version: 66.12
glider: 198
mission: 5
dive: 95
start: 8 10 114 12 32 8
data:
$ID,198
$MISSION,5
$DIVE,95
$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,-3429.3923
$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,34
$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
$GPS1,100814,122218,7154.056,-14438.870,35,0.8,55,22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.5
$GPS2,100814,123143,7154.085,-14439.308,5,0.8,26,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,130.4,37621,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$MODEM_MSG,CACST,6,1,20140810120312.681785,3,322,13,0182,0150,100,00,00,02,04,-1,-01,-01,1,3,0,0,150,13.9,-10.7,-100,13.7,-01,-0.1,21,900,0025*2C
$MODEM_MSG,CARDP,9,0,1,0,0,1;5;5a931a4fe8;,*07
$MODEM_MSG,CACST,6,0,20140810121125.481530,3,1332,07,0156,0150,100,00,00,04,05,1,009,000,0,5,1,0,150,-3.2,2.1,-100,0.9,-01,-0.2,20,900,0025*09
$MODEM_MSG,CACST,6,1,20140810121635.820720,3,1360,19,0118,0150,100,00,00,02,03,-1,-01,-01,1,3,1,0,150,12.9,1.4,-100,1.6,-01,0.3,24,900,0025*1E
$GC,28,-0.70,-145.9,206,2680,450,547,0.0,0.0,0,114,0.00,0.00,-57.65,0.000,16386,0.000,0.000,205,2681,1923,1955,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,207,2681,1958,1894,3.4,-3.3,7,192,11.18,2.45,-32.00,0.000,18948,0.461,0.104,2354,1271,3782,3880,3684,0,0,0,0,0,0,14.15,14.39,14.59
$GC,312,-0.63,-145.9,2355,1271,3879,3690,46.1,-22.1,41,341,0.15,2.50,0.00,0.000,3078,0.362,0.106,2377,2681,3784,3878,3691,0,0,0,0,0,0,14.28,14.41,28.83
$GC,646,-0.63,-145.9,2377,2681,3880,3692,105.8,-15.8,73,674,0.00,1.98,0.00,0.000,260,0.000,0.124,2374,3792,3785,3878,3692,0,0,0,0,0,0,28.83,14.48,28.83
$GC,898,-0.63,-145.9,2374,3792,3879,3692,147.2,-15.3,119,927,0.00,1.85,0.00,0.000,1030,0.000,0.073,2374,2676,3784,3877,3692,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1232,-0.63,-145.9,2374,2676,3879,3692,193.4,-13.0,151,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2676,3784,3877,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1555,-0.63,-145.9,2374,2676,3877,3693,232.1,-10.9,182,1584,0.00,2.35,0.00,0.000,516,0.000,0.085,2374,1280,3783,3875,3692,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1624,-0.66,-145.9,2374,1273,3876,3693,239.4,-11.0,191,1654,0.00,2.50,0.00,0.000,1030,0.000,0.112,2373,2690,3788,3884,3692,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1968,-0.68,-145.9,2375,2690,3875,3693,275.3,-10.4,208,1997,0.00,1.95,0.00,0.000,260,0.000,0.128,2374,3790,3783,3874,3692,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2111,-0.68,-145.9,2374,3791,3873,3693,290.9,-10.8,232,2140,0.00,1.85,0.00,0.000,1030,0.000,0.075,2374,2673,3782,3872,3692,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2464,-0.71,-145.9,2374,2673,3872,3692,325.9,-9.7,248,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2673,3784,3871,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,-0.74,-145.9,2375,2674,3872,3693,354.6,-9.5,258,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2673,3781,3871,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.78,-145.9,2374,2673,3872,3692,383.7,-9.5,268,3101,0.12,2.00,0.00,0.000,4356,0.154,0.122,2312,3796,3780,3870,3691,0,0,0,0,0,0,14.66,14.65,28.83
$GC,3176,-0.75,-145.9,2313,3796,3871,3692,397.1,-14.1,284,3205,0.15,1.85,0.00,0.000,3078,0.313,0.075,2344,2674,3781,3870,3692,0,0,0,0,0,0,14.54,14.71,28.83
$GC,3509,-0.75,-145.9,2345,2674,3872,3692,434.4,-10.9,296,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3781,3870,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-0.75,-145.9,2345,2674,3869,3693,467.0,-10.7,306,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2673,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-0.75,-145.9,2344,2675,3870,3693,498.3,-10.2,316,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4420,-0.75,-145.9,2345,2675,3871,3694,529.3,-10.1,326,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-0.75,-145.9,2345,2675,3871,3693,560.1,-10.1,336,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.75,-145.9,2345,2672,3870,3693,590.7,-10.1,346,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3781,3869,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5332,-0.75,-145.9,2345,2674,3871,3692,620.8,-9.8,356,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5635,-0.75,-145.9,2346,2674,3871,3693,650.9,-10.0,366,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-0.75,-145.9,2345,2674,3870,3693,681.6,-10.2,376,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2673,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6243,-0.75,-145.9,2345,2674,3870,3693,712.2,-10.1,386,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2677,3781,3870,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6547,-0.75,-145.9,2345,2674,3870,3693,742.7,-10.0,396,6575,0.00,1.98,0.00,0.000,260,0.000,0.124,2336,3798,3781,3870,3692,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,6613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6613,begin apogee
$GC,6618,-0.14,0.0,2337,3052,3872,3693,750.3,-10.7,405,6768,0.75,0.00,125.07,1.772,10246,0.272,0.000,2535,3049,3185,3263,3108,0,0,0,0,0,0,14.60,28.83,13.32
$STATE,6769,end apogee,CONTROL_FINISHED_OK
$STATE,6769,begin climb
$GC,6771,0.70,145.9,2536,3051,3258,3102,754.9,0.0,409,6938,0.93,0.00,123.97,1.781,10502,0.194,0.000,2801,3050,2582,2645,2519,0,0,0,0,0,0,14.00,28.83,13.03
$GC,7224,0.70,145.9,2801,3050,2643,2514,708.5,12.7,427,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3050,2577,2641,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,0.70,145.9,2802,3051,2642,2514,666.3,12.6,438,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3050,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,0.70,145.9,2802,3050,2643,2513,624.2,12.5,449,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3050,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8228,0.70,145.9,2801,3050,2643,2512,582.5,12.5,460,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3050,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8563,0.70,145.9,2802,3050,2642,2513,540.6,12.4,471,8612,0.00,1.35,0.00,0.000,260,0.000,0.122,2801,3789,2576,2641,2512,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8630,0.70,145.9,2802,3789,2642,2513,531.9,12.9,473,8679,0.00,1.25,0.00,0.000,1030,0.000,0.078,2806,3055,2576,2641,2512,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9028,0.70,145.9,2807,3056,2642,2513,480.2,12.8,487,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3055,2578,2641,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9362,0.70,145.9,2802,3055,2642,2512,438.1,12.5,498,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3055,2576,2641,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9697,0.70,145.9,2807,3056,2642,2513,396.2,12.5,509,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3055,2576,2641,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10032,0.70,145.9,2807,3055,2642,2513,354.6,12.4,520,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2576,2641,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,0.70,145.9,2807,3056,2641,2513,313.0,12.3,531,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3055,2576,2641,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10701,0.70,145.9,2807,3055,2642,2512,273.2,11.7,542,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2576,2641,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11117,0.71,171.6,2807,3055,2640,2513,228.2,10.3,561,11182,0.00,1.35,21.12,1.209,8452,0.000,0.117,2806,3787,2480,2544,2416,0,0,0,0,0,0,28.83,14.47,14.02
$GC,11301,0.71,171.6,2807,3788,2541,2411,206.1,12.9,570,11350,0.00,1.25,0.00,0.000,1030,0.000,0.078,2811,3057,2475,2540,2410,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11875,0.76,242.4,2811,3056,2541,2410,156.2,7.9,602,11975,0.00,2.47,60.15,1.089,8708,0.000,0.076,2820,1648,2188,2248,2128,0,0,0,0,0,0,28.83,14.24,13.80
$GC,12212,0.85,295.9,2821,1649,2240,2124,127.1,8.8,620,12294,0.10,2.47,45.12,1.077,11270,0.103,0.109,2871,3046,1969,2028,1911,0,0,0,0,0,0,14.40,14.37,13.75
$GC,12825,0.90,367.0,2873,3047,2018,1902,58.6,7.8,654,12908,0.00,1.40,35.22,0.359,8452,0.000,0.123,2871,3792,1692,1750,1635,0,0,0,0,0,0,28.83,14.31,14.16
$GC,13027,0.94,394.8,2873,3793,1754,1636,40.1,10.2,664,13075,0.00,1.27,16.02,0.299,9222,0.000,0.078,2875,3055,1576,1634,1519,0,0,0,0,0,0,28.83,14.40,14.18
$GC,13600,1.19,609.1,2876,3055,1646,1520,11.4,0.2,696,13751,0.28,1.38,113.95,0.219,10500,0.116,0.121,2979,3784,701,675,728,0,0,0,0,0,0,14.42,14.26,14.16
$FREEZE,5.91,2.819,-1.365,2,1,0
$FREEZE,4.46,2.819,-1.364,2,1,0
$FREEZE,2.96,2.825,-1.361,2,1,0
$FREEZE,1.34,2.825,-1.360,2,1,0
$STATE,13818,end climb,SURFACE_DEPTH_REACHED
$STATE,13818,begin surface coast
$FREEZE,1.29,2.823,-0.199,2,1,0
$FREEZE,1.30,2.823,-0.199,2,1,0
$FREEZE,1.12,2.745,-0.858,2,1,0
$FREEZE,1.20,2.745,-0.859,2,1,0
$FINISH,1.2,1.012640
$STATE,13835,end surface coast,CONTROL_FINISHED_OK
$STATE,13836,begin surface
$SM_CCo,13863,27.02,0.194,0,0,500,658.88
$SM_GC,2.23,8.32,1.95,27.02,0.088,0.075,0.194,198,2676,500,-7.40,0.90,658.88,0,0,0,0,0,0,14.37,14.37,14.26
$RAFOS_CLK,85
$MODEM,9,1407672685,74.19860,-149.10400,204.482,296614.7
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7118.99,-14434.98,100814,122522
$TT8_MAMPS,0.098868,0.098868
$HUMID,46.96
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,13.00
$XPDR_PINGS,1
$SC_FREEKB,3979296
$24V_AH,13.03,34.395
$10V_AH,12.86,0.000
$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,21.975,40.675,540.650,27.025,0.000,0.000,0.000,312.075,0.250,0.000,27.487,0.000,6760.849,398.009,7155.879,158.215,0.000,3073.035,0.000,1061.939,1484.000,0.536,0.000
$DEVICE_MAMPS,461.295,127.755,1780.920,193.545,0.000,0.000,0.000,173.655,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13863.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.202,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,317464
$DATA_FILE_SIZE,23411,711
$CAP_FILE_SIZE,191018,0
$CFSIZE,2097872896,2068512768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14505.33,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,100814,162524,7152.611,-14437.486,29,1.0,49,22.5
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0