version: 66.12
glider: 198
mission: 5
dive: 358
start: 9 20 114 17 10 56
data:
$ID,198
$MISSION,5
$DIVE,358
$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,36
$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
$GPS1,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.65
$_SM_ANGLEo,-16.6
$GPS2,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,188.6,80131,-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,-145.9,2675,2680,1779,1700,0.0,0.0,0,31,0.00,0.00,-12.52,0.000,16386,0.000,0.000,2674,2680,2527,2582,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.70,-145.9,2675,2680,2586,2472,19.9,0.0,1,58,0.90,2.00,-18.38,0.000,20740,0.068,0.134,2342,3787,3781,3836,3727,0,0,0,0,0,0,14.35,14.26,14.61
$GC,282,-0.65,-145.9,2344,3788,3837,3731,87.2,-20.1,51,288,0.15,1.90,0.00,0.000,3078,0.300,0.067,2373,2673,3783,3837,3730,0,0,0,0,0,0,14.05,14.36,28.83
$GC,592,-0.65,-145.9,2374,2673,3838,3730,135.5,-15.1,83,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2673,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.65,-145.9,2374,2674,3838,3731,177.6,-13.5,113,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2673,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1193,-0.68,-145.9,2374,2674,3837,3731,216.9,-12.6,143,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2673,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.71,-145.9,2374,2674,3837,3731,254.1,-10.7,173,1517,0.00,2.05,0.00,0.000,260,0.000,0.121,2373,3789,3783,3837,3730,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1567,-0.75,-145.9,2374,3790,3838,3731,260.5,-11.7,184,1574,0.00,1.88,0.00,0.000,1030,0.000,0.070,2373,2679,3783,3836,3730,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1874,-0.79,-145.9,2373,2679,3838,3730,291.1,-9.7,195,1875,0.12,0.00,0.00,0.000,4102,0.147,0.000,2322,2678,3781,3836,3726,0,0,0,0,0,0,14.53,28.83,28.83
$GC,2172,-0.79,-145.9,2323,2679,3837,3731,327.8,-12.2,205,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2679,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2473,-0.79,-145.9,2323,2679,3838,3730,362.9,-11.6,215,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2678,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2773,-0.79,-145.9,2323,2679,3839,3730,397.3,-11.3,225,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2678,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.79,-145.9,2322,2679,3838,3730,430.4,-10.9,235,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2678,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-0.79,-145.9,2323,2679,3837,3731,462.6,-10.7,245,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2678,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.79,-145.9,2323,2679,3837,3731,494.9,-10.8,255,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2678,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3973,-0.79,-145.9,2323,2679,3839,3730,527.0,-10.6,265,3977,0.00,2.03,0.00,0.000,260,0.000,0.116,2313,3793,3783,3837,3730,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4027,-0.79,-145.9,2313,3792,3838,3730,533.4,-12.5,276,4033,0.00,1.92,0.00,0.000,1030,0.000,0.068,2313,2678,3783,3837,3730,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4333,-0.79,-145.9,2314,2677,3838,3730,567.4,-11.1,287,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2678,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,-0.79,-145.9,2314,2678,3838,3730,600.3,-11.0,297,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4933,-0.79,-145.9,2314,2678,3838,3732,633.2,-11.0,307,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5233,-0.79,-145.9,2314,2678,3838,3732,665.7,-10.8,317,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,-0.79,-145.9,2314,2678,3839,3731,697.9,-10.7,327,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2677,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5833,-0.79,-145.9,2314,2678,3838,3732,729.8,-10.6,337,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2677,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6040,begin apogee
$GC,6046,-0.14,0.0,2312,3057,3837,3733,752.3,-10.8,344,6179,0.88,0.00,130.77,1.713,10246,0.249,0.000,2539,3057,3185,3287,3083,0,0,0,0,0,0,14.19,28.83,13.23
$STATE,6180,end apogee,CONTROL_FINISHED_OK
$STATE,6180,begin climb
$GC,6182,0.70,145.9,2540,3057,3284,3076,755.2,0.0,348,6316,0.90,0.00,126.43,1.694,10502,0.164,0.000,2803,3057,2584,2667,2501,0,0,0,0,0,0,13.88,28.83,12.79
$GC,6613,0.70,145.9,2803,3058,2661,2494,710.3,12.2,383,6617,0.00,1.38,0.00,0.000,260,0.000,0.114,2803,3783,2577,2660,2494,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6658,0.67,145.9,2804,3784,2661,2494,704.5,13.1,392,6662,0.00,1.27,0.00,0.000,1030,0.000,0.070,2808,3058,2577,2661,2493,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6974,0.67,145.9,2809,3058,2662,2493,665.5,12.3,405,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,0.67,145.9,2808,3058,2661,2493,628.8,12.2,415,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7573,0.67,145.9,2809,3059,2662,2494,592.4,12.1,425,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7873,0.67,145.9,2809,3058,2660,2493,556.0,12.2,435,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8173,0.67,145.9,2809,3059,2660,2494,519.3,12.2,445,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2659,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8473,0.67,145.9,2809,3059,2660,2494,482.7,12.2,455,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,0.67,145.9,2809,3059,2660,2494,446.4,12.0,465,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,0.67,145.9,2809,3059,2660,2494,410.2,12.0,475,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,0.67,145.9,2815,3059,2661,2494,374.4,12.1,485,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,0.67,145.9,2809,3059,2661,2494,338.9,11.7,495,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9973,0.67,150.3,2809,3059,2660,2494,304.8,11.4,505,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3058,2576,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,0.68,166.4,2809,3058,2661,2493,271.6,10.8,515,10293,0.00,0.00,17.30,1.190,8198,0.000,0.000,2808,3059,2507,2593,2421,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10573,0.71,203.8,2806,3058,2582,2410,241.0,9.6,531,10613,0.00,2.50,32.00,1.121,8708,0.000,0.072,2816,1641,2346,2429,2263,0,0,0,0,0,0,28.83,14.34,13.84
$GC,10655,0.77,255.9,2820,1642,2423,2262,233.5,8.9,547,10705,0.00,2.53,44.90,1.082,9222,0.000,0.099,2819,3047,2141,2221,2061,0,0,0,0,0,0,28.83,14.19,13.67
$GC,11004,0.83,291.3,2820,3047,2203,2053,197.7,9.7,587,11040,0.12,2.45,30.73,1.055,10756,0.142,0.073,2882,1644,1990,2065,1915,0,0,0,0,0,0,14.33,14.21,13.74
$GC,11089,0.83,291.3,2883,1643,2055,1912,187.3,12.6,604,11096,0.00,2.55,0.00,0.000,1030,0.000,0.099,2882,3060,1982,2053,1911,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11395,0.83,291.3,2883,3059,2051,1906,147.4,13.2,635,11399,0.00,1.35,0.00,0.000,260,0.000,0.113,2882,3784,1978,2050,1906,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11435,0.80,291.3,2883,3784,2050,1902,141.5,15.4,643,11440,0.12,1.27,0.00,0.000,5126,0.244,0.070,2853,3047,1977,2050,1905,0,0,0,0,0,0,14.09,14.35,28.83
$MODEM_MSG,CARDP,6,0,1,0,0,1;5;5cb9e9f398;,*0A
$MODEM_MSG,CACST,6,0,20140920202209.420883,3,652,04,0126,0150,100,00,00,04,05,1,006,000,0,5,1,0,150,-1.5,2.4,-100,0.6,-01,0.1,17,900,0025*12
$GC,11745,0.86,328.3,2853,3047,2051,1904,109.0,9.7,675,11786,0.00,2.47,32.03,0.978,8708,0.000,0.075,2862,1637,1837,1908,1767,0,0,0,0,0,0,28.83,14.33,13.83
$GC,11812,0.93,369.1,2863,1637,1901,1767,102.4,9.5,688,11857,0.00,2.55,36.40,0.952,9222,0.000,0.101,2863,3056,1671,1735,1608,0,0,0,0,0,0,28.83,14.27,13.73
$GC,12156,1.00,402.2,2864,3056,1723,1597,65.6,9.9,727,12178,0.15,2.45,15.45,0.357,10756,0.130,0.072,2944,1646,1550,1619,1482,0,0,0,0,0,0,14.29,14.27,13.96
$GC,12224,1.04,415.2,2946,1646,1634,1483,57.6,10.9,740,12240,0.00,2.53,9.73,0.325,9222,0.000,0.099,2944,3049,1494,1560,1429,0,0,0,0,0,0,28.83,14.18,13.96
$GC,12539,1.09,466.4,2944,3050,1575,1429,30.1,8.9,773,12579,0.00,2.47,31.15,0.264,8708,0.000,0.074,2945,1648,1286,1348,1225,0,0,0,0,0,0,28.83,14.26,14.08
$GC,12804,1.28,640.0,2946,1646,1360,1225,20.4,2.4,826,12912,0.17,2.53,96.90,0.226,11270,0.130,0.102,3006,3049,573,576,571,0,0,0,0,0,0,14.28,14.23,14.07
$FREEZE,8.41,-1.434,-1.425,2,25,0
$STATE,12947,end climb,FINISH_DEPTH_REACHED
$STATE,12947,begin subsurface finish
$FINISH1,8.4,1.020930,366
$GC,12952,0.26,365.8,3006,3049,579,571,8.4,10.0,851,12988,1.20,2.42,-28.85,0.000,20996,0.220,0.097,2677,1647,1696,1743,1650,0,0,0,0,0,0,14.05,14.23,14.49
$FINISH2,8.0
$STATE,12989,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12989,begin surface
$RAFOS_CLK,187
$MODEM,6,1411244529,75.96120,-158.55679,368.421,533751.0
$RAFOS_FIX,7336.426270,-14240.136719,190914,121205,2,255,0.24
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.11
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3861440
$24V_AH,12.79,115.108
$10V_AH,12.66,0.000
$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,4.725,47.100,603.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10605.069,596.165,1751.783,168.237,0.000,1297.378,0.000,1288.307,1494.000,0.535,0.000
$DEVICE_MAMPS,299.880,133.875,1712.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13044.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.522,0.000,0.000,0.000
$MEM,173588
$DATA_FILE_SIZE,30026,858
$CAP_FILE_SIZE,135376,0
$CFSIZE,2097872896,2017329152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12948.83,0x2378b6,5,5
$SOUNDSPEED,1448.0
$GPS,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1