version: 66.12
glider: 198
mission: 5
dive: 115
start: 8 13 114 19 28 51
data:
$ID,198
$MISSION,5
$DIVE,115
$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,-3454.5918
$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,35
$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
$GPS1,130814,192112,7220.778,-14421.967,39,0.7,60,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-70.9
$GPS2,130814,192832,7220.801,-14421.868,4,0.8,24,22.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.1,54465,-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,-145.9,197,2679,443,548,0.0,0.0,0,114,0.00,0.00,-58.12,0.000,16386,0.000,0.000,196,2679,1894,1923,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,197,2679,1930,1868,3.0,-2.0,7,200,10.95,2.05,-39.42,0.000,18692,0.450,0.146,2346,3781,3784,3910,3658,0,0,0,0,0,0,14.16,14.33,14.66
$GC,425,-0.63,-145.9,2347,3782,3887,3696,77.2,-20.3,64,455,0.15,1.85,0.00,0.000,3078,0.334,0.072,2378,2676,3790,3886,3695,0,0,0,0,0,0,14.31,14.51,28.83
$GC,750,-0.63,-145.9,2379,2676,3887,3701,128.7,-14.8,95,779,0.00,2.00,0.00,0.000,260,0.000,0.123,2374,3786,3790,3885,3696,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1003,-0.63,-145.9,2375,3786,3886,3696,168.3,-15.5,141,1032,0.00,1.85,0.00,0.000,1030,0.000,0.074,2374,2675,3790,3885,3696,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1337,-0.63,-145.9,2375,2675,3885,3697,210.8,-12.5,173,1366,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3792,3790,3884,3696,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1405,-0.63,-145.9,2375,3792,3884,3697,219.2,-12.7,182,1434,0.00,1.88,0.00,0.000,1030,0.000,0.074,2374,2675,3789,3883,3696,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1749,-0.65,-145.9,2375,2675,3883,3697,257.0,-10.3,211,1778,0.00,2.35,0.00,0.000,516,0.000,0.083,2373,1272,3789,3882,3696,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1807,-0.68,-145.9,2374,1272,3883,3696,263.0,-10.2,218,1846,0.00,2.47,0.00,0.000,1030,0.000,0.109,2375,2685,3789,3883,3696,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2166,-0.71,-145.9,2375,2681,3881,3697,298.2,-9.9,233,2195,0.00,1.95,0.00,0.000,260,0.000,0.125,2374,3781,3788,3881,3696,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2239,-0.73,-145.9,2374,3782,3882,3696,306.1,-10.6,243,2268,0.00,1.85,0.00,0.000,1030,0.000,0.075,2374,2671,3788,3880,3696,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2573,-0.77,-145.9,2375,2668,3881,3696,339.7,-9.9,255,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2671,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-0.80,-145.9,2375,2671,3881,3697,368.7,-9.5,265,2906,0.12,2.00,0.00,0.000,4356,0.151,0.122,2312,3784,3787,3879,3696,0,0,0,0,0,0,14.57,14.52,28.83
$GC,3010,-0.77,-145.9,2312,3785,3879,3696,386.1,-14.2,287,3039,0.12,1.85,0.00,0.000,3078,0.307,0.073,2337,2672,3787,3878,3696,0,0,0,0,0,0,14.40,14.58,28.83
$MODEM_MSG,CACST,6,1,20140813200447.975606,3,722,22,0096,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,18.4,1.1,-100,1.9,-01,0.2,23,900,0025*24
$GC,3346,-0.77,-145.9,2338,2673,3879,3697,423.6,-10.9,299,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2672,3790,3888,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3650,-0.77,-145.9,2336,2672,3879,3696,456.8,-10.9,309,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2667,3787,3879,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,-0.77,-145.9,2338,2672,3879,3697,489.8,-10.8,319,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2672,3785,3875,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-0.77,-145.9,2339,2673,3879,3697,522.8,-10.9,329,4286,0.00,2.33,0.00,0.000,516,0.000,0.083,2337,1275,3787,3879,3696,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4311,-0.77,-145.9,2338,1275,3879,3696,528.9,-11.4,335,4339,0.00,2.45,0.00,0.000,1030,0.000,0.107,2334,2677,3787,3878,3696,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4664,-0.77,-145.9,2335,2679,3879,3697,567.3,-10.8,351,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2678,3787,3878,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4967,-0.77,-145.9,2334,2678,3880,3696,600.7,-10.9,361,4996,0.00,1.95,0.00,0.000,260,0.000,0.121,2326,3790,3787,3878,3696,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5035,-0.77,-145.9,2327,3791,3879,3697,608.9,-12.4,370,5064,0.00,1.83,0.00,0.000,1030,0.000,0.073,2326,2677,3787,3878,3696,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5373,-0.77,-145.9,2326,2677,3879,3696,647.4,-11.3,383,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2676,3787,3878,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5677,-0.77,-145.9,2327,2677,3879,3697,681.7,-11.3,393,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2677,3787,3878,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,-0.77,-145.9,2327,2677,3880,3696,716.2,-11.4,403,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2677,3786,3877,3695,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6283,begin apogee
$GC,6287,-0.14,0.0,2324,3061,3879,3696,750.4,-11.3,413,6439,0.82,0.00,125.78,1.735,10246,0.275,0.000,2540,3061,3189,3270,3109,0,0,0,0,0,0,14.59,28.83,13.35
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6440,begin climb
$GC,6441,0.70,145.9,2541,3061,3257,3104,755.2,0.0,417,6610,0.90,0.00,123.22,1.727,10502,0.181,0.000,2803,3062,2582,2642,2522,0,0,0,0,0,0,14.01,28.83,13.05
$GC,6993,0.70,145.9,2804,3063,2641,2518,698.5,12.1,440,7042,0.00,1.35,0.00,0.000,260,0.000,0.121,2803,3784,2578,2639,2517,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7111,0.66,145.9,2804,3785,2640,2518,683.0,13.8,445,7160,0.00,1.27,0.00,0.000,1030,0.000,0.076,2808,3051,2578,2640,2517,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7446,0.66,145.9,2809,3051,2641,2517,639.4,12.8,456,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2578,2640,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,0.66,145.9,2809,3052,2640,2517,596.0,13.0,467,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3050,2577,2639,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,0.66,145.9,2809,3051,2640,2517,552.3,13.0,478,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3051,2578,2640,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8450,0.66,145.9,2809,3051,2641,2516,508.9,12.9,489,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3051,2577,2639,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8784,0.66,145.9,2809,3051,2641,2515,465.6,12.8,500,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3051,2578,2640,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9119,0.66,145.9,2809,3052,2640,2516,422.6,12.9,511,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3051,2580,2645,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,0.66,145.9,2809,3051,2640,2516,380.2,12.6,522,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3050,2577,2639,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9788,0.66,145.9,2809,3051,2640,2516,338.5,12.3,533,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3051,2577,2639,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10123,0.66,145.9,2809,3051,2640,2515,298.7,11.8,544,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3051,2577,2639,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10457,0.66,145.9,2809,3050,2641,2515,259.2,11.8,555,10506,0.00,1.35,0.00,0.000,260,0.000,0.120,2808,3790,2577,2640,2515,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10559,0.64,145.9,2809,3790,2641,2516,246.7,12.8,559,10607,0.00,1.25,0.00,0.000,1030,0.000,0.077,2814,3052,2577,2640,2515,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11131,0.68,197.5,2815,3052,2640,2516,186.9,8.9,591,11214,0.00,2.45,42.60,1.108,8708,0.000,0.075,2823,1643,2371,2431,2311,0,0,0,0,0,0,28.83,14.34,13.92
$GC,11350,0.74,248.9,2823,1645,2422,2310,167.5,8.9,602,11433,0.00,2.47,43.53,1.073,9222,0.000,0.106,2822,3043,2162,2221,2103,0,0,0,0,0,0,28.83,14.46,13.78
$GC,11941,0.81,306.3,2823,3044,2213,2093,110.4,8.6,635,12023,0.00,2.42,48.35,1.006,8708,0.000,0.076,2831,1646,1926,1978,1874,0,0,0,0,0,0,28.83,14.25,13.83
$GC,12092,0.89,351.8,2832,1646,1972,1872,96.5,9.2,642,12158,0.15,2.53,22.05,0.467,11270,0.132,0.107,2897,3056,1757,1814,1701,0,0,0,0,0,0,14.38,14.32,14.04
$GC,12678,0.92,392.5,2898,3055,1815,1701,29.5,9.5,675,12744,0.00,1.35,22.55,0.270,8452,0.000,0.119,2897,3787,1590,1647,1533,0,0,0,0,0,0,28.83,14.40,14.31
$GC,12813,0.97,433.0,2897,3788,1652,1534,17.1,9.5,681,12879,0.00,1.27,22.85,0.230,9222,0.000,0.077,2900,3048,1423,1476,1370,0,0,0,0,0,0,28.83,14.50,14.31
$FREEZE,8.38,0.609,-1.426,2,1,0
$FREEZE,7.94,0.618,-1.425,2,1,0
$FREEZE,7.65,0.629,-1.424,2,1,0
$FREEZE,7.28,0.683,-1.421,2,1,0
$FREEZE,7.21,0.687,-1.421,2,1,0
$FREEZE,6.96,0.699,-1.421,2,1,0
$FREEZE,6.56,0.710,-1.421,2,1,0
$FREEZE,6.19,0.700,-1.421,2,1,0
$FREEZE,5.76,0.692,-1.422,2,1,0
$FREEZE,5.22,0.712,-1.421,2,1,0
$FREEZE,4.60,0.710,-1.421,2,1,0
$FREEZE,3.90,0.709,-1.420,2,1,0
$FREEZE,3.37,0.721,-1.419,2,1,0
$FREEZE,2.74,0.728,-1.419,2,1,0
$FREEZE,2.15,0.699,-1.420,2,1,0
$FREEZE,1.31,0.708,-1.419,2,1,0
$STATE,13298,end climb,SURFACE_DEPTH_REACHED
$STATE,13298,begin surface coast
$FREEZE,1.16,0.726,-0.738,2,1,0
$FREEZE,1.40,0.685,-0.737,2,1,0
$FREEZE,1.28,0.680,-0.130,2,1,0
$FREEZE,1.31,0.675,-0.116,2,1,0
$FREEZE,1.24,0.651,-0.801,2,1,0
$FINISH,1.2,1.011825
$STATE,13341,end surface coast,CONTROL_FINISHED_OK
$STATE,13341,begin surface
$SM_CCo,13367,118.93,0.191,0,0,501,658.88
$SM_GC,2.21,8.20,0.62,118.93,0.110,0.081,0.191,195,2670,501,-7.40,0.79,658.88,0,0,0,0,0,0,14.56,14.57,14.35
$RAFOS_CLK,695
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7146.24,-14418.68,130814,152625
$TT8_MAMPS,0.04494,0.04494
$HUMID,47.32
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3970336
$24V_AH,13.05,41.040
$10V_AH,13.09,0.000
$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,21.425,51.700,450.925,118.925,0.000,0.000,0.000,248.175,0.000,0.000,25.856,0.000,6293.638,490.381,6996.595,155.061,0.000,3037.555,0.000,1070.424,1488.000,0.535,0.000
$DEVICE_MAMPS,449.820,146.115,1735.020,191.250,0.000,0.000,0.000,171.360,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13369.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.080,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,305840
$DATA_FILE_SIZE,23432,713
$CAP_FILE_SIZE,190792,0
$CFSIZE,2097872896,2064580608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14276.89,0x2378b6,7,5
$SOUNDSPEED,1450.4
$GPS,130814,231524,7222.130,-14420.909,30,0.8,51,22.8