version: 66.12
glider: 198
mission: 5
dive: 114
start: 8 13 114 15 30 53
data:
$ID,198
$MISSION,5
$DIVE,114
$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,-3453.3318
$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,17
$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
$GPS1,130814,152319,7219.443,-14423.201,37,0.8,58,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.2
$GPS2,130814,153034,7219.455,-14423.173,4,0.8,25,22.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.6,57026,-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,-145.9,197,2672,455,538,0.0,0.0,0,114,0.00,0.00,-57.78,0.000,16386,0.000,0.000,195,2672,1896,1928,1864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,196,2672,1932,1864,3.1,-2.1,7,195,11.10,2.03,-37.33,0.000,18692,0.457,0.138,2344,3795,3779,3845,3714,0,0,0,0,0,0,14.15,14.38,14.62
$GC,420,-0.62,-145.9,2344,3794,3846,3721,79.0,-21.2,63,449,0.17,1.88,0.00,0.000,3078,0.328,0.072,2380,2670,3783,3845,3722,0,0,0,0,0,0,14.28,14.46,28.83
$GC,754,-0.62,-145.9,2381,2670,3846,3722,132.8,-15.1,95,783,0.00,2.00,0.00,0.000,260,0.000,0.124,2374,3789,3784,3846,3722,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1007,-0.62,-145.9,2375,3789,3847,3722,172.0,-15.3,141,1036,0.00,1.85,0.00,0.000,1030,0.000,0.074,2374,2678,3784,3846,3722,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1341,-0.62,-145.9,2375,2678,3847,3721,214.9,-12.5,173,1370,0.00,2.00,0.00,0.000,260,0.000,0.126,2374,3792,3783,3845,3722,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1594,-0.62,-145.9,2375,3792,3847,3721,246.0,-12.2,219,1622,0.00,1.85,0.00,0.000,1030,0.000,0.074,2373,2681,3782,3846,3719,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1937,-0.65,-145.9,2375,2682,3846,3725,283.1,-10.8,232,1966,0.00,2.00,0.00,0.000,260,0.000,0.127,2373,3787,3782,3845,3719,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2000,-0.65,-145.9,2375,3787,3846,3720,290.1,-11.3,240,2029,0.00,1.85,0.00,0.000,1030,0.000,0.075,2374,2679,3782,3846,3719,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2343,-0.68,-145.9,2375,2679,3846,3720,325.9,-10.2,254,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3782,3846,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,-0.71,-145.9,2375,2679,3846,3719,355.2,-9.5,264,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2679,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.74,-145.9,2374,2679,3846,3718,383.7,-9.3,274,2980,0.00,2.03,0.00,0.000,260,0.000,0.127,2374,3795,3779,3841,3718,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3070,-0.77,-145.9,2375,3795,3846,3718,395.5,-10.1,293,3098,0.00,1.88,0.00,0.000,1030,0.000,0.073,2374,2671,3781,3845,3718,0,0,0,0,0,0,28.83,14.57,28.83
$MODEM_MSG,CACST,6,1,20140813160446.621408,3,545,21,0106,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,14.8,0.8,-100,2.3,-01,0.7,26,900,0025*21
$GC,3418,-0.80,-145.9,2375,2672,3846,3718,427.5,-9.1,308,3447,0.12,0.00,0.00,0.000,4102,0.153,0.000,2324,2672,3780,3845,3716,0,0,0,0,0,0,14.62,28.83,28.83
$GC,3722,-0.80,-145.9,2325,2673,3846,3718,462.0,-11.5,318,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2672,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4026,-0.80,-145.9,2326,2673,3846,3718,497.0,-11.4,328,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2671,3781,3846,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4329,-0.80,-145.9,2325,2673,3846,3718,531.5,-11.4,338,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2671,3781,3845,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,-0.80,-145.9,2325,2673,3846,3718,566.1,-11.4,348,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2672,3781,3845,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,-0.80,-145.9,2325,2672,3846,3718,600.2,-11.2,358,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2671,3778,3840,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5241,-0.80,-145.9,2325,2673,3846,3717,633.9,-10.9,368,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2672,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5545,-0.80,-145.9,2325,2672,3846,3718,667.3,-10.9,378,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2671,3781,3845,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5849,-0.80,-145.9,2325,2672,3847,3718,700.5,-10.9,388,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2672,3781,3845,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6152,-0.80,-145.9,2325,2672,3847,3718,733.2,-10.7,398,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2672,3781,3845,3718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6334,begin apogee
$GC,6337,-0.14,0.0,2322,3058,3846,3718,752.8,-10.7,404,6489,0.82,0.00,125.18,1.744,10246,0.278,0.000,2538,3058,3189,3272,3107,0,0,0,0,0,0,14.60,28.83,13.33
$STATE,6489,end apogee,CONTROL_FINISHED_OK
$STATE,6490,begin climb
$GC,6491,0.70,145.9,2539,3058,3257,3100,756.8,0.0,408,6657,0.90,1.42,123.30,1.743,10500,0.184,0.116,2802,3782,2581,2646,2516,0,0,0,0,0,0,14.00,13.61,13.02
$GC,6725,0.67,145.9,2803,3783,2642,2514,736.8,13.5,420,6774,0.00,1.30,0.00,0.000,1030,0.000,0.074,2806,3057,2577,2642,2512,0,0,0,0,0,0,28.83,13.94,28.83
$GC,7156,0.67,145.9,2805,3057,2643,2511,679.2,13.1,436,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3057,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7491,0.67,145.9,2807,3057,2642,2512,635.8,13.0,447,7540,0.00,2.38,0.00,0.000,516,0.000,0.076,2817,1644,2576,2642,2510,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7558,0.67,145.9,2817,1645,2642,2512,627.6,12.8,449,7607,0.00,2.47,0.00,0.000,1030,0.000,0.106,2817,3050,2576,2642,2510,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7956,0.64,145.9,2818,3051,2642,2511,574.0,13.5,463,8004,0.00,1.35,0.00,0.000,260,0.000,0.119,2816,3794,2575,2641,2510,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8074,0.60,145.9,2818,3796,2642,2511,557.2,14.9,468,8123,0.10,1.27,0.00,0.000,5126,0.269,0.074,2793,3044,2576,2641,2511,0,0,0,0,0,0,14.42,14.58,28.83
$GC,8410,0.60,145.9,2795,3044,2639,2511,515.1,12.0,479,8458,0.00,2.30,0.00,0.000,516,0.000,0.076,2803,1653,2575,2641,2510,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8476,0.60,145.9,2804,1653,2643,2510,507.6,11.8,481,8525,0.00,2.42,0.00,0.000,1030,0.000,0.106,2803,3052,2575,2641,2510,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8874,0.60,145.9,2804,3052,2642,2510,458.6,12.4,495,8923,0.00,1.33,0.00,0.000,260,0.000,0.120,2803,3786,2575,2641,2510,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8957,0.60,145.9,2804,3786,2643,2516,448.0,13.0,498,9006,0.00,1.25,0.00,0.000,1030,0.000,0.074,2809,3047,2575,2640,2510,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9339,0.60,145.9,2809,3046,2642,2510,398.8,12.8,511,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3047,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,0.60,145.9,2810,3048,2642,2511,355.6,13.0,522,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3047,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10008,0.60,145.9,2810,3047,2642,2511,313.0,12.6,533,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3047,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10343,0.60,145.9,2810,3047,2642,2510,272.1,11.7,544,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3047,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10759,0.62,165.5,2810,3048,2642,2511,225.7,10.6,563,10807,0.00,2.35,16.00,1.194,8708,0.000,0.073,2819,1646,2503,2571,2436,0,0,0,0,0,0,28.83,14.54,14.01
$GC,10893,0.63,188.5,2820,1648,2569,2433,211.9,10.4,569,10959,0.00,2.45,20.12,1.145,9222,0.000,0.105,2819,3045,2405,2473,2338,0,0,0,0,0,0,28.83,14.50,13.94
$GC,11463,0.68,261.3,2820,3045,2468,2335,157.6,7.8,601,11564,0.00,0.00,61.22,1.043,8454,0.000,0.000,2819,3045,2110,2173,2047,0,0,0,0,0,0,28.83,28.83,13.78
$GC,12071,0.75,307.3,2820,3045,2164,2037,97.9,9.2,635,12137,0.00,0.00,21.30,0.470,8198,0.000,0.000,2820,3045,1942,2012,1873,0,0,0,0,0,0,28.83,28.83,14.18
$GC,12644,0.90,414.3,2820,3046,2018,1874,51.9,5.9,667,12745,0.15,2.42,57.97,0.332,10756,0.134,0.077,2898,1650,1502,1561,1444,0,0,0,0,0,0,14.54,14.35,14.24
$GC,12897,0.97,450.4,2899,1650,1565,1445,28.2,9.7,680,12962,0.00,2.50,20.50,0.265,9222,0.000,0.108,2899,3056,1353,1408,1298,0,0,0,0,0,0,28.83,14.45,14.31
$FREEZE,8.85,-0.429,-1.442,2,1,0
$FREEZE,8.21,-0.428,-1.438,2,1,0
$FREEZE,7.47,-0.466,-1.436,2,1,0
$FREEZE,6.96,-0.514,-1.434,2,1,0
$FREEZE,6.27,-0.497,-1.431,2,1,0
$FREEZE,5.63,-0.430,-1.426,2,1,0
$FREEZE,5.15,0.144,-1.399,2,1,0
$FREEZE,4.63,0.387,-1.388,2,1,0
$FREEZE,4.24,1.100,-1.364,2,1,0
$FREEZE,3.73,2.278,-1.317,2,1,0
$FREEZE,3.52,3.053,-1.291,2,1,0
$FREEZE,3.32,2.863,-1.313,2,1,0
$FREEZE,3.07,3.040,-1.313,2,1,0
$FREEZE,2.85,2.901,-1.333,2,1,0
$FREEZE,2.51,2.992,-1.357,2,1,0
$FREEZE,2.20,3.103,-1.364,2,1,0
$FREEZE,1.66,2.977,-1.387,2,1,0
$STATE,13484,end climb,SURFACE_DEPTH_REACHED
$STATE,13484,begin surface coast
$FREEZE,1.32,3.180,-1.387,2,1,0
$FREEZE,1.31,3.212,-1.387,2,1,0
$FREEZE,1.29,3.040,-0.955,2,1,0
$FREEZE,1.21,3.109,-0.732,2,1,0
$FREEZE,1.25,3.153,-0.244,2,1,0
$FREEZE,1.43,3.008,-1.395,2,1,0
$FREEZE,1.29,3.150,-0.647,2,1,0
$FREEZE,1.24,3.161,-1.390,2,1,0
$FREEZE,1.45,3.139,-1.392,2,1,0
$FINISH,1.5,1.020376
$STATE,13567,end surface coast,CONTROL_FINISHED_OK
$STATE,13567,begin surface
$SM_CCo,13593,108.12,0.193,0,0,502,658.88
$SM_GC,2.37,8.12,0.62,108.12,0.105,0.079,0.193,198,2680,502,-7.40,1.16,658.88,0,0,0,0,0,0,14.58,14.57,14.37
$RAFOS_CLK,716
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7139.36,-14426.92,130814,113123
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.79
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3970784
$24V_AH,13.02,40.717
$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,21.500,47.900,445.600,108.125,0.000,0.000,0.000,245.100,0.000,0.000,26.377,0.000,6283.673,461.152,7242.842,160.957,0.000,3002.144,0.000,1081.570,1492.000,0.536,0.000
$DEVICE_MAMPS,457.470,138.465,1744.200,192.780,0.000,0.000,0.000,166.770,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13594.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.329,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,306472
$DATA_FILE_SIZE,23427,722
$CAP_FILE_SIZE,193654,0
$CFSIZE,2097872896,2064777216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14107.38,0x2378b6,7,5
$SOUNDSPEED,1450.2
$GPS,130814,192112,7220.778,-14421.967,39,0.7,60,22.7