version: 66.12
glider: 198
mission: 5
dive: 322
start: 9 15 114 5 13 43
data:
$ID,198
$MISSION,5
$DIVE,322
$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,32
$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
$GPS1,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.38
$_SM_ANGLEo,-17.4
$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
$GC,16,-0.70,-145.9,2675,2675,1775,1708,0.0,0.0,0,30,0.00,0.00,-12.55,0.000,16386,0.000,0.000,2675,2674,2508,2560,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2676,2675,2562,2458,18.6,0.0,1,58,0.90,0.00,-19.12,0.000,20998,0.070,0.000,2352,2675,3782,3836,3728,0,0,0,0,0,0,14.38,28.83,14.63
$GC,360,-0.67,-145.9,2353,2675,3837,3731,96.3,-17.8,35,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2674,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,658,-0.67,-145.9,2353,2675,3837,3731,144.3,-15.4,65,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2674,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.67,-145.9,2353,2676,3838,3731,188.6,-14.7,95,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2675,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.67,-145.9,2353,2675,3837,3731,230.8,-12.3,125,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2674,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1578,-0.67,-145.9,2353,2675,3837,3731,268.6,-11.8,147,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2675,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1878,-0.70,-145.9,2353,2675,3837,3732,301.3,-10.5,157,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2675,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2178,-0.73,-145.9,2352,2675,3837,3731,331.7,-9.8,167,2183,0.00,2.03,0.00,0.000,260,0.000,0.124,2347,3793,3783,3836,3731,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2228,-0.73,-145.9,2348,3788,3838,3731,337.1,-10.7,177,2233,0.00,1.92,0.00,0.000,1030,0.000,0.071,2347,2676,3783,3836,3730,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2540,-0.75,-145.9,2347,2676,3837,3729,368.0,-9.8,189,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2838,-0.79,-145.9,2348,2676,3837,3730,397.6,-9.9,199,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3138,-0.82,-145.9,2348,2676,3838,3730,427.4,-9.9,209,3143,0.00,2.03,0.00,0.000,260,0.000,0.123,2348,3793,3783,3836,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3203,-0.84,-145.9,2348,3794,3838,3733,434.1,-10.5,222,3208,0.00,1.88,0.00,0.000,1030,0.000,0.070,2347,2676,3783,3836,3730,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3530,-0.87,-145.9,2349,2677,3837,3731,465.9,-9.7,237,3531,0.12,0.00,0.00,0.000,4102,0.155,0.000,2299,2676,3783,3836,3730,0,0,0,0,0,0,14.59,28.83,28.83
$GC,3828,-0.87,-145.9,2300,2676,3838,3730,500.7,-11.7,247,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4128,-0.87,-145.9,2299,2676,3838,3730,535.3,-11.5,257,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4428,-0.87,-145.9,2299,2676,3838,3730,569.7,-11.4,267,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4728,-0.87,-145.9,2299,2676,3837,3731,603.9,-11.5,277,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2676,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.87,-145.9,2300,2676,3838,3731,638.2,-11.4,287,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2676,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5328,-0.87,-145.9,2299,2676,3837,3732,672.2,-11.2,297,5333,0.00,2.00,0.00,0.000,260,0.000,0.119,2291,3789,3784,3836,3732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5368,-0.85,-145.9,2292,3789,3837,3733,677.2,-12.7,305,5373,0.00,1.90,0.00,0.000,1030,0.000,0.069,2291,2652,3784,3836,3732,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5690,-0.85,-145.9,2292,2653,3837,3732,714.3,-11.5,319,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2652,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5988,-0.85,-145.9,2292,2653,3837,3733,748.6,-11.5,329,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2652,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6016,begin apogee
$GC,6021,-0.14,0.0,2293,3058,3837,3733,752.1,-11.4,330,6214,0.95,0.00,190.40,1.400,10246,0.263,0.000,2538,3055,3186,3290,3082,0,0,0,0,0,0,14.26,28.83,13.29
$STATE,6215,end apogee,CONTROL_FINISHED_OK
$STATE,6215,begin climb
$GC,6217,0.70,145.9,2539,3058,3286,3076,756.7,0.0,336,6353,0.93,1.48,126.85,1.675,10500,0.167,0.115,2808,3785,2583,2670,2496,0,0,0,0,0,0,13.81,13.40,12.77
$GC,6434,0.66,145.9,2808,3785,2660,2487,736.0,14.6,382,6439,0.00,1.33,0.00,0.000,1030,0.000,0.070,2813,3058,2572,2658,2487,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6744,0.66,145.9,2814,3058,2659,2487,695.5,13.0,394,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7044,0.66,145.9,2814,3058,2659,2488,656.5,13.0,404,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,0.66,145.9,2812,3059,2658,2488,618.0,12.9,414,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7644,0.66,145.9,2814,3058,2659,2487,579.3,12.9,424,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,0.66,145.9,2814,3059,2658,2488,540.6,12.9,434,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8244,0.66,145.9,2814,3059,2658,2488,502.2,12.7,444,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8544,0.66,145.9,2814,3058,2657,2488,464.1,12.6,454,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,0.66,145.9,2814,3059,2657,2488,427.0,12.3,464,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3058,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9144,0.66,145.9,2814,3058,2659,2487,390.6,12.1,474,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,0.66,145.9,2814,3058,2659,2487,353.8,12.1,484,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3058,2572,2657,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9744,0.67,156.8,2814,3059,2658,2488,319.7,11.0,494,9748,0.00,0.00,2.92,0.750,8198,0.000,0.000,2813,3058,2546,2634,2459,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10044,0.67,156.8,2814,3058,2660,2470,284.4,11.8,504,10047,0.00,0.00,2.35,0.498,8198,0.000,0.000,2813,3058,2544,2635,2454,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10344,0.67,164.4,2814,3059,2658,2463,251.6,11.2,514,10364,0.00,2.45,13.25,1.144,8708,0.000,0.076,2824,1647,2508,2597,2419,0,0,0,0,0,0,28.83,14.51,13.94
$GC,10399,0.69,191.9,2825,1648,2590,2417,245.6,10.2,525,10429,0.00,2.50,24.33,1.107,9222,0.000,0.103,2823,3049,2395,2483,2307,0,0,0,0,0,0,28.83,14.40,13.84
$GC,10734,0.72,231.2,2824,3050,2469,2298,211.8,9.5,562,10769,0.00,0.00,33.35,1.063,8454,0.000,0.000,2823,3050,2244,2328,2160,0,0,0,0,0,0,28.83,28.83,13.80
$GC,11066,0.77,269.6,2824,3051,2306,2144,177.9,9.6,597,11105,0.00,0.00,33.78,1.021,8198,0.000,0.000,2824,3050,2076,2157,1995,0,0,0,0,0,0,28.83,28.83,13.77
$GC,11406,0.83,307.5,2825,3051,2146,1987,145.5,9.6,631,11445,0.00,2.45,32.78,0.992,8708,0.000,0.078,2834,1647,1923,1998,1849,0,0,0,0,0,0,28.83,14.29,13.81
$MODEM_MSG,CACST,6,1,20140915081648.761480,3,552,21,0240,0150,100,00,00,01,03,1,000,000,2,5,1,0,150,7.1,3.7,-100,-0.7,-01,0.1,27,900,0025*1B
$GC,11507,0.91,344.8,2834,1645,1986,1846,135.9,9.6,651,11548,0.15,2.53,32.83,0.968,11270,0.129,0.103,2900,3049,1771,1837,1706,0,0,0,0,0,0,14.35,14.28,13.71
$GC,11846,0.91,344.8,2901,3049,1823,1699,89.6,12.3,689,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3048,1757,1822,1692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12146,0.97,385.5,2901,3048,1823,1689,55.0,9.5,719,12172,0.00,2.50,19.20,0.330,8708,0.000,0.078,2908,1646,1620,1693,1548,0,0,0,0,0,0,28.83,14.31,14.07
$GC,12353,1.11,512.9,2909,1645,1711,1548,43.9,4.9,759,12434,0.12,2.53,73.00,0.302,11270,0.142,0.103,2962,3052,1097,1133,1062,0,0,0,0,0,0,14.35,14.28,14.05
$FREEZE,8.16,-1.419,-1.442,2,9,0
$STATE,12738,end climb,FINISH_DEPTH_REACHED
$STATE,12738,begin subsurface finish
$FINISH1,8.2,1.021188,352
$GC,12742,0.25,352.4,2963,3049,1156,1057,8.2,8.8,806,12765,1.02,1.40,-17.05,0.000,20740,0.205,0.161,2673,3783,1752,1785,1720,0,0,0,0,0,0,14.15,14.20,14.54
$FINISH2,7.9
$STATE,12766,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12766,begin surface
$RAFOS_CLK,186
$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,50.00
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3877568
$24V_AH,12.77,104.287
$10V_AH,12.65,0.000
$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,4.200,33.600,585.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10505.426,570.859,1658.351,150.196,0.000,1221.758,0.000,1213.752,1496.000,0.535,0.000
$DEVICE_MAMPS,263.160,161.415,1674.585,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12817.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.060,0.000,0.000,0.000
$MEM,191924
$DATA_FILE_SIZE,26727,810
$CAP_FILE_SIZE,125427,0
$CFSIZE,2097872896,2024243200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12740.39,0x2378b6,5,5
$SOUNDSPEED,1449.5
$GPS,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4