version: 66.12
glider: 198
mission: 5
dive: 233
start: 9 1 114 8 58 46
data:
$ID,198
$MISSION,5
$DIVE,233
$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,32
$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,15.13
$_SM_ANGLEo,-17.4
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-145.9,2674,2680,1807,1730,0.0,0.0,0,30,0.00,0.00,-12.93,0.000,16386,0.000,0.000,2674,2680,2531,2586,2476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2674,2681,2588,2477,17.5,0.0,1,61,0.90,2.50,-19.48,0.000,21252,0.070,0.107,2350,1270,3784,3839,3729,0,0,0,0,0,0,14.42,14.42,14.65
$GC,286,-0.67,-145.9,2351,1270,3840,3731,80.3,-19.3,52,292,0.00,2.55,0.00,0.000,1030,0.000,0.109,2347,2689,3785,3839,3731,0,0,0,0,0,0,28.83,14.40,28.83
$GC,591,-0.67,-145.9,2348,2690,3840,3732,135.3,-17.8,83,596,0.00,2.42,0.00,0.000,516,0.000,0.084,2348,1272,3785,3839,3731,0,0,0,0,0,0,28.83,14.46,28.83
$GC,821,-0.67,-145.9,2348,1271,3840,3732,170.9,-15.2,129,826,0.00,2.53,0.00,0.000,1030,0.000,0.109,2347,2688,3785,3839,3731,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1131,-0.67,-145.9,2348,2689,3840,3732,217.3,-13.8,161,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.67,-145.9,2349,2689,3840,3732,258.4,-12.3,189,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2693,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.67,-145.9,2349,2688,3840,3731,293.8,-11.7,199,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.67,-145.9,2349,2689,3840,3732,327.7,-11.1,209,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2688,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-0.69,-145.9,2348,2688,3840,3731,359.9,-10.6,219,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-0.72,-145.9,2348,2688,3840,3731,391.4,-10.4,229,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.74,-145.9,2348,2689,3838,3732,422.4,-10.2,239,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,-0.77,-145.9,2348,2688,3840,3731,452.3,-9.9,249,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.79,-145.9,2348,2689,3840,3731,482.0,-9.8,259,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2688,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-0.82,-145.9,2349,2689,3840,3732,511.5,-9.8,269,3856,0.00,1.95,0.00,0.000,260,0.000,0.122,2342,3793,3784,3839,3730,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3906,-0.82,-145.9,2342,3793,3840,3731,517.2,-10.3,280,3912,0.00,1.90,0.00,0.000,1030,0.000,0.073,2341,2677,3785,3839,3731,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4212,-0.85,-145.9,2341,2678,3840,3731,547.9,-10.0,291,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2677,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4511,-0.87,-145.9,2342,2678,3840,3732,577.9,-10.0,301,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2677,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.90,-145.9,2342,2677,3840,3733,607.7,-9.8,311,4816,0.12,2.00,0.00,0.000,4356,0.155,0.123,2287,3788,3785,3839,3732,0,0,0,0,0,0,14.71,14.63,28.83
$GC,4876,-0.86,-145.9,2288,3788,3840,3732,616.1,-14.0,324,4881,0.00,1.90,0.00,0.000,1030,0.000,0.073,2288,2672,3785,3839,3731,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5202,-0.86,-145.9,2288,2672,3840,3731,656.6,-12.3,339,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2672,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.86,-145.9,2289,2673,3840,3733,693.6,-12.4,349,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2671,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,-0.86,-145.9,2288,2672,3839,3733,730.1,-12.2,359,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2671,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5979,begin apogee
$GC,5984,-0.14,0.0,2286,3057,3839,3733,751.7,-12.0,365,6117,0.98,0.00,130.68,1.798,10246,0.272,0.000,2541,3056,3185,3285,3085,0,0,0,0,0,0,14.47,28.83,13.27
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6120,0.70,145.9,2541,3057,3279,3079,754.6,0.0,369,6255,0.90,1.40,125.72,1.772,10500,0.174,0.114,2802,3783,2584,2666,2502,0,0,0,0,0,0,13.88,13.42,12.82
$GC,6329,0.66,145.9,2802,3784,2656,2496,734.2,13.9,414,6334,0.00,1.33,0.00,0.000,1030,0.000,0.073,2807,3055,2576,2657,2495,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6644,0.66,145.9,2808,3056,2656,2495,693.3,12.9,427,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3055,2574,2655,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,0.66,145.9,2807,3056,2657,2494,654.7,12.9,437,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2575,2656,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7244,0.66,145.9,2808,3056,2657,2494,616.2,12.8,447,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2575,2657,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7544,0.66,145.9,2807,3055,2657,2493,577.7,12.9,457,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7845,0.66,145.9,2807,3055,2657,2493,539.7,12.6,467,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8144,0.66,145.9,2807,3056,2657,2499,501.9,12.6,477,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8444,0.66,145.9,2808,3056,2656,2494,464.2,12.5,487,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8744,0.66,145.9,2808,3055,2657,2493,426.7,12.3,497,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9044,0.66,145.9,2807,3055,2658,2493,389.4,12.4,507,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9344,0.66,145.9,2808,3056,2656,2494,353.0,11.9,517,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9644,0.66,145.9,2807,3056,2657,2493,317.4,11.8,527,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3055,2574,2656,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9944,0.66,145.9,2807,3055,2657,2493,282.1,11.7,537,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2574,2656,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10244,0.68,170.2,2808,3056,2657,2494,249.7,10.3,547,10266,0.00,0.00,20.55,1.229,8198,0.000,0.000,2807,3055,2491,2576,2406,0,0,0,0,0,0,28.83,28.83,14.03
$GC,10565,0.72,228.2,2808,3056,2560,2393,218.5,8.5,579,10620,0.00,2.42,49.20,1.188,8708,0.000,0.078,2817,1650,2248,2327,2169,0,0,0,0,0,0,28.83,14.35,13.82
$GC,10670,0.78,262.3,2818,1648,2314,2168,208.5,9.8,600,10707,0.00,2.53,30.17,1.167,9222,0.000,0.106,2817,3054,2108,2185,2032,0,0,0,0,0,0,28.83,14.35,13.74
$GC,11010,0.83,292.8,2818,3055,2171,2018,172.7,10.0,637,11042,0.12,2.45,25.67,1.132,10756,0.142,0.076,2879,1648,1983,2057,1910,0,0,0,0,0,0,14.41,14.29,13.76
$GC,11077,0.83,292.8,2880,1647,2049,1907,164.5,12.2,648,11083,0.00,2.53,0.00,0.000,1030,0.000,0.106,2879,3049,1979,2052,1906,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11381,0.83,292.8,2880,3049,2043,1903,124.3,13.0,679,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,3049,1972,2043,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11681,0.83,292.8,2880,3052,2043,1900,86.5,12.2,709,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,3049,1971,2044,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11981,0.88,359.7,2880,3050,2042,1899,56.4,8.1,739,12023,0.00,2.47,33.03,0.340,8708,0.000,0.077,2889,1652,1723,1793,1653,0,0,0,0,0,0,28.83,14.28,14.07
$GC,12207,1.04,497.5,2894,1652,1812,1654,44.8,4.3,784,12289,0.10,2.53,76.43,0.308,11270,0.164,0.107,2935,3049,1157,1194,1120,0,0,0,0,0,0,14.30,14.26,14.04
$MODEM_MSG,CACST,6,1,20140901120124.153118,3,1046,24,0369,0150,100,00,00,01,03,1,000,000,2,5,1,0,150,24.9,-5.5,-100,8.5,-01,0.3,28,900,0025*17
$GC,12596,1.17,585.7,2936,3049,1215,1119,13.6,6.9,831,12651,0.00,1.40,47.90,0.216,8452,0.000,0.127,2935,3784,799,802,796,0,0,0,0,0,0,28.83,14.26,14.16
$FREEZE,8.89,-1.385,-1.447,2,18,0
$STATE,12660,end climb,FINISH_DEPTH_REACHED
$STATE,12660,begin subsurface finish
$FINISH1,8.9,1.021252,349
$GC,12665,0.24,349.1,2941,3044,810,796,8.9,7.6,844,12694,0.93,1.45,-23.85,0.000,20740,0.192,0.168,2669,3791,1764,1803,1726,0,0,0,0,0,0,14.21,14.26,14.52
$FINISH2,8.7
$STATE,12695,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12695,begin surface
$RAFOS_CLK,121
$RAFOS_FIX,7417.013672,-14347.504883,310814,080806,2,255,0.16
$IRIDIUM_FIX,7319.74,-14432.29,290814,185220
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.48
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3917472
$24V_AH,12.82,76.450
$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,4.050,42.150,539.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10441.043,532.861,1722.090,118.569,0.000,1211.901,0.000,1265.138,1491.000,0.535,0.000
$DEVICE_MAMPS,272.340,168.300,1797.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12742.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.081,0.000,0.000,0.000
$MEM,240036
$DATA_FILE_SIZE,30005,850
$CAP_FILE_SIZE,128133,0
$CFSIZE,2097872896,2041479168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$GPS,310814,080806,7417.014,-14347.505,0,2255.0,0,23.2