version: 66.12
glider: 198
mission: 5
dive: 231
start: 9 1 114 1 47 12
data:
$ID,198
$MISSION,5
$DIVE,231
$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,-5021.1265
$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,1
$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
$GPS1,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.79
$_SM_ANGLEo,-17.5
$GPS2,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.7,50652,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-145.9,2675,2681,1804,1719,0.0,0.0,0,29,0.00,0.00,-12.25,0.000,16386,0.000,0.000,2674,2680,2495,2555,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2675,2681,2557,2437,17.8,0.0,1,60,0.90,2.47,-19.70,0.000,20996,0.069,0.109,2348,1276,3784,3840,3729,0,0,0,0,0,0,14.41,14.39,14.64
$GC,106,-0.63,-145.9,2347,1277,3841,3732,38.1,-29.7,16,112,0.15,2.53,0.00,0.000,3078,0.341,0.109,2377,2684,3786,3841,3731,0,0,0,0,0,0,14.21,14.38,28.83
$GC,410,-0.63,-145.9,2378,2684,3842,3731,100.3,-16.1,47,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2684,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,710,-0.63,-145.9,2378,2685,3842,3732,146.2,-15.0,77,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2684,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1010,-0.63,-145.9,2378,2684,3842,3732,188.7,-13.6,107,1015,0.00,2.42,0.00,0.000,516,0.000,0.085,2377,1267,3786,3841,3732,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1060,-0.66,-145.9,2379,1267,3841,3733,195.1,-13.1,117,1065,0.00,2.53,0.00,0.000,1030,0.000,0.109,2374,2681,3786,3841,3732,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1370,-0.68,-145.9,2375,2681,3842,3732,234.1,-12.4,149,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.71,-145.9,2375,2682,3841,3733,268.9,-10.4,169,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.75,-145.9,2375,2681,3841,3733,298.8,-9.7,179,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.79,-145.9,2375,2681,3842,3732,327.4,-9.3,189,2295,0.12,1.98,0.00,0.000,4356,0.155,0.122,2316,3791,3787,3840,3735,0,0,0,0,0,0,14.68,14.54,28.83
$GC,2355,-0.79,-145.9,2317,3792,3842,3731,335.5,-13.4,202,2360,0.00,1.90,0.00,0.000,1030,0.000,0.075,2316,2679,3785,3840,3731,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2681,-0.79,-145.9,2317,2680,3841,3732,374.5,-11.9,217,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2678,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.79,-145.9,2317,2680,3842,3732,410.1,-11.9,227,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.79,-145.9,2317,2679,3842,3732,445.2,-11.5,237,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.79,-145.9,2317,2680,3841,3732,479.7,-11.5,247,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.79,-145.9,2317,2680,3841,3732,514.3,-11.5,257,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3786,3841,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.79,-145.9,2317,2680,3842,3732,548.4,-11.3,267,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.79,-145.9,2317,2679,3842,3732,582.2,-11.2,277,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2679,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4780,-0.79,-145.9,2317,2679,3842,3732,615.4,-11.1,287,4785,0.00,2.38,0.00,0.000,516,0.000,0.084,2316,1264,3786,3841,3732,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4825,-0.79,-145.9,2317,1264,3842,3732,620.3,-10.8,296,4830,0.00,2.50,0.00,0.000,1030,0.000,0.107,2307,2686,3786,3841,3732,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5141,-0.79,-145.9,2309,2692,3841,3733,655.6,-11.2,309,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2686,3786,3841,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5440,-0.79,-145.9,2308,2686,3842,3733,689.0,-11.0,319,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2686,3787,3841,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,-0.79,-145.9,2308,2686,3842,3733,721.9,-11.0,329,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2691,3787,3841,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6008,begin apogee
$GC,6013,-0.14,0.0,2306,3053,3842,3733,751.3,-10.8,338,6145,0.88,0.00,130.38,1.782,10246,0.270,0.000,2535,3053,3186,3282,3091,0,0,0,0,0,0,14.50,28.83,13.27
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6146,begin climb
$GC,6148,0.70,145.9,2536,3053,3276,3083,754.2,0.0,342,6279,0.93,1.48,124.93,1.774,10500,0.177,0.116,2803,3784,2585,2664,2506,0,0,0,0,0,0,13.89,13.43,12.83
$GC,6350,0.66,145.9,2803,3784,2651,2497,734.5,14.4,385,6355,0.00,1.33,0.00,0.000,1030,0.000,0.074,2808,3059,2573,2650,2497,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6676,0.66,145.9,2809,3060,2651,2496,691.4,13.2,400,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3059,2572,2650,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6975,0.66,145.9,2809,3056,2651,2495,652.2,13.1,410,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2572,2650,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7275,0.66,145.9,2808,3060,2652,2495,613.3,12.9,420,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3059,2572,2650,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7575,0.66,145.9,2808,3060,2651,2495,574.4,12.9,430,7580,0.00,1.35,0.00,0.000,260,0.000,0.120,2808,3789,2572,2650,2495,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7625,0.62,145.9,2809,3790,2651,2495,567.3,14.9,440,7630,0.00,1.27,0.00,0.000,1030,0.000,0.076,2813,3047,2572,2650,2495,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7950,0.60,145.9,2814,3047,2651,2495,526.4,13.2,452,7951,0.12,0.00,0.00,0.000,4102,0.289,0.000,2787,3044,2569,2645,2494,0,0,0,0,0,0,14.44,28.83,28.83
$GC,8235,0.60,147.0,2787,3047,2651,2491,491.5,11.6,462,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3047,2572,2650,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8535,0.60,150.3,2788,3047,2652,2494,457.3,11.5,472,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3047,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8835,0.61,157.7,2787,3047,2650,2495,423.4,11.2,482,8840,0.00,0.00,3.47,0.977,8198,0.000,0.000,2787,3047,2545,2624,2467,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9135,0.61,165.7,2788,3048,2660,2463,389.9,11.2,492,9151,0.00,0.00,14.75,1.358,8198,0.000,0.000,2786,3047,2510,2594,2426,0,0,0,0,0,0,28.83,28.83,13.87
$GC,9435,0.62,168.3,2788,3047,2579,2415,355.4,11.5,502,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3047,2496,2578,2415,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b8c1a6986;,*55
$MODEM_MSG,CACST,6,0,20140901040119.501314,3,695,10,0105,0150,100,00,00,03,05,1,004,000,0,5,1,0,150,5.0,3.9,-100,-0.9,-01,0.2,20,900,0025*1A
$GC,9735,0.62,177.9,2787,3047,2580,2415,321.9,11.1,512,9747,0.00,0.00,10.38,1.274,8198,0.000,0.000,2787,3047,2460,2543,2377,0,0,0,0,0,0,28.83,28.83,13.92
$GC,10035,0.63,189.2,2788,3047,2533,2368,288.1,11.0,522,10047,0.00,0.00,10.77,1.247,8198,0.000,0.000,2787,3047,2414,2497,2331,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10337,0.66,206.5,2788,3047,2482,2322,255.7,10.7,532,10360,0.00,2.45,15.62,1.231,8708,0.000,0.077,2797,1645,2335,2412,2258,0,0,0,0,0,0,28.83,14.47,13.93
$GC,10400,0.73,235.2,2798,1645,2406,2256,249.0,10.1,545,10431,0.00,2.50,25.17,1.215,9222,0.000,0.106,2797,3056,2222,2298,2146,0,0,0,0,0,0,28.83,14.47,13.83
$GC,10736,0.79,267.5,2799,3057,2283,2134,213.6,9.9,582,10768,0.15,0.00,28.25,1.175,10246,0.126,0.000,2862,3056,2087,2163,2012,0,0,0,0,0,0,14.54,28.83,13.81
$GC,11067,0.79,267.5,2863,3056,2149,2002,171.7,12.2,615,11071,0.00,2.42,0.00,0.000,516,0.000,0.079,2871,1634,2075,2148,2002,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11111,0.79,267.5,2872,1634,2149,2002,166.3,11.7,624,11117,0.00,2.53,0.00,0.000,1030,0.000,0.106,2871,3051,2074,2147,2002,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11416,0.79,267.5,2872,3051,2148,2000,128.2,12.4,655,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,3048,2073,2147,2000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11716,0.80,287.6,2872,3052,2147,2001,93.3,10.6,685,11728,0.00,2.47,7.60,0.389,8708,0.000,0.079,2881,1648,2018,2098,1938,0,0,0,0,0,0,28.83,14.46,14.13
$GC,11779,0.85,326.3,2882,1648,2121,1935,87.2,9.6,697,11809,0.00,2.50,23.20,0.422,9222,0.000,0.108,2881,3051,1858,1930,1787,0,0,0,0,0,0,28.83,14.42,14.13
$GC,12108,0.92,386.4,2886,3051,1953,1787,55.7,8.4,733,12150,0.00,1.38,34.55,0.337,8452,0.000,0.125,2885,3783,1614,1679,1550,0,0,0,0,0,0,28.83,14.31,14.13
$GC,12284,1.02,485.1,2882,3783,1694,1550,43.6,6.4,768,12345,0.00,1.27,54.97,0.307,9222,0.000,0.076,2886,3051,1210,1254,1166,0,0,0,0,0,0,28.83,14.39,14.11
$GC,12650,1.20,613.6,2886,3051,1274,1162,19.0,4.8,811,12726,0.28,2.45,69.28,0.229,10756,0.105,0.082,2998,1647,683,669,697,0,0,0,0,0,0,14.42,14.24,14.19
$FREEZE,8.51,-1.379,-1.446,2,16,0
$STATE,12766,end climb,FINISH_DEPTH_REACHED
$STATE,12766,begin subsurface finish
$FINISH1,8.5,1.021237,350
$GC,12772,0.24,349.8,2998,3050,682,703,8.5,10.8,834,12803,1.15,0.00,-27.85,0.000,20486,0.221,0.000,2678,3050,1759,1802,1717,0,0,0,0,0,0,14.14,28.83,14.54
$FINISH2,7.7
$STATE,12803,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12803,begin surface
$RAFOS_CLK,318
$MODEM,4,1409544079,74.99540,-146.48080,78.501,113779.8
$RAFOS_FIX,7417.013672,-14347.504883,310814,080806,2,255,0.16
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.62
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3918368
$24V_AH,12.83,75.875
$10V_AH,12.80,0.000
$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,4.675,49.300,553.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10513.126,570.820,1710.382,125.265,0.000,1243.346,0.000,1251.099,1475.000,0.535,0.000
$DEVICE_MAMPS,341.190,125.460,1781.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12853.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.305,0.000,0.000,0.000
$MEM,241056
$DATA_FILE_SIZE,30012,837
$CAP_FILE_SIZE,133838,0
$CFSIZE,2097872896,2041806848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6182.25,0x234482,1,24
$SOUNDSPEED,1449.1
$GPS,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2