version: 66.12
glider: 198
mission: 5
dive: 83
start: 8 7 114 10 51 36
data:
$ID,198
$MISSION,5
$DIVE,83
$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,648.87579
$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,-3417.4111
$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,27
$R_STBD_OVSHOOT,16
$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,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
$GPS1,070814,070133,7147.818,-14418.607,4,0.9,25,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-73.8
$GPS2,070814,070133,7147.818,-14418.607,4,0.9,25,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,343.6,45049,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.70,-145.9,203,2681,494,587,0.0,0.0,0,103,0.00,0.00,-47.88,0.000,16386,0.000,0.000,202,2682,1740,1760,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.70,-145.9,203,2688,1763,1722,3.1,-2.5,6,184,10.90,2.10,-38.75,0.000,18692,0.456,0.155,2343,3795,3784,3844,3724,0,0,0,0,0,0,14.23,14.41,14.65
$GC,409,-0.62,-145.9,2345,3795,3845,3729,77.8,-22.6,62,438,0.17,1.92,0.00,0.000,3078,0.323,0.078,2382,2661,3787,3844,3730,0,0,0,0,0,0,14.33,14.47,28.83
$GC,743,-0.62,-145.9,2384,2662,3845,3731,131.1,-14.8,94,772,0.00,2.03,0.00,0.000,260,0.000,0.128,2375,3789,3787,3844,3730,0,0,0,0,0,0,28.83,14.52,28.83
$GC,996,-0.62,-145.9,2375,3789,3845,3732,170.0,-14.5,140,1024,0.00,1.85,0.00,0.000,1030,0.000,0.080,2375,2683,3787,3844,3730,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1329,-0.62,-145.9,2375,2684,3845,3730,211.0,-11.4,172,1358,0.00,2.00,0.00,0.000,260,0.000,0.132,2374,3790,3787,3844,3730,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1582,-0.62,-145.9,2375,3791,3845,3731,241.2,-10.9,218,1611,0.00,1.88,0.00,0.000,1030,0.000,0.081,2374,2674,3786,3844,3729,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1936,-0.64,-145.9,2374,2675,3845,3731,277.9,-10.3,234,1964,0.00,2.00,0.00,0.000,260,0.000,0.132,2374,3787,3786,3844,3729,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2049,-0.64,-145.9,2375,3787,3845,3729,290.1,-10.8,252,2078,0.00,1.85,0.00,0.000,1030,0.000,0.081,2374,2682,3786,3844,3728,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2402,-0.67,-145.9,2374,2682,3844,3729,324.5,-9.7,268,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2686,3786,3844,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2706,-0.70,-145.9,2375,2682,3844,3729,353.7,-9.6,278,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2681,3790,3851,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-0.73,-145.9,2375,2682,3845,3729,382.8,-9.5,288,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3786,3844,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3313,-0.77,-145.9,2374,2683,3845,3729,411.2,-9.2,298,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3787,3845,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3617,-0.80,-145.9,2375,2678,3845,3729,439.6,-9.3,308,3646,0.12,0.00,0.00,0.000,4102,0.154,0.000,2323,2681,3786,3844,3729,0,0,0,0,0,0,14.68,28.83,28.83
$GC,3921,-0.80,-145.9,2324,2682,3844,3730,473.8,-11.5,318,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2678,3785,3844,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4223,-0.80,-145.9,2324,2682,3845,3729,508.0,-11.2,328,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3844,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4527,-0.80,-145.9,2323,2683,3845,3729,542.3,-11.4,338,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2682,3787,3845,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4831,-0.80,-145.9,2324,2682,3845,3730,576.6,-11.3,348,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2685,3786,3844,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5134,-0.80,-145.9,2324,2682,3845,3729,610.9,-11.3,358,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3844,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5438,-0.80,-145.9,2323,2681,3846,3729,644.9,-11.2,368,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3844,3729,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140807120450.124687,3,527,21,0153,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,11.8,0.8,-100,2.2,-01,0.4,26,900,0025*23
$MODEM_MSG,CACST,6,1,20140807121627.748382,3,2748,22,0111,0150,100,00,00,02,03,-1,-01,-01,1,3,0,0,150,11.2,2.0,-100,1.0,-01,0.1,28,900,0025*16
$GC,5740,-0.80,-145.9,2324,2681,3845,3729,678.5,-11.1,378,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3844,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6044,-0.80,-145.9,2324,2682,3844,3730,712.2,-11.1,388,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3789,3850,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6347,-0.80,-145.9,2323,2681,3845,3729,745.8,-11.1,398,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3786,3844,3729,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6408,begin apogee
$GC,6412,-0.14,0.0,2321,3052,3845,3730,752.9,-11.1,400,6565,0.82,0.00,126.38,1.789,10246,0.279,0.000,2537,3053,3184,3267,3102,0,0,0,0,0,0,14.54,28.83,13.23
$STATE,6566,end apogee,CONTROL_FINISHED_OK
$STATE,6566,begin climb
$GC,6567,0.70,145.9,2539,3054,3260,3096,757.1,0.0,404,6733,0.93,1.45,123.85,1.761,10500,0.186,0.120,2805,3786,2579,2647,2511,0,0,0,0,0,0,13.93,13.58,13.00
$GC,6836,0.66,145.9,2806,3785,2643,2507,732.3,14.4,418,6884,0.00,1.33,0.00,0.000,1030,0.000,0.080,2810,3050,2574,2642,2507,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7233,0.63,145.9,2811,3050,2643,2506,678.5,13.2,432,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3053,2573,2642,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7568,0.61,145.9,2810,3050,2643,2504,634.4,13.3,443,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3050,2573,2643,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7902,0.58,145.9,2811,3051,2643,2505,590.0,13.3,454,7951,0.12,0.00,0.00,0.000,4102,0.317,0.000,2780,3050,2573,2642,2504,0,0,0,0,0,0,14.38,28.83,28.83
$GC,8237,0.58,145.9,2780,3050,2643,2504,550.1,11.8,465,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3049,2573,2642,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8572,0.58,145.9,2781,3050,2642,2505,510.9,11.7,476,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3050,2573,2642,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8906,0.59,146.5,2781,3050,2643,2504,471.9,11.6,487,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3050,2573,2642,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9241,0.59,146.5,2781,3050,2643,2505,432.6,11.7,498,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3050,2573,2642,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9576,0.59,148.9,2781,3050,2643,2504,393.8,11.5,509,9624,0.00,2.33,0.00,0.000,516,0.000,0.081,2790,1648,2573,2642,2504,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9643,0.59,154.9,2791,1648,2643,2505,386.7,11.3,511,9692,0.00,2.45,2.47,0.599,9222,0.000,0.112,2790,3046,2562,2642,2482,0,0,0,0,0,0,28.83,14.59,13.79
$GC,10040,0.59,154.9,2791,3047,2658,2482,339.6,11.8,525,10090,0.00,1.35,1.73,0.235,8452,0.000,0.125,2790,3781,2565,2652,2479,0,0,0,0,0,0,28.83,14.60,14.54
$GC,10158,0.57,154.9,2791,3782,2660,2479,325.1,13.0,530,10207,0.00,1.25,1.83,0.220,9222,0.000,0.081,2796,3049,2566,2653,2479,0,0,0,0,0,0,28.83,14.64,14.51
$GC,10494,0.57,156.2,2796,3050,2660,2478,285.2,11.6,541,10542,0.00,0.00,2.50,0.615,8198,0.000,0.000,2796,3050,2561,2651,2471,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10828,0.58,165.3,2796,3049,2660,2471,247.4,11.1,552,10877,0.00,1.35,14.52,1.214,8452,0.000,0.121,2796,3780,2504,2581,2427,0,0,0,0,0,0,28.83,14.51,14.04
$GC,10963,0.58,165.3,2797,3782,2576,2425,231.8,12.3,558,11012,0.00,1.27,0.00,0.000,1030,0.000,0.081,2801,3042,2499,2575,2424,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11535,0.62,220.8,2802,3043,2575,2425,175.5,8.7,590,11619,0.00,2.45,46.72,1.068,8708,0.000,0.081,2808,1644,2277,2346,2209,0,0,0,0,0,0,28.83,14.28,13.85
$GC,11670,0.69,274.5,2809,1644,2338,2206,163.9,8.8,596,11753,0.00,2.50,46.25,1.041,9222,0.000,0.112,2808,3048,2056,2123,1990,0,0,0,0,0,0,28.83,14.33,13.71
$GC,12274,0.75,307.1,2809,3048,2110,1978,103.2,9.9,630,12340,0.00,0.00,26.85,1.009,8198,0.000,0.000,2808,3048,1924,1989,1860,0,0,0,0,0,0,28.83,28.83,13.85
$GC,12847,0.89,405.3,2809,3048,1982,1852,53.4,6.4,662,12931,0.17,2.45,49.90,0.330,10756,0.129,0.082,2895,1635,1535,1593,1478,0,0,0,0,0,0,14.49,14.33,14.23
$GC,13033,0.96,440.7,2896,1636,1608,1479,37.9,9.7,671,13098,0.00,2.53,20.83,0.281,9222,0.000,0.114,2896,3049,1396,1454,1338,0,0,0,0,0,0,28.83,14.38,14.26
$FREEZE,8.94,1.379,-1.377,2,2,0
$FREEZE,8.78,1.356,-1.382,2,2,0
$FREEZE,8.19,1.356,-1.382,2,2,0
$FREEZE,7.35,1.072,-1.341,2,2,0
$FREEZE,6.57,1.072,-1.340,2,2,0
$FREEZE,5.66,1.052,-1.315,2,2,0
$GC,13619,1.22,662.9,2897,3049,1459,1338,9.2,-0.2,704,13778,0.22,2.47,115.30,0.200,10756,0.122,0.083,2985,1639,499,465,534,0,0,0,0,0,0,14.45,14.35,14.30
$FREEZE,2.37,0.959,-1.306,2,2,0
$FREEZE,1.16,0.959,-1.305,2,2,0
$STATE,13812,end climb,SURFACE_DEPTH_REACHED
$STATE,13812,begin surface coast
$FREEZE,1.28,0.986,-0.205,2,2,0
$FREEZE,1.31,0.986,-0.205,2,2,0
$FREEZE,1.49,0.982,-1.223,2,2,0
$FREEZE,1.26,0.982,-1.222,2,2,0
$FREEZE,1.23,0.977,-0.690,2,2,0
$FREEZE,1.32,0.977,-0.690,2,2,0
$FINISH,1.3,1.010172
$STATE,13839,end surface coast,CONTROL_FINISHED_OK
$STATE,13839,begin surface
$SM_CCo,13927,0.00,0.000,0,0,498,659.12
$SM_GC,2.32,8.25,1.92,0.00,0.083,0.120,0.000,193,2680,498,-7.40,-0.65,659.12,0,0,0,0,0,0,14.45,14.38,28.83
$RAFOS_CLK,578
$RAFOS_FIX,7144.370605,-14415.987305,070814,000032,2,255,0.21
$IRIDIUM_FIX,7112.27,-14416.55,070814,030247
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.14
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3984224
$24V_AH,13.00,28.611
$10V_AH,12.77,0.000
$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,21.725,43.400,579.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,6565.399,373.334,7010.635,113.976,0.000,2780.155,0.000,1069.686,1472.000,0.535,0.000
$DEVICE_MAMPS,455.940,155.295,1788.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13865.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.297,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,314352
$DATA_FILE_SIZE,23432,719
$CAP_FILE_SIZE,188680,0
$CFSIZE,2097872896,2072117248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13784.11,0x2378b6,7,5
$SOUNDSPEED,1450.1
$GPS,070814,144524,7151.370,-14417.861,26,0.8,46,22.6