version: 66.12
glider: 198
mission: 5
dive: 349
start: 9 19 114 8 14 16
data:
$ID,198
$MISSION,5
$DIVE,349
$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,-6169.3325
$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,32
$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,-14133.164,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.43
$_SM_ANGLEo,-17.2
$GPS2,170914,011422,7357.010,-14133.164,181,99.0,181,24.1
$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,-145.9,2675,2684,1760,1676,0.0,0.0,0,30,0.00,0.00,-11.55,0.000,16386,0.000,0.000,2674,2683,2431,2488,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2675,2689,2490,2374,19.1,0.0,1,61,0.90,2.05,-20.23,0.000,20740,0.073,0.143,2348,3782,3785,3839,3731,0,0,0,0,0,0,14.23,14.19,14.50
$GC,286,-0.65,-145.9,2348,3783,3840,3732,84.9,-21.3,52,292,0.10,1.95,0.00,0.000,3078,0.278,0.071,2373,2675,3786,3839,3733,0,0,0,0,0,0,13.96,14.23,28.83
$GC,591,-0.65,-145.9,2374,2676,3840,3734,132.8,-14.4,83,596,0.00,2.08,0.00,0.000,260,0.000,0.124,2373,3792,3786,3839,3733,0,0,0,0,0,0,28.83,14.16,28.83
$MODEM_MSG,CACST,6,1,20140919082144.748508,3,451,02,0090,0150,100,00,00,04,06,1,000,000,2,5,1,0,150,-6.6,1.8,-100,1.3,-01,0.2,18,900,0025*16
$GC,681,-0.65,-145.9,2374,3793,3840,3734,146.1,-15.1,101,686,0.00,1.92,0.00,0.000,1030,0.000,0.073,2373,2664,3786,3839,3733,0,0,0,0,0,0,28.83,14.33,28.83
$GC,991,-0.67,-145.9,2374,2665,3840,3734,188.8,-13.5,133,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2664,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.70,-145.9,2375,2665,3840,3734,227.7,-12.8,163,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2665,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.73,-145.9,2375,2665,3840,3734,263.6,-11.2,185,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2664,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,-0.77,-145.9,2374,2664,3840,3733,293.2,-9.4,195,1896,0.00,2.05,0.00,0.000,260,0.000,0.126,2373,3786,3785,3839,3732,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1971,-0.81,-145.9,2374,3786,3840,3733,301.1,-10.0,211,1976,0.15,1.90,0.00,0.000,5126,0.133,0.074,2314,2668,3786,3839,3733,0,0,0,0,0,0,14.51,14.50,28.83
$GC,2283,-0.81,-145.9,2314,2668,3840,3733,338.9,-12.0,223,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2667,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,-0.81,-145.9,2315,2667,3839,3733,373.2,-11.3,233,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2667,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2881,-0.81,-145.9,2315,2668,3840,3734,407.5,-11.4,243,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2667,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3181,-0.81,-145.9,2316,2667,3840,3733,441.6,-11.4,253,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2667,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3482,-0.81,-145.9,2315,2668,3839,3733,475.1,-11.2,263,3486,0.00,2.38,0.00,0.000,516,0.000,0.082,2314,1276,3785,3838,3733,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3521,-0.81,-145.9,2315,1277,3840,3734,479.5,-10.7,271,3526,0.00,2.53,0.00,0.000,1030,0.000,0.104,2305,2690,3787,3839,3735,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3843,-0.81,-145.9,2306,2690,3840,3733,516.4,-11.5,285,3847,0.00,1.98,0.00,0.000,260,0.000,0.119,2298,3790,3786,3839,3733,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3877,-0.79,-145.9,2299,3791,3840,3734,521.0,-12.6,292,3882,0.15,1.90,0.00,0.000,3078,0.295,0.071,2334,2668,3786,3839,3733,0,0,0,0,0,0,14.19,14.57,28.83
$GC,4203,-0.81,-145.9,2331,2668,3840,3734,555.6,-10.6,307,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2667,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4503,-0.83,-145.9,2330,2668,3841,3733,587.0,-10.5,317,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2666,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4803,-0.86,-145.9,2330,2668,3840,3733,618.7,-10.5,327,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2667,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5103,-0.88,-145.9,2330,2668,3846,3734,650.1,-10.4,337,5107,0.00,2.03,0.00,0.000,260,0.000,0.119,2322,3790,3786,3839,3733,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5172,-0.88,-145.9,2323,3791,3840,3734,657.9,-11.5,351,5177,0.00,1.88,0.00,0.000,1030,0.000,0.071,2322,2678,3786,3839,3733,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5494,-0.88,-145.9,2323,2678,3847,3734,691.4,-10.3,365,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2678,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5793,-0.88,-145.9,2323,2678,3840,3734,722.2,-10.3,375,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2678,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6090,begin apogee
$GC,6096,-0.14,0.0,2320,3056,3840,3735,752.6,-10.1,385,6236,0.82,0.00,132.75,2.471,10246,0.252,0.000,2535,3054,3187,3277,3097,0,0,0,0,1,0,14.20,28.83,12.70
$STATE,6237,end apogee,CONTROL_FINISHED_OK
$STATE,6237,begin climb
$GC,6239,0.70,145.9,2536,3055,3287,3097,755.7,0.0,389,6379,0.95,1.50,134.12,1.701,10500,0.164,0.114,2807,3784,2585,2658,2512,0,0,0,0,0,0,13.57,13.30,12.66
$GC,6414,0.66,145.9,2808,3785,2652,2508,742.0,13.5,427,6419,0.00,1.35,0.00,0.000,1030,0.000,0.071,2812,3055,2579,2650,2508,0,0,0,0,0,0,28.83,13.53,28.83
$GC,6736,0.66,145.9,2813,3056,2651,2507,701.3,12.6,441,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3055,2577,2650,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7034,0.66,145.9,2813,3056,2651,2507,663.7,12.5,451,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3055,2578,2650,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,0.66,145.9,2813,3055,2651,2507,626.1,12.6,461,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3055,2576,2646,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,0.66,145.9,2812,3055,2652,2506,588.2,12.6,471,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3055,2578,2650,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7935,0.66,145.9,2813,3056,2652,2507,550.8,12.5,481,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3055,2578,2650,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,0.66,145.9,2813,3056,2651,2507,513.6,12.5,491,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3055,2578,2651,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8534,0.66,145.9,2812,3055,2652,2506,476.5,12.4,501,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3061,2576,2650,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,0.66,145.9,2813,3055,2651,2506,439.1,12.5,511,8839,0.00,1.35,0.00,0.000,260,0.000,0.118,2812,3784,2578,2650,2506,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8909,0.62,145.9,2812,3785,2652,2506,428.8,14.2,526,8914,0.00,1.27,0.00,0.000,1030,0.000,0.073,2817,3043,2581,2650,2512,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9224,0.62,145.9,2818,3043,2652,2506,389.0,12.5,539,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,3042,2578,2650,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,0.62,145.9,2818,3043,2652,2506,352.7,12.1,549,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,3043,2578,2651,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9825,0.62,146.5,2818,3043,2652,2506,317.3,11.6,559,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,3043,2578,2650,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10125,0.62,147.8,2818,3042,2652,2506,282.8,11.6,569,10129,0.00,1.38,0.00,0.000,260,0.000,0.117,2818,3790,2578,2651,2506,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10159,0.59,147.8,2818,3790,2652,2506,278.5,12.5,576,10165,0.12,1.27,0.00,0.000,5126,0.251,0.075,2789,3051,2578,2650,2506,0,0,0,0,0,0,14.23,14.55,28.83
$GC,10484,0.62,198.2,2789,3051,2652,2506,248.8,8.9,591,10534,0.00,0.00,44.08,1.158,8198,0.000,0.000,2788,3051,2369,2442,2296,0,0,0,0,0,0,28.83,28.83,13.89
$GC,10836,0.70,256.0,2789,3052,2433,2292,215.3,8.6,626,10890,0.00,2.42,49.00,1.111,8708,0.000,0.076,2798,1649,2136,2205,2067,0,0,0,0,0,0,28.83,14.28,13.77
$GC,10945,0.80,305.5,2799,1649,2198,2065,205.7,9.0,648,10997,0.15,2.53,43.15,1.089,11270,0.127,0.104,2861,3048,1931,1993,1870,0,0,0,0,0,0,14.31,14.23,13.66
$GC,11295,0.80,305.5,2862,3049,1983,1862,160.9,12.8,688,11300,0.00,2.42,0.00,0.000,516,0.000,0.078,2867,1645,1921,1982,1861,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11372,0.83,305.5,2870,1645,1982,1862,152.1,11.9,703,11377,0.00,2.55,0.00,0.000,1030,0.000,0.103,2867,3060,1921,1982,1861,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11675,0.84,311.6,2874,3060,1981,1859,114.7,11.3,734,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3060,1920,1981,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11975,0.87,326.3,2868,3061,1981,1858,81.8,10.8,764,11986,0.00,0.00,8.50,0.390,8198,0.000,0.000,2867,3060,1857,1921,1793,0,0,0,0,0,0,28.83,28.83,14.00
$GC,12287,1.01,467.1,2868,3061,1941,1794,52.3,4.1,795,12368,0.12,0.00,79.07,0.333,10758,0.145,0.000,2930,3060,1280,1322,1238,0,0,0,0,0,0,14.35,28.83,14.03
$GC,12665,1.15,573.2,2930,3061,1334,1235,22.9,6.0,839,12731,0.00,2.47,58.90,0.243,8708,0.000,0.077,2932,1647,850,861,839,0,0,0,0,0,0,28.83,14.25,14.09
$FREEZE,8.89,-1.430,-1.432,2,16,0
$GC,12882,1.33,654.6,2933,1647,864,839,9.6,7.3,882,12896,0.28,2.58,8.88,0.213,11266,0.117,0.108,3023,3052,786,788,784,0,0,0,0,0,0,14.26,14.21,28.83
$STATE,12897,end climb,FINISH_DEPTH_REACHED
$STATE,12897,begin subsurface finish
$FINISH1,8.9,1.021026,361
$GC,12902,0.25,360.8,3025,3052,793,785,8.9,5.6,884,12934,1.27,2.47,-23.98,0.000,20996,0.225,0.100,2676,1638,1717,1757,1678,0,0,0,0,0,0,14.04,14.25,14.52
$FINISH2,8.3
$STATE,12934,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12935,begin surface
$RAFOS_CLK,853
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.88
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3865472
$24V_AH,12.66,112.393
$10V_AH,12.42,0.000
$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,5.025,52.850,558.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10532.010,568.816,1789.281,169.276,0.000,1285.419,0.000,1329.589,0.000,0.535,0.000
$DEVICE_MAMPS,295.290,143.055,2470.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12987.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.692,0.000,0.000,0.000
$MEM,178156
$DATA_FILE_SIZE,30053,890
$CAP_FILE_SIZE,137688,0
$CFSIZE,2097872896,2019065856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,12898.89,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,170914,011422,7357.010,-14133.164,181,99.0,181,24.1