version: 66.12
glider: 198
mission: 5
dive: 246
start: 9 3 114 8 39 4
data:
$ID,198
$MISSION,5
$DIVE,246
$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,-5023.6465
$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,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,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
$GPS1,030914,082518,7438.876,-14220.688,40,0.8,60,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.5
$GPS2,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,172.3,353001,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bb7aa6c29;,*59
$MODEM_MSG,CACST,6,0,20140903080127.581990,3,538,27,0426,0150,100,00,00,00,03,1,004,000,0,5,1,0,150,9.9,7.4,-100,-4.4,-01,0.2,24,900,0025*1A
$GC,17,-0.70,-145.9,203,2674,473,525,0.0,0.0,0,91,0.00,0.00,-71.95,0.000,16386,0.000,0.000,201,2673,2143,2170,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.70,-145.9,202,2675,2172,2116,4.0,-4.5,7,146,11.05,2.50,-33.95,0.000,18948,0.443,0.108,2353,1276,3783,3838,3728,0,0,0,0,0,0,13.98,14.28,14.52
$GC,191,-0.62,-145.9,2354,1276,3839,3729,32.2,-30.1,27,197,0.17,2.55,0.00,0.000,3078,0.341,0.103,2382,2690,3783,3838,3729,0,0,0,0,0,0,14.07,14.24,28.83
$GC,501,-0.62,-145.9,2383,2689,3839,3730,99.6,-17.4,59,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2690,3784,3839,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,801,-0.62,-145.9,2383,2690,3839,3731,146.5,-15.0,89,806,0.00,2.42,0.00,0.000,516,0.000,0.083,2382,1272,3784,3838,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,866,-0.62,-145.9,2384,1272,3839,3731,155.6,-13.5,102,873,0.00,2.53,0.00,0.000,1030,0.000,0.104,2376,2688,3784,3839,3730,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1171,-0.62,-145.9,2381,2689,3840,3731,198.8,-14.0,133,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2688,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-0.62,-145.9,2377,2689,3839,3731,236.4,-12.4,163,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2688,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1781,-0.65,-145.9,2377,2689,3839,3731,270.0,-10.6,182,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2688,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2082,-0.68,-145.9,2376,2688,3839,3731,300.7,-10.2,192,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2688,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,-0.72,-145.9,2377,2688,3839,3730,330.3,-9.7,202,2387,0.00,1.98,0.00,0.000,260,0.000,0.123,2374,3786,3782,3838,3726,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2436,-0.74,-145.9,2374,3786,3840,3730,336.1,-11.3,213,2443,0.00,1.90,0.00,0.000,1030,0.000,0.071,2374,2675,3784,3838,3730,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2743,-0.78,-145.9,2374,2675,3840,3730,365.9,-9.7,224,2744,0.12,0.00,0.00,0.000,4102,0.148,0.000,2321,2675,3784,3838,3730,0,0,0,0,0,0,14.67,28.83,28.83
$GC,3041,-0.78,-145.9,2322,2675,3839,3731,402.0,-12.1,234,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2674,3784,3839,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.78,-145.9,2321,2675,3840,3730,437.6,-11.7,244,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2675,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3642,-0.78,-145.9,2322,2675,3840,3730,472.4,-11.5,254,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2675,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.78,-145.9,2321,2675,3840,3730,506.5,-11.3,264,3946,0.00,2.00,0.00,0.000,260,0.000,0.120,2317,3787,3784,3839,3730,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3971,-0.78,-145.9,2317,3787,3840,3730,510.2,-13.3,270,3976,0.00,1.88,0.00,0.000,1030,0.000,0.070,2317,2653,3784,3839,3730,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4302,-0.78,-145.9,2323,2653,3840,3731,547.9,-11.4,286,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2652,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.78,-145.9,2318,2653,3839,3732,582.3,-11.5,296,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2653,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-0.78,-145.9,2318,2653,3839,3731,617.0,-11.6,306,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2653,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5201,-0.78,-145.9,2317,2652,3840,3732,651.3,-11.4,316,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2653,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.78,-145.9,2317,2652,3840,3732,685.1,-11.1,326,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2652,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5802,-0.78,-145.9,2318,2653,3839,3734,718.6,-11.1,336,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2653,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6100,begin apogee
$GC,6104,-0.14,0.0,2314,3053,3840,3733,751.9,-11.0,346,6246,0.85,0.00,133.68,2.492,10246,0.259,0.000,2540,3053,3187,3290,3085,0,0,0,0,1,0,14.47,28.83,12.81
$STATE,6247,end apogee,CONTROL_FINISHED_OK
$STATE,6247,begin climb
$GC,6249,0.70,145.9,2540,3053,3291,3092,755.2,0.0,350,6388,0.93,1.50,132.60,1.713,10500,0.167,0.114,2805,3784,2586,2675,2498,0,0,0,0,0,0,13.62,13.26,12.66
$GC,6398,0.67,145.9,2806,3785,2670,2496,744.5,11.7,375,6404,0.00,1.35,0.00,0.000,1030,0.000,0.067,2810,3061,2582,2669,2495,0,0,0,0,0,0,28.83,13.39,28.83
$GC,6704,0.64,145.9,2811,3061,2667,2494,704.6,13.1,386,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3061,2579,2665,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7003,0.62,145.9,2811,3061,2669,2493,665.2,13.2,396,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3061,2579,2665,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,0.60,145.9,2811,3063,2666,2494,626.1,13.1,406,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3061,2579,2665,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,0.58,145.9,2811,3061,2666,2493,587.7,12.8,416,7608,0.00,1.33,0.00,0.000,260,0.000,0.118,2810,3781,2579,2665,2493,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7678,0.54,145.9,2811,3782,2666,2493,577.3,13.7,431,7683,0.17,1.25,0.00,0.000,5126,0.252,0.071,2768,3049,2579,2665,2493,0,0,0,0,0,0,14.39,14.61,28.83
$GC,7995,0.55,168.3,2768,3054,2665,2494,544.0,10.4,444,8015,0.00,0.00,19.25,1.532,8198,0.000,0.000,2768,3051,2499,2589,2409,0,0,0,0,0,0,28.83,28.83,13.90
$GC,8295,0.58,179.3,2769,3049,2579,2400,510.8,11.0,454,8306,0.00,0.00,9.80,1.522,8198,0.000,0.000,2768,3048,2456,2549,2364,0,0,0,0,0,0,28.83,28.83,13.89
$GC,8595,0.61,190.0,2769,3049,2537,2360,477.7,11.1,464,8609,0.00,2.45,10.30,1.489,8708,0.000,0.076,2778,1641,2407,2497,2317,0,0,0,0,0,0,28.83,14.52,13.90
$GC,8644,0.66,210.8,2778,1641,2492,2316,472.3,10.5,474,8667,0.00,2.50,18.90,1.434,9222,0.000,0.103,2778,3054,2326,2411,2241,0,0,0,0,0,0,28.83,14.49,13.81
$GC,8987,0.69,210.8,2779,3055,2398,2232,431.4,12.0,492,8988,0.10,0.00,0.00,0.000,2054,0.159,0.000,2833,3054,2314,2397,2231,0,0,0,0,0,0,14.56,28.83,28.83
$GC,9287,0.69,210.8,2835,3054,2396,2231,386.3,15.2,502,9292,0.00,2.38,0.00,0.000,516,0.000,0.076,2841,1641,2313,2395,2231,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9317,0.69,210.8,2841,1642,2396,2233,381.9,15.0,508,9322,0.12,2.47,0.00,0.000,5126,0.275,0.101,2814,3051,2313,2395,2231,0,0,0,0,0,0,14.43,14.57,28.83
$GC,9647,0.69,210.8,2815,3052,2396,2232,336.4,13.8,524,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3051,2313,2395,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9947,0.69,210.8,2814,3052,2396,2231,296.2,13.1,534,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3051,2313,2395,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10247,0.69,210.8,2814,3052,2396,2231,257.8,12.5,544,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3051,2312,2394,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10547,0.70,225.9,2814,3051,2396,2232,224.0,10.8,568,10562,0.00,0.00,13.02,1.226,8454,0.000,0.000,2814,3052,2260,2343,2177,0,0,0,0,0,0,28.83,28.83,14.06
$GC,10868,0.73,266.8,2814,3051,2336,2173,192.3,9.5,601,10909,0.00,0.00,35.97,1.105,8198,0.000,0.000,2814,3051,2092,2174,2010,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11208,0.79,304.1,2815,3052,2164,2006,159.2,9.6,635,11242,0.00,0.00,32.50,1.071,8198,0.000,0.000,2814,3051,1946,2024,1868,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11539,0.86,348.0,2815,3052,2006,1858,127.1,9.3,668,11583,0.15,2.47,37.85,1.023,10756,0.129,0.080,2889,1648,1760,1828,1692,0,0,0,0,0,0,14.51,14.31,13.84
$GC,11663,0.89,348.0,2890,1648,1821,1691,111.5,12.3,693,11669,0.00,2.53,0.00,0.000,1030,0.000,0.103,2890,3052,1755,1820,1690,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11968,0.89,348.0,2896,3051,1818,1687,72.2,12.3,724,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,3052,1751,1817,1686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12274,1.02,491.8,2890,3052,1818,1684,46.5,4.0,754,12354,0.00,0.00,76.97,0.321,8198,0.000,0.000,2890,3057,1179,1227,1131,0,0,0,0,0,0,28.83,28.83,14.07
$GC,12653,1.20,616.9,2890,3058,1233,1137,22.0,5.0,792,12724,0.25,0.00,68.15,0.243,10758,0.103,0.000,2990,3052,670,663,677,0,0,0,0,0,0,14.35,28.83,14.11
$FREEZE,8.52,-1.358,-1.439,2,1,0
$STATE,12791,end climb,FINISH_DEPTH_REACHED
$STATE,12791,begin subsurface finish
$FINISH1,8.5,1.021136,355
$GC,12795,0.25,355.1,2992,3052,662,677,8.5,11.7,811,12827,1.12,0.00,-27.38,0.000,20742,0.211,0.000,2678,3052,1740,1785,1696,0,0,0,0,0,0,14.14,28.83,14.50
$FINISH2,8.2
$STATE,12827,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12828,begin surface
$RAFOS_CLK,57
$MODEM,4,1409731287,75.13480,-146.21080,86.582,125537.9
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.080143,0.080143
$HUMID,47.91
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,8
$SC_FREEKB,3911648
$24V_AH,12.66,80.439
$10V_AH,12.55,0.000
$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,15.050,38.700,589.000,0.000,0.000,0.000,0.000,560.450,2.000,0.000,25.441,0.000,10447.444,680.602,2238.176,263.168,0.000,1904.911,0.000,1220.959,1490.000,0.535,0.000
$DEVICE_MAMPS,442.935,123.165,2492.370,0.000,0.000,0.000,0.000,200.430,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12873.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.381,0.000,0.000,0.000
$MEM,232976
$DATA_FILE_SIZE,26749,817
$CAP_FILE_SIZE,141555,0
$CFSIZE,2097872896,2039021568
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,14110.34,0x2378b6,7,5
$INTR,1,8649.20,0x234482,1,24
$INTR,2,12792.64,0x2378b6,5,5
$SOUNDSPEED,1449.2
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0