version: 66.12
glider: 198
mission: 5
dive: 42
start: 8 1 114 2 3 57
data:
$ID,198
$MISSION,5
$DIVE,42
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,648.87579
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-3375.7246
$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,2720
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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,3
$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
$GPS1,010814,014956,7122.517,-14417.667,82,2.1,102,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.1
$GPS2,010814,020343,7122.542,-14417.597,40,1.0,60,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,352.5,25316,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.70,-145.9,211,2717,467,534,0.0,0.0,0,64,0.00,0.00,-42.72,0.000,16386,0.000,0.000,209,2715,1610,1635,1586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.70,-145.9,211,2716,1636,1588,3.1,-3.1,4,128,11.25,1.98,-41.72,0.000,18692,0.462,0.151,2350,3781,3783,3876,3691,0,0,0,0,0,0,14.13,14.31,14.53
$GC,352,-0.61,-145.9,2350,3781,3874,3697,68.1,-20.3,58,361,0.17,1.83,0.00,0.000,3078,0.343,0.073,2385,2716,3784,3873,3696,0,0,0,0,0,0,14.27,14.42,28.83
$GC,665,-0.61,-145.9,2386,2715,3874,3697,116.5,-14.2,90,675,0.00,1.90,0.00,0.000,260,0.000,0.123,2378,3786,3785,3873,3697,0,0,0,0,0,0,28.83,14.45,28.83
$GC,899,-0.61,-145.9,2378,3786,3873,3697,151.2,-14.2,136,908,0.00,1.77,0.00,0.000,1030,0.000,0.076,2377,2720,3784,3871,3697,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1212,-0.61,-145.9,2379,2720,3871,3698,189.2,-11.5,168,1220,0.00,1.90,0.00,0.000,260,0.000,0.127,2375,3782,3783,3870,3697,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1444,-0.61,-145.9,2375,3782,3869,3698,217.8,-12.3,214,1453,0.00,1.77,0.00,0.000,1030,0.000,0.078,2374,2715,3783,3869,3697,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1758,-0.63,-145.9,2375,2716,3869,3698,251.0,-10.5,246,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2715,3782,3868,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,-0.65,-145.9,2375,2715,3867,3697,280.3,-9.4,256,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2715,3781,3866,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.67,-145.9,2375,2716,3865,3697,308.5,-9.4,266,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2715,3780,3864,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,-0.70,-145.9,2376,2716,3864,3698,336.8,-9.4,276,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2715,3780,3863,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.73,-145.9,2375,2716,3864,3696,364.9,-9.4,286,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2716,3780,3863,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-0.75,-145.9,2375,2716,3857,3697,393.2,-9.4,296,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2715,3780,3863,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3557,-0.78,-145.9,2376,2716,3863,3698,421.3,-9.4,306,3560,0.12,0.00,0.00,0.000,4102,0.159,0.000,2325,2715,3779,3862,3697,0,0,0,0,0,0,14.66,28.83,28.83
$GC,3857,-0.78,-145.9,2325,2716,3862,3698,456.0,-11.6,316,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2715,3779,3862,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4157,-0.78,-145.9,2331,2717,3862,3697,491.0,-11.7,326,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2715,3779,3861,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4457,-0.78,-145.9,2325,2716,3862,3698,525.4,-11.4,336,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2715,3779,3861,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4757,-0.78,-145.9,2325,2716,3861,3698,560.0,-11.5,346,4767,0.00,2.35,0.00,0.000,516,0.000,0.083,2324,1308,3778,3859,3697,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4811,-0.78,-145.9,2324,1307,3861,3696,565.9,-10.6,356,4819,0.00,2.47,0.00,0.000,1030,0.000,0.111,2318,2722,3778,3859,3697,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5124,-0.78,-145.9,2318,2723,3860,3697,601.8,-11.4,368,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2723,3778,3859,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.78,-145.9,2318,2721,3860,3697,636.1,-11.4,378,5433,0.00,2.35,0.00,0.000,516,0.000,0.083,2318,1313,3777,3858,3697,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5467,-0.78,-145.9,2319,1313,3860,3698,641.1,-11.0,386,5477,0.00,2.47,0.00,0.000,1030,0.000,0.112,2318,2723,3777,3858,3696,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5792,-0.78,-145.9,2318,2723,3860,3697,677.5,-11.3,400,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2724,3777,3858,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,-0.78,-145.9,2319,2725,3859,3701,710.9,-11.1,410,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2724,3777,3858,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-0.78,-145.9,2318,2724,3859,3696,744.2,-11.1,420,6399,0.00,2.38,0.00,0.000,516,0.000,0.082,2317,1305,3777,3858,3697,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,6447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6447,begin apogee
$GC,6453,-0.14,0.0,2319,3062,3858,3698,750.5,-10.9,431,6584,0.85,0.00,127.32,1.832,10246,0.291,0.000,2537,3061,3185,3262,3108,0,0,0,0,0,0,14.57,28.83,13.21
$STATE,6586,end apogee,CONTROL_FINISHED_OK
$STATE,6586,begin climb
$GC,6587,0.70,145.9,2538,3061,3250,3100,753.8,0.0,435,6729,0.98,1.45,125.32,1.783,10500,0.190,0.122,2809,3790,2578,2641,2515,0,0,0,0,0,0,13.87,13.65,13.05
$GC,6788,0.65,145.9,2809,3791,2632,2508,734.3,14.9,467,6795,0.00,1.30,0.00,0.000,1030,0.000,0.078,2814,3060,2570,2632,2508,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7120,0.63,145.9,2814,3060,2632,2504,688.8,13.6,483,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3059,2567,2631,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7420,0.60,145.9,2815,3061,2632,2504,648.0,13.5,493,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3060,2567,2631,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,0.58,145.9,2815,3061,2632,2503,607.5,13.5,503,7723,0.15,0.00,0.00,0.000,4102,0.286,0.000,2781,3060,2566,2631,2502,0,0,0,0,0,0,14.32,28.83,28.83
$GC,8019,0.58,145.9,2781,3060,2631,2503,572.2,11.8,513,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3060,2566,2630,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8319,0.58,145.9,2780,3060,2632,2502,537.0,11.7,523,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3060,2566,2631,2502,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140801040440.654231,3,796,22,0182,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,14.0,1.8,-100,1.2,-01,-0.5,23,900,0025*0C
$MODEM_MSG,CACST,6,1,20140801041636.902910,3,3144,28,0195,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,22.7,1.1,-100,1.9,-01,0.9,24,900,0025*12
$GC,8619,0.58,145.9,2781,3060,2632,2503,501.8,11.8,533,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3060,2566,2631,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8920,0.58,145.9,2782,3060,2632,2503,466.2,11.9,543,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3060,2566,2631,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9219,0.58,145.9,2781,3059,2632,2501,430.7,11.8,553,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3059,2566,2631,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9520,0.58,146.9,2781,3061,2632,2502,395.8,11.6,563,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3060,2565,2630,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9819,0.58,151.0,2782,3060,2631,2502,361.3,11.4,573,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3060,2566,2631,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10120,0.58,153.1,2781,3060,2631,2502,326.8,11.5,583,10128,0.00,2.35,0.00,0.000,516,0.000,0.078,2791,1636,2566,2631,2501,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10146,0.60,181.8,2792,1637,2631,2502,323.8,10.1,588,10185,0.00,2.47,29.20,1.248,9222,0.000,0.111,2791,3054,2433,2501,2366,0,0,0,0,0,0,28.83,14.61,13.96
$GC,10489,0.60,181.8,2792,3055,2488,2360,281.1,12.5,605,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3054,2428,2497,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10789,0.60,181.8,2791,3056,2489,2359,244.4,11.8,617,10797,0.00,2.38,0.00,0.000,516,0.000,0.080,2801,1641,2423,2488,2359,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10826,0.62,183.9,2802,1641,2488,2356,240.3,11.5,624,10835,0.00,2.47,0.00,0.000,1030,0.000,0.109,2797,3054,2423,2488,2359,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11132,0.62,183.9,2802,3054,2489,2360,203.2,11.7,655,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3053,2423,2487,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11431,0.64,201.6,2801,3053,2489,2359,170.1,10.7,685,11457,0.00,0.00,15.73,1.094,8198,0.000,0.000,2800,3053,2354,2419,2289,0,0,0,0,0,0,28.83,28.83,14.06
$GC,11752,0.69,243.0,2802,3054,2412,2283,138.0,9.4,717,11795,0.00,2.50,36.33,1.082,8708,0.000,0.080,2808,1636,2185,2248,2123,0,0,0,0,0,0,28.83,14.33,13.89
$GC,11840,0.76,286.6,2808,1638,2238,2118,129.8,9.3,732,11890,0.00,2.53,38.40,1.058,9222,0.000,0.110,2808,3053,2004,2065,1944,0,0,0,0,0,0,28.83,14.33,13.76
$GC,12184,0.83,316.2,2808,3054,2051,1932,94.6,10.1,769,12208,0.12,2.47,12.88,0.413,10756,0.149,0.082,2873,1638,1904,1973,1835,0,0,0,0,0,0,14.43,14.34,14.17
$GC,12257,0.83,316.2,2874,1640,1994,1836,85.8,12.7,782,12269,0.00,2.53,2.65,0.213,9222,0.000,0.111,2873,3056,1900,1970,1830,0,0,0,0,0,0,28.83,14.34,14.31
$GC,12564,0.83,321.7,2874,3057,1993,1831,47.3,11.3,813,12577,0.00,0.00,5.60,0.276,8198,0.000,0.000,2873,3056,1878,1952,1805,0,0,0,0,0,0,28.83,28.83,14.28
$GC,12874,0.90,390.0,2874,3056,1977,1813,20.6,8.0,844,12918,0.00,0.00,38.62,0.231,8198,0.000,0.000,2873,3055,1595,1654,1537,0,0,0,0,0,0,28.83,28.83,14.37
$FREEZE,11.73,3.811,-1.436,0,1,0
$STATE,13152,end climb,NO_VERTICAL_VELOCITY
$STATE,13152,begin surface
$SM_CCo,13156,146.50,0.209,0,0,499,658.88
$SM_GC,2.31,7.82,0.57,0.00,0.082,0.085,0.000,207,2709,502,-7.39,0.85,658.39,0,0,0,0,0,0,14.55,14.57,28.83
$RAFOS_CLK,435
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7045.80,-14423.05,310714,215721
$TT8_MAMPS,0.044191,0.044191
$HUMID,51.92
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,12.10
$XPDR_PINGS,1
$SC_FREEKB,4001568
$TM_FREEKB,7358080
$24V_AH,13.05,14.992
$10V_AH,12.75,0.000
$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,21.475,49.350,432.050,146.500,0.000,0.000,0.000,497.975,0.250,0.000,61.601,0.000,11009.657,721.000,2674.767,99.691,0.000,1994.723,0.000,1299.370,1495.000,0.535,0.000
$DEVICE_MAMPS,462.060,151.470,1832.175,208.845,0.000,0.000,0.000,208.080,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13178.000,13265.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.461,13.310,0.000,0.000
$MEM,293164
$DATA_FILE_SIZE,30080,872
$CAP_FILE_SIZE,156338,0
$CFSIZE,2097872896,2082930688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14235.04,0x2378b6,7,5
$SOUNDSPEED,1450.8
$EKF,13800,4283.828125,-8656.089844,11.731784,-0.010994,0.015749,-0.003342,0.000317,0.003109,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.042,335.60,1
$GPS,010814,055354,7124.111,-14416.480,56,0.7,76,22.5