version: 66.12
glider: 198
mission: 5
dive: 112
start: 8 13 114 7 44 0
data:
$ID,198
$MISSION,5
$DIVE,112
$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,-3450.8118
$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,28
$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
$GPS1,130814,073354,7216.501,-14425.428,33,0.9,54,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.0
$GPS2,130814,074335,7216.591,-14425.447,3,0.9,24,22.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,345.1,62448,-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
$GC,28,-0.70,-145.9,196,2676,465,536,0.0,0.0,0,114,0.00,0.00,-57.72,0.000,16386,0.000,0.000,195,2678,1915,1947,1883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,196,2676,1949,1884,3.1,-2.5,7,195,10.77,2.10,-35.08,0.000,18692,0.441,0.147,2351,3797,3786,3857,3715,0,0,0,0,0,0,14.15,14.34,14.59
$GC,420,-0.63,-145.9,2352,3795,3853,3722,77.4,-20.4,63,450,0.15,1.88,0.00,0.000,3078,0.332,0.071,2381,2671,3787,3852,3722,0,0,0,0,0,0,14.28,14.45,28.83
$GC,754,-0.63,-145.9,2382,2672,3852,3723,130.4,-15.3,95,783,0.00,2.00,0.00,0.000,260,0.000,0.122,2374,3793,3787,3852,3723,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1016,-0.63,-145.9,2375,3793,3853,3723,170.9,-14.6,141,1045,0.00,1.85,0.00,0.000,1030,0.000,0.073,2374,2679,3786,3851,3722,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1350,-0.63,-145.9,2375,2676,3853,3722,213.1,-11.5,173,1379,0.00,2.00,0.00,0.000,260,0.000,0.127,2374,3788,3787,3852,3722,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1483,-0.63,-145.9,2376,3788,3853,3721,229.3,-12.6,195,1511,0.00,1.85,0.00,0.000,1030,0.000,0.073,2374,2681,3786,3851,3721,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1826,-0.65,-145.9,2375,2681,3853,3719,266.9,-10.5,218,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2680,3785,3851,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2130,-0.68,-145.9,2371,2681,3852,3725,297.4,-9.8,228,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3785,3851,3719,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140813080445.064089,3,602,21,0139,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,7.3,1.3,-100,1.7,-01,-0.3,31,900,0025*38
$MODEM_MSG,CACST,6,1,20140813081622.682999,3,1083,30,0291,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,16.5,1.5,-100,1.5,-01,-0.4,28,900,0025*3F
$GC,2437,-0.71,-145.9,2375,2681,3853,3719,327.0,-9.6,238,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3784,3851,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2741,-0.74,-145.9,2375,2681,3851,3719,356.9,-9.8,248,2770,0.00,2.00,0.00,0.000,260,0.000,0.126,2374,3795,3784,3851,3718,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2799,-0.76,-145.9,2375,3795,3853,3718,363.1,-10.4,255,2828,0.00,1.85,0.00,0.000,1030,0.000,0.074,2374,2679,3784,3851,3717,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3148,-0.80,-145.9,2375,2679,3853,3717,396.6,-9.5,270,3177,0.12,0.00,0.00,0.000,4102,0.152,0.000,2324,2679,3784,3852,3716,0,0,0,0,0,0,14.67,28.83,28.83
$GC,3452,-0.80,-145.9,2325,2679,3852,3717,432.1,-11.8,280,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3783,3851,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,-0.80,-145.9,2325,2680,3852,3717,467.6,-11.6,290,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3784,3851,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4059,-0.80,-145.9,2325,2679,3853,3716,502.2,-11.3,300,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.80,-145.9,2325,2680,3852,3717,536.2,-11.2,310,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3783,3851,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4667,-0.80,-145.9,2325,2680,3852,3717,570.2,-11.2,320,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2679,3783,3851,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4971,-0.80,-145.9,2325,2680,3852,3717,604.2,-11.2,330,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3783,3851,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5274,-0.80,-145.9,2325,2679,3859,3716,638.2,-11.1,340,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3784,3852,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5578,-0.80,-145.9,2325,2679,3852,3716,671.5,-10.9,350,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2679,3783,3852,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5882,-0.80,-145.9,2324,2679,3853,3715,704.9,-11.0,360,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3783,3851,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6186,-0.80,-145.9,2325,2679,3853,3716,738.2,-11.0,370,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2679,3780,3846,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6307,begin apogee
$GC,6311,-0.14,0.0,2322,3050,3853,3715,751.6,-10.9,374,6461,0.82,0.00,124.70,1.763,10246,0.280,0.000,2538,3050,3187,3266,3108,0,0,0,0,0,0,14.59,28.83,13.35
$STATE,6462,end apogee,CONTROL_FINISHED_OK
$STATE,6462,begin climb
$GC,6464,0.70,145.9,2538,3051,3253,3100,755.9,0.0,378,6631,0.93,1.45,123.55,1.750,10500,0.185,0.116,2806,3791,2581,2646,2516,0,0,0,0,0,0,14.00,13.62,13.05
$GC,6666,0.66,145.9,2807,3792,2642,2513,740.9,12.2,388,6714,0.00,1.33,0.00,0.000,1030,0.000,0.075,2811,3056,2577,2642,2512,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7047,0.64,145.9,2812,3057,2642,2512,689.5,13.3,401,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3057,2576,2642,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7382,0.64,145.9,2811,3057,2643,2509,644.7,13.4,412,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3057,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7716,0.62,145.9,2812,3057,2643,2509,600.3,13.2,423,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3057,2575,2642,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8051,0.62,145.9,2812,3057,2642,2510,556.7,12.9,434,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3057,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8386,0.62,145.9,2811,3056,2643,2509,513.3,13.0,445,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3057,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8720,0.62,145.9,2812,3058,2642,2509,469.1,13.2,456,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3057,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9055,0.62,145.9,2811,3057,2643,2508,425.4,13.0,467,9104,0.00,1.33,0.00,0.000,260,0.000,0.120,2811,3783,2575,2642,2508,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9139,0.60,145.9,2812,3784,2642,2509,414.2,13.6,470,9188,0.10,1.25,0.00,0.000,5126,0.264,0.076,2788,3047,2574,2641,2508,0,0,0,0,0,0,14.51,14.66,28.83
$GC,9520,0.60,147.0,2785,3047,2643,2505,368.4,11.6,483,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,3047,2574,2641,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9854,0.60,150.1,2790,3048,2642,2508,329.7,11.5,494,9903,0.00,2.30,0.00,0.000,516,0.000,0.076,2799,1649,2574,2642,2507,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9921,0.60,155.5,2800,1650,2642,2509,322.6,11.3,496,9970,0.00,2.42,3.12,0.945,9222,0.000,0.107,2799,3046,2562,2642,2482,0,0,0,0,0,0,28.83,14.62,13.69
$GC,10319,0.61,161.3,2800,3047,2652,2482,276.4,11.3,510,10368,0.00,1.35,11.20,1.297,8452,0.000,0.116,2799,3792,2521,2594,2449,0,0,0,0,0,0,28.83,14.54,14.04
$GC,10436,0.61,161.3,2801,3792,2589,2448,262.6,12.2,515,10485,0.00,1.25,0.00,0.000,1030,0.000,0.076,2804,3057,2518,2589,2448,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10916,0.62,175.3,2805,3057,2589,2449,208.4,10.9,540,10965,0.00,2.42,12.48,1.210,8708,0.000,0.075,2812,1644,2464,2535,2394,0,0,0,0,0,0,28.83,14.50,14.00
$GC,11000,0.64,207.9,2812,1644,2532,2393,200.2,9.9,543,11067,0.00,2.47,27.85,1.126,9222,0.000,0.106,2811,3049,2331,2397,2266,0,0,0,0,0,0,28.83,14.48,13.90
$GC,11570,0.70,261.4,2813,3049,2389,2260,145.5,8.8,575,11653,0.00,2.45,45.92,1.063,8708,0.000,0.075,2820,1653,2110,2174,2047,0,0,0,0,0,0,28.83,14.26,13.81
$GC,11755,0.79,314.1,2820,1653,2167,2044,129.2,8.8,584,11838,0.00,2.50,45.42,1.049,9222,0.000,0.106,2820,3054,1897,1957,1837,0,0,0,0,0,0,28.83,14.33,13.74
$GC,12342,0.88,362.9,2821,3054,1945,1825,71.2,9.0,617,12409,0.12,2.45,22.75,0.391,10756,0.149,0.077,2889,1646,1713,1776,1651,0,0,0,0,0,0,14.45,14.38,14.21
$GC,12427,0.94,388.7,2890,1651,1785,1652,62.1,10.3,620,12493,0.00,2.50,16.05,0.350,9222,0.000,0.107,2889,3052,1607,1670,1545,0,0,0,0,0,0,28.83,14.41,14.22
$GC,13016,1.14,585.3,2890,3052,1675,1544,14.1,1.2,653,13167,0.17,1.33,104.10,0.224,10500,0.126,0.121,2968,3792,799,783,816,0,0,0,0,0,0,14.54,14.35,14.28
$FREEZE,5.72,4.414,-1.347,2,1,0
$FREEZE,4.72,4.414,-1.346,2,1,0
$FREEZE,3.62,4.490,-1.342,2,1,0
$FREEZE,2.85,4.490,-1.342,2,1,0
$FREEZE,2.01,4.465,-1.344,2,1,0
$FREEZE,1.41,4.465,-1.344,2,1,0
$GC,13253,1.28,699.9,2969,3792,785,810,2.0,5.5,665,13302,0.00,1.27,19.00,0.193,9218,0.000,0.083,2968,3056,649,624,674,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,13302,end climb,SURFACE_DEPTH_REACHED
$STATE,13302,begin surface coast
$FREEZE,1.16,3.968,-1.267,2,1,0
$FINISH,1.2,1.018519
$STATE,13305,end surface coast,CONTROL_FINISHED_OK
$STATE,13306,begin surface
$SM_CCo,13332,21.17,0.196,0,0,498,658.88
$SM_GC,2.47,8.23,0.62,21.17,0.088,0.080,0.196,204,2678,498,-7.38,1.07,658.88,0,0,0,0,0,0,14.46,14.45,14.34
$RAFOS_CLK,749
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7139.36,-14331.85,130814,034147
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.40
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3971680
$24V_AH,13.05,40.067
$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,21.425,46.900,556.150,21.175,0.000,0.000,0.000,388.925,0.000,0.000,25.582,0.000,6317.855,391.974,7072.072,168.615,0.000,3188.441,0.000,1003.982,1494.000,0.537,0.000
$DEVICE_MAMPS,440.640,146.880,1763.325,195.840,0.000,0.000,0.000,183.600,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13332.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.146,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,307692
$DATA_FILE_SIZE,23390,667
$CAP_FILE_SIZE,189446,0
$CFSIZE,2097872896,2065170432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14155.23,0x2378b6,7,5
$SOUNDSPEED,1450.3
$GPS,130814,112824,7218.089,-14424.337,33,0.8,54,22.7