version: 66.12
glider: 198
mission: 5
dive: 319
start: 9 14 114 18 18 56
data:
$ID,198
$MISSION,5
$DIVE,319
$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,-5436.165
$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,34
$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
$GPS1,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.97
$_SM_ANGLEo,-18.3
$GPS2,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7400.000,-14100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,45.9,77576,-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
$STATE,14,begin dive
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$GC,32,-0.70,-145.9,2677,2674,2552,2438,19.4,0.0,1,58,0.93,0.00,-19.10,0.000,20486,0.072,0.000,2353,2675,3785,3838,3732,0,0,0,0,0,0,14.36,28.83,14.62
$GC,359,-0.67,-145.9,2353,2675,3840,3734,96.8,-18.3,34,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2674,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,658,-0.67,-145.9,2353,2676,3841,3734,146.1,-15.3,64,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2675,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.67,-145.9,2353,2676,3840,3734,191.0,-14.7,94,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2675,3787,3840,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.67,-145.9,2353,2675,3841,3734,231.6,-12.7,124,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2675,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1568,-0.67,-145.9,2355,2675,3840,3735,268.2,-11.3,145,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2675,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-0.70,-145.9,2353,2675,3841,3734,301.9,-10.8,155,1873,0.00,2.03,0.00,0.000,260,0.000,0.124,2347,3787,3786,3839,3733,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1953,-0.70,-145.9,2349,3788,3840,3734,311.5,-10.8,172,1959,0.00,1.90,0.00,0.000,1030,0.000,0.073,2348,2656,3786,3839,3733,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2260,-0.72,-145.9,2348,2656,3840,3733,342.9,-10.1,183,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2656,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2558,-0.75,-145.9,2348,2656,3840,3734,372.9,-9.9,193,2563,0.00,2.08,0.00,0.000,260,0.000,0.124,2348,3795,3786,3839,3733,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2618,-0.75,-145.9,2348,3795,3840,3734,379.1,-10.1,205,2623,0.00,1.88,0.00,0.000,1030,0.000,0.072,2347,2676,3786,3839,3733,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2950,-0.78,-145.9,2348,2676,3841,3733,411.2,-9.6,221,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2673,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.81,-145.9,2348,2676,3841,3734,440.0,-9.6,231,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.84,-145.9,2348,2677,3840,3735,468.6,-9.6,241,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2676,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,-0.88,-145.9,2348,2677,3839,3730,497.1,-9.5,251,3853,0.12,2.03,0.00,0.000,4356,0.155,0.119,2291,3790,3786,3839,3734,0,0,0,0,0,0,14.58,14.46,28.83
$GC,3930,-0.85,-145.9,2292,3792,3840,3734,507.3,-13.1,267,3934,0.00,1.88,0.00,0.000,1030,0.000,0.070,2291,2673,3785,3839,3731,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4239,-0.85,-145.9,2292,2673,3841,3734,545.0,-12.0,279,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2673,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4539,-0.85,-145.9,2292,2674,3840,3734,580.8,-12.0,289,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2673,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.85,-145.9,2292,2674,3840,3735,616.7,-11.9,299,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2673,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5139,-0.85,-145.9,2292,2673,3841,3734,652.3,-11.9,309,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2673,3787,3840,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5439,-0.85,-145.9,2291,2673,3841,3734,687.6,-11.8,319,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2673,3786,3839,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5739,-0.85,-145.9,2293,2674,3840,3735,722.9,-11.7,329,5744,0.00,2.00,0.00,0.000,260,0.000,0.119,2283,3787,3787,3840,3735,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5789,-0.82,-145.9,2284,3788,3840,3735,729.4,-12.9,339,5794,0.17,1.88,0.00,0.000,3078,0.301,0.070,2321,2666,3786,3839,3734,0,0,0,0,0,0,14.24,14.62,28.83
$STATE,6028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6028,begin apogee
$GC,6033,-0.14,0.0,2319,3058,3841,3734,752.5,-10.3,348,6167,0.85,0.00,130.65,1.704,10246,0.253,0.000,2540,3057,3184,3286,3082,0,0,0,0,0,0,14.23,28.83,13.24
$STATE,6168,end apogee,CONTROL_FINISHED_OK
$STATE,6168,begin climb
$GC,6170,0.70,145.9,2541,3057,3281,3076,757.4,0.0,353,6300,0.90,0.00,126.60,1.685,10502,0.167,0.000,2804,3057,2590,2674,2506,0,0,0,0,0,0,13.85,28.83,12.79
$GC,6579,0.70,145.9,2805,3057,2659,2493,713.6,12.6,377,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3057,2575,2658,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6879,0.70,145.9,2805,3058,2659,2493,676.1,12.4,387,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2575,2658,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7179,0.70,145.9,2805,3058,2659,2492,638.7,12.5,397,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7479,0.70,145.9,2805,3058,2658,2492,601.4,12.4,407,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3058,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5a866aa08f;,*07
$MODEM_MSG,CACST,6,0,20140914200451.910572,3,882,11,0092,0150,100,00,00,03,04,1,005,000,0,5,1,0,150,4.5,2.5,-100,0.5,-01,-0.3,23,900,0025*16
$GC,7779,0.70,145.9,2805,3057,2659,2491,563.9,12.4,417,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8079,0.70,145.9,2805,3058,2659,2491,527.0,12.3,427,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8379,0.70,145.9,2805,3057,2659,2491,490.2,12.2,437,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2575,2658,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8679,0.70,145.9,2806,3058,2659,2492,454.3,11.9,447,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8979,0.70,145.9,2805,3057,2659,2491,418.6,11.9,457,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3058,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9279,0.70,145.9,2805,3057,2659,2491,383.0,11.9,467,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3057,2574,2658,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9579,0.70,148.0,2805,3058,2659,2491,348.0,11.5,477,9584,0.00,2.40,0.00,0.000,516,0.000,0.076,2814,1649,2574,2658,2490,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9614,0.71,165.3,2815,1649,2659,2492,344.2,10.7,484,9635,0.00,2.47,16.40,1.247,9222,0.000,0.102,2815,3052,2511,2597,2425,0,0,0,0,0,0,28.83,14.52,13.97
$GC,9939,0.71,165.3,2815,3052,2584,2412,304.4,12.4,499,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3052,2496,2582,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10240,0.72,172.4,2816,3053,2583,2412,269.4,11.3,509,10242,0.00,0.00,1.70,0.230,8198,0.000,0.000,2814,3052,2481,2568,2395,0,0,0,0,0,0,28.83,28.83,14.36
$GC,10539,0.74,207.2,2815,3051,2596,2395,236.8,9.8,527,10580,0.00,0.00,35.85,1.104,8198,0.000,0.000,2814,3052,2331,2416,2247,0,0,0,0,0,0,28.83,28.83,13.92
$GC,10881,0.78,259.4,2815,3051,2404,2240,203.4,8.9,561,10930,0.00,0.00,44.85,1.050,8710,0.000,0.000,2814,3052,2119,2200,2038,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11230,0.84,294.9,2816,3053,2191,2028,169.2,9.7,601,11271,0.15,2.42,35.00,0.980,10756,0.127,0.076,2895,1648,1978,2054,1903,0,0,0,0,0,0,14.46,14.33,13.84
$GC,11336,0.84,294.9,2896,1648,2043,1903,155.7,13.0,622,11343,0.15,2.53,0.00,0.000,5126,0.264,0.101,2861,3054,1971,2042,1901,0,0,0,0,0,0,14.17,14.31,28.83
$GC,11643,0.84,296.1,2862,3055,2040,1898,118.5,11.6,653,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,3054,1968,2039,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11941,0.87,302.1,2862,3054,2040,1895,85.5,11.3,683,11944,0.00,0.00,1.60,0.234,8198,0.000,0.000,2861,3054,1953,2027,1880,0,0,0,0,0,0,28.83,28.83,14.22
$GC,12243,0.98,406.9,2862,3054,2043,1880,60.0,6.1,713,12307,0.12,2.45,57.95,0.345,10756,0.144,0.077,2928,1648,1528,1589,1468,0,0,0,0,0,0,14.39,14.26,14.06
$GC,12347,1.07,489.4,2928,1648,1608,1468,50.5,7.2,730,12403,0.00,2.53,47.00,0.317,9222,0.000,0.103,2928,3050,1195,1239,1151,0,0,0,0,0,0,28.83,14.25,14.03
$GC,12702,1.21,594.2,2928,3050,1252,1150,20.6,6.1,771,12768,0.15,2.47,58.38,0.233,10756,0.135,0.080,2999,1657,766,769,764,0,0,0,0,0,0,14.31,14.17,14.12
$GC,12823,1.26,594.2,3000,1657,782,764,9.1,12.6,795,12828,0.00,2.53,1.42,0.227,9222,0.000,0.103,2999,3053,761,764,759,0,0,0,0,0,0,28.83,14.22,14.14
$FREEZE,7.92,-1.380,-1.437,2,6,0
$STATE,12831,end climb,FINISH_DEPTH_REACHED
$STATE,12831,begin subsurface finish
$FINISH1,7.9,1.021122,356
$GC,12836,0.25,355.8,3000,3053,771,758,7.9,12.1,797,12865,1.20,0.00,-25.75,0.000,20742,0.223,0.000,2673,3053,1736,1771,1701,0,0,0,0,0,0,14.11,28.83,14.52
$FINISH2,7.7
$STATE,12865,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12866,begin surface
$RAFOS_CLK,445
$MODEM,5,1410725091,74.15800,-140.84520,50.911,73765.9
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7257.42,-14347.65,130914,052906
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.05
$INTERNAL_PRESSURE,8.66168
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3878912
$24V_AH,12.79,103.406
$10V_AH,12.70,0.000
$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,4.750,38.125,557.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10600.612,576.745,1654.437,153.011,0.000,1211.618,0.000,1204.515,1497.000,0.535,0.000
$DEVICE_MAMPS,301.410,123.930,1703.655,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.552,0.000,0.000,0.000
$MEM,193432
$DATA_FILE_SIZE,26741,801
$CAP_FILE_SIZE,127628,0
$CFSIZE,2097872896,2024767488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12833.94,0x2378b6,5,5
$SOUNDSPEED,1449.5
$GPS,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4