 49
data:
$ID,198
$MISSION,5
$DIVE,341
$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,31
$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,15.82
$_SM_ANGLEo,-16.5
$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,-145.9,2675,2680,1815,1732,0.0,0.0,0,30,0.00,0.00,-11.82,0.000,16386,0.000,0.000,2674,2680,2486,2539,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2675,2682,2541,2435,18.2,0.0,1,57,0.88,2.10,-19.60,0.000,20740,0.070,0.150,2360,3787,3783,3836,3730,0,0,0,0,0,0,14.31,14.26,14.59
$GC,137,-0.63,-145.9,2360,3787,3837,3733,51.0,-32.0,22,143,0.00,1.90,0.00,0.000,1030,0.000,0.073,2359,2677,3784,3836,3733,0,0,0,0,0,0,28.83,14.36,28.83
$GC,442,-0.63,-145.9,2361,2677,3837,3734,111.0,-17.3,53,447,0.00,2.05,0.00,0.000,260,0.000,0.123,2360,3787,3784,3836,3733,0,0,0,0,0,0,28.83,14.28,28.83
$GC,538,-0.63,-145.9,2360,3788,3838,3733,127.8,-17.6,72,544,0.00,1.90,0.00,0.000,1030,0.000,0.073,2360,2669,3785,3837,3733,0,0,0,0,0,0,28.83,14.45,28.83
$GC,842,-0.63,-145.9,2361,2670,3837,3734,176.7,-14.9,103,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2669,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.63,-145.9,2361,2670,3838,3733,217.0,-12.7,133,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2669,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1462,-0.65,-145.9,2361,2670,3837,3734,253.9,-10.1,163,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2669,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1762,-0.68,-145.9,2361,2669,3837,3733,285.2,-10.5,173,1767,0.00,2.08,0.00,0.000,260,0.000,0.127,2360,3792,3784,3836,3733,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1822,-0.71,-145.9,2367,3792,3837,3734,292.0,-11.8,185,1827,0.00,1.90,0.00,0.000,1030,0.000,0.075,2360,2677,3785,3838,3733,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2154,-0.74,-145.9,2361,2678,3837,3734,326.2,-10.3,201,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2677,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2452,-0.78,-145.9,2361,2678,3837,3733,355.6,-9.7,211,2457,0.00,2.03,0.00,0.000,260,0.000,0.125,2360,3786,3784,3836,3732,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2522,-0.81,-145.9,2360,3786,3838,3733,362.7,-10.1,225,2527,0.00,1.88,0.00,0.000,1030,0.000,0.075,2360,2678,3784,3836,3732,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2844,-0.85,-145.9,2361,2678,3837,3733,392.3,-9.2,239,2849,0.12,2.03,0.00,0.000,4356,0.156,0.122,2304,3786,3784,3836,3733,0,0,0,0,0,0,14.55,14.41,28.83
$GC,2878,-0.85,-145.9,2305,3786,3838,3733,396.7,-12.6,246,2884,0.00,1.92,0.00,0.000,1030,0.000,0.074,2304,2677,3784,3836,3732,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3205,-0.85,-145.9,2305,2677,3837,3733,435.3,-11.7,261,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-0.85,-145.9,2305,2677,3837,3733,470.1,-11.5,271,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3804,-0.85,-145.9,2305,2677,3837,3733,504.7,-11.5,281,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2677,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4104,-0.85,-145.9,2305,2676,3838,3733,539.5,-11.6,291,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2677,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4404,-0.85,-145.9,2304,2677,3837,3734,574.1,-11.5,301,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3783,3833,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4704,-0.85,-145.9,2305,2676,3838,3733,608.4,-11.5,311,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5004,-0.85,-145.9,2304,2676,3838,3733,642.7,-11.4,321,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5304,-0.85,-145.9,2305,2676,3837,3733,676.7,-11.3,331,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.85,-145.9,2305,2677,3837,3735,710.6,-11.3,341,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3784,3836,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5904,-0.85,-145.9,2305,2676,3838,3733,744.1,-11.2,351,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2676,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5962,begin apogee
$GC,5967,-0.14,0.0,2303,3051,3838,3733,750.9,-11.1,353,6161,0.95,0.00,191.20,1.431,10246,0.259,0.000,2546,3051,3185,3293,3077,0,0,0,0,0,0,14.12,28.83,13.19
$STATE,6162,end apogee,CONTROL_FINISHED_OK
$STATE,6162,begin climb
$GC,6165,0.70,145.9,2547,3051,3290,3074,756.0,0.0,359,6302,0.90,1.50,129.30,1.707,10500,0.163,0.119,2808,3786,2582,2672,2492,0,0,0,0,0,0,13.71,13.30,12.69
$GC,6478,0.66,145.9,2808,3787,2662,2488,722.8,13.6,425,6482,0.00,1.33,0.00,0.000,1030,0.000,0.073,2813,3057,2574,2661,2487,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6809,0.66,145.9,2815,3057,2662,2488,680.2,12.8,441,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3056,2573,2660,2486,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,196,1,0,0,1;9;5b0aba8adb21000000;,*5A
$MODEM_MSG,CACST,6,0,20140918040505.112694,3,179,16,0215,0150,100,00,00,01,04,1,005,196,0,5,1,0,150,13.0,5.9,-100,-2.9,-01,0.2,16,900,0025*23
$GC,7107,0.66,145.9,2814,3057,2662,2487,642.6,12.5,451,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3057,2574,2661,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,0.66,145.9,2814,3057,2662,2487,605.3,12.4,461,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3057,2573,2661,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,0.66,145.9,2814,3056,2662,2487,568.0,12.5,471,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3057,2573,2661,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8007,0.66,145.9,2814,3057,2662,2486,530.6,12.5,481,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3057,2573,2660,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8308,0.66,145.9,2814,3057,2662,2486,493.1,12.5,491,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3056,2573,2660,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8607,0.66,145.9,2814,3057,2661,2487,455.9,12.4,501,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3057,2575,2665,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8907,0.66,145.9,2814,3057,2662,2486,418.5,12.5,511,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3056,2573,2660,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9207,0.66,145.9,2814,3057,2662,2487,381.7,12.2,521,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,3057,2573,2660,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9507,0.66,145.9,2814,3057,2661,2487,346.0,11.8,531,9513,0.00,2.42,0.00,0.000,516,0.000,0.077,2823,1644,2573,2661,2486,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9542,0.66,145.9,2823,1645,2662,2487,341.9,11.9,538,9547,0.00,2.50,0.00,0.000,1030,0.000,0.104,2823,3056,2573,2660,2486,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9869,0.66,145.9,2824,3057,2661,2486,302.7,11.8,553,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,3056,2573,2660,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10167,0.67,160.4,2826,3057,2660,2487,269.6,10.9,563,10180,0.00,0.00,11.52,1.200,8198,0.000,0.000,2824,3056,2533,2624,2443,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10467,0.70,200.2,2824,3056,2612,2427,238.2,9.5,581,10508,0.00,0.00,35.47,1.146,8198,0.000,0.000,2823,3056,2359,2447,2271,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10809,0.72,227.5,2825,3057,2434,2265,204.2,10.2,615,10839,0.00,2.45,23.30,1.124,8708,0.000,0.077,2834,1641,2248,2331,2165,0,0,0,0,0,0,28.83,14.42,13.86
$GC,10854,0.77,265.2,2834,1641,2324,2163,199.7,9.6,623,10895,0.00,2.53,33.28,1.090,9222,0.000,0.104,2834,3052,2094,2177,2011,0,0,0,0,0,0,28.83,14.37,13.74
$GC,11200,0.82,295.7,2835,3052,2163,2000,163.0,10.0,662,11231,0.00,2.45,26.20,1.068,8708,0.000,0.076,2842,1639,1969,2048,1891,0,0,0,0,0,0,28.83,14.28,13.81
$GC,11283,0.89,331.7,2843,1639,2037,1890,155.1,9.7,678,11323,0.10,2.55,31.98,1.041,11270,0.164,0.105,2891,3056,1824,1894,1754,0,0,0,0,0,0,14.35,14.31,13.73
$GC,11621,0.89,331.7,2893,3056,1878,1742,109.4,13.3,716,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,3056,1809,1877,1741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11921,0.90,349.6,2893,3057,1877,1740,73.9,10.7,746,11932,0.00,0.00,6.55,0.325,8198,0.000,0.000,2892,3056,1762,1837,1688,0,0,0,0,0,0,28.83,28.83,13.99
$GC,12233,1.00,432.5,2889,3056,1860,1696,47.8,7.2,777,12284,0.00,0.00,49.90,0.312,8710,0.000,0.000,2892,3056,1421,1482,1361,0,0,0,0,0,0,28.83,28.83,14.06
$GC,12581,1.15,553.7,2893,3056,1509,1361,26.6,5.2,814,12657,0.20,2.50,68.97,0.252,10756,0.114,0.076,2981,1644,931,962,901,0,0,0,0,0,0,14.35,14.26,14.09
$FREEZE,8.77,-1.432,-1.449,2,8,0
$STATE,12817,end climb,FINISH_DEPTH_REACHED
$STATE,12817,begin subsurface finish
$FINISH1,8.8,1.021278,348
$GC,12825,0.24,347.7,2982,3058,975,902,8.8,8.8,861,12854,1.10,2.47,-21.73,0.000,20996,0.207,0.096,2672,1643,1767,1804,1730,0,0,0,0,0,0,14.12,14.26,14.54
$FINISH2,8.0
$STATE,12855,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12855,begin surface
$RAFOS_CLK,485
$MODEM,5,1411013105,74.58140,-143.06760,64.113,92910.1
$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,49.84
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3869056
$24V_AH,12.69,109.960
$10V_AH,12.57,0.000
$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,4.250,47.725,607.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10441.649,608.973,1762.929,164.505,0.000,1302.378,0.000,1301.193,1490.000,0.536,0.000
$DEVICE_MAMPS,258.570,149.940,1706.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12908.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.862,0.000,0.000,0.000
$MEM,182200
$DATA_FILE_SIZE,29993,867
$CAP_FILE_SIZE,133377,0
$CFSIZE,2097872896,2020638720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,170914,011422,7357.010,-14133.164,4,0.8,24,24.1