version: 66.12
glider: 198
mission: 5
dive: 327
start: 9 15 114 23 31 6
data:
$ID,198
$MISSION,5
$DIVE,327
$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,-5801.1099
$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,33
$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,-14322.191,181,99.0,181,23.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.94
$_SM_ANGLEo,-17.5
$GPS2,140914,040738,7345.219,-14322.191,181,99.0,181,23.4
$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,15,begin dive
$GC,17,-0.70,-145.9,2678,2673,1763,1661,0.0,0.0,0,30,0.00,0.00,-11.45,0.000,16386,0.000,0.000,2677,2672,2313,2376,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2677,2673,2379,2253,14.3,0.0,1,60,0.90,0.00,-25.00,0.000,20998,0.066,0.000,2351,2672,3783,3839,3728,0,0,0,0,0,0,14.30,28.83,14.61
$GC,359,-0.67,-145.9,2351,2673,3842,3732,92.9,-18.2,36,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2671,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,658,-0.67,-145.9,2352,2673,3840,3733,144.4,-16.4,66,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2672,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.67,-145.9,2351,2673,3841,3733,189.8,-14.4,96,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2672,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.67,-145.9,2352,2678,3841,3734,231.6,-13.5,126,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2672,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1568,-0.67,-145.9,2351,2672,3841,3733,268.0,-11.2,147,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2672,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1870,-0.69,-145.9,2351,2672,3841,3733,301.0,-11.1,157,1874,0.00,2.03,0.00,0.000,260,0.000,0.122,2347,3786,3786,3840,3733,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1904,-0.69,-145.9,2348,3786,3841,3732,305.1,-11.8,164,1909,0.00,1.92,0.00,0.000,1030,0.000,0.070,2347,2678,3786,3840,3732,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2231,-0.72,-145.9,2348,2677,3840,3733,339.7,-10.4,179,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.75,-145.9,2348,2679,3840,3733,370.6,-10.3,189,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3787,3842,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.78,-145.9,2348,2678,3841,3732,400.6,-9.8,199,2834,0.00,2.03,0.00,0.000,260,0.000,0.122,2347,3788,3786,3840,3732,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2874,-0.80,-145.9,2350,3788,3841,3733,405.3,-10.8,208,2879,0.00,1.88,0.00,0.000,1030,0.000,0.070,2347,2677,3786,3840,3732,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3191,-0.83,-145.9,2348,2678,3844,3733,435.6,-9.5,221,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5ac59a9a1a;,*59
$MODEM_MSG,CACST,6,0,20140916000440.342325,3,224,11,0092,0150,100,00,00,02,05,1,005,000,0,5,1,0,150,8.2,4.6,-100,-1.6,-01,0.0,21,900,0025*1A
$GC,3489,-0.86,-145.9,2347,2678,3841,3732,464.1,-9.5,231,3494,0.12,2.03,0.00,0.000,4356,0.150,0.119,2292,3794,3786,3840,3732,0,0,0,0,0,0,14.52,14.38,28.83
$GC,3549,-0.84,-145.9,2293,3795,3840,3733,471.6,-12.8,243,3554,0.00,1.88,0.00,0.000,1030,0.000,0.069,2291,2680,3786,3840,3732,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3881,-0.84,-145.9,2292,2680,3841,3733,512.7,-12.4,259,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2679,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.84,-145.9,2293,2679,3840,3733,549.7,-12.2,269,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2679,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-0.84,-145.9,2292,2680,3841,3733,586.4,-12.2,279,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2679,3787,3841,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-0.84,-145.9,2293,2680,3841,3734,622.8,-12.2,289,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2679,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5079,-0.84,-145.9,2292,2680,3841,3734,659.1,-12.0,299,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2679,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5379,-0.84,-145.9,2292,2680,3842,3734,695.3,-12.1,309,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2679,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,-0.84,-145.9,2292,2680,3841,3734,730.8,-11.8,319,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2679,3786,3840,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5857,begin apogee
$GC,5862,-0.14,0.0,2290,3058,3841,3734,751.9,-11.6,325,5997,0.95,0.00,132.07,1.698,10246,0.262,0.000,2537,3059,3185,3288,3083,0,0,0,0,0,0,14.25,28.83,13.25
$STATE,5998,end apogee,CONTROL_FINISHED_OK
$STATE,5998,begin climb
$GC,6000,0.70,145.9,2538,3060,3282,3077,754.7,0.0,329,6131,0.90,0.00,126.15,1.692,10502,0.164,0.000,2803,3059,2589,2677,2502,0,0,0,0,0,0,13.88,28.83,12.81
$GC,6429,0.70,145.9,2804,3060,2663,2489,708.3,12.6,359,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3059,2575,2662,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6729,0.70,145.9,2804,3059,2662,2489,670.8,12.4,369,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3059,2574,2661,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7029,0.70,145.9,2804,3059,2662,2489,633.4,12.5,379,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3059,2574,2661,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7329,0.70,145.9,2804,3059,2662,2488,596.8,12.2,389,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3059,2574,2661,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7629,0.70,145.9,2804,3059,2662,2489,560.8,11.9,399,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3059,2574,2660,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7929,0.70,145.9,2804,3060,2662,2489,525.2,11.9,409,7934,0.00,1.33,0.00,0.000,260,0.000,0.117,2803,3780,2574,2661,2488,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7974,0.67,145.9,2804,3781,2668,2489,519.3,13.5,418,7979,0.00,1.25,0.00,0.000,1030,0.000,0.071,2808,3048,2574,2661,2488,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8289,0.67,145.9,2810,3049,2662,2489,481.1,12.1,431,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3048,2574,2661,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8589,0.67,145.9,2809,3048,2662,2488,445.1,11.9,441,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3048,2574,2661,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,0.67,145.9,2809,3048,2662,2488,409.6,11.8,451,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3048,2574,2661,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9189,0.67,145.9,2810,3049,2657,2489,374.0,11.8,461,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3048,2574,2661,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9489,0.67,153.3,2809,3048,2662,2489,339.8,11.2,471,9495,0.00,1.40,1.70,0.231,8452,0.000,0.116,2809,3792,2560,2648,2472,0,0,0,0,0,0,28.83,14.50,14.35
$GC,9554,0.64,153.3,2810,3793,2665,2481,331.6,12.7,484,9560,0.00,1.27,1.55,0.216,9222,0.000,0.070,2814,3046,2559,2647,2471,0,0,0,0,0,0,28.83,14.60,14.39
$GC,9880,0.65,157.8,2815,3046,2668,2479,294.4,11.4,499,9885,0.00,0.00,4.10,1.022,8198,0.000,0.000,2814,3046,2542,2631,2454,0,0,0,0,0,0,28.83,28.83,13.85
$GC,10180,0.66,173.7,2815,3047,2657,2466,261.4,10.8,509,10205,0.00,2.42,21.33,1.161,8708,0.000,0.075,2820,1647,2470,2561,2379,0,0,0,0,0,0,28.83,14.51,13.98
$GC,10282,0.70,198.8,2821,1648,2551,2374,250.7,10.3,529,10312,0.00,2.50,21.52,1.133,9222,0.000,0.102,2820,3054,2365,2451,2280,0,0,0,0,0,0,28.83,14.41,13.88
$GC,10610,0.72,229.7,2821,3054,2442,2273,215.7,10.0,565,10641,0.00,0.00,26.65,1.095,8198,0.000,0.000,2820,3054,2240,2324,2157,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10942,0.77,270.3,2822,3055,2312,2149,183.4,9.5,598,10982,0.00,0.00,35.35,1.055,8710,0.000,0.000,2820,3054,2075,2157,1994,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11282,0.84,314.4,2821,3054,2144,1983,150.8,9.3,634,11326,0.12,2.42,38.75,1.018,10756,0.142,0.074,2895,1645,1893,1968,1819,0,0,0,0,0,0,14.47,14.33,13.81
$GC,11401,0.85,318.1,2896,1645,1956,1816,136.3,11.4,658,11407,0.12,2.55,0.00,0.000,5126,0.265,0.103,2868,3054,1885,1954,1816,0,0,0,0,0,0,14.17,14.31,28.83
$GC,11713,0.87,318.1,2869,3055,1954,1809,96.8,12.8,690,11718,0.00,2.42,0.00,0.000,516,0.000,0.074,2877,1641,1880,1953,1808,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11758,0.92,336.5,2878,1641,1954,1808,91.9,10.7,699,11774,0.00,2.53,8.90,0.389,9222,0.000,0.103,2877,3050,1816,1892,1740,0,0,0,0,0,0,28.83,14.30,13.97
$GC,12074,0.97,362.3,2878,3050,1912,1747,60.0,10.3,732,12094,0.00,0.00,16.60,0.338,8198,0.000,0.000,2877,3050,1709,1783,1635,0,0,0,0,0,0,28.83,28.83,14.05
$GC,12394,1.11,487.0,2878,3051,1804,1639,44.5,5.0,764,12473,0.20,0.00,72.07,0.301,10758,0.105,0.000,2957,3050,1203,1252,1155,0,0,0,0,0,0,14.31,28.83,14.05
$GC,12773,1.20,551.4,2961,3051,1265,1156,12.2,8.2,803,12814,0.00,1.42,36.25,0.211,8452,0.000,0.119,2960,3794,937,968,906,0,0,0,0,0,0,28.83,14.23,14.12
$FREEZE,8.67,-1.419,-1.449,2,14,0
$STATE,12822,end climb,FINISH_DEPTH_REACHED
$STATE,12823,begin subsurface finish
$FINISH1,8.7,1.021290,347
$GC,12830,0.24,347.1,2966,3042,978,907,8.7,7.4,813,12859,1.05,1.42,-21.70,0.000,20740,0.211,0.155,2667,3787,1773,1808,1738,0,0,0,0,0,0,14.11,14.16,14.53
$FINISH2,7.9
$STATE,12859,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12859,begin surface
$RAFOS_CLK,724
$MODEM,5,1410825880,74.36020,-141.50639,39.342,57003.3
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.48
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,1
$SC_FREEKB,3875328
$24V_AH,12.81,105.754
$10V_AH,12.72,0.000
$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,4.375,37.375,543.000,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,10568.432,563.370,1689.074,160.336,0.000,1210.147,0.000,1222.179,1428.000,0.536,0.000
$DEVICE_MAMPS,264.690,155.295,1698.300,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12911.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.216,0.000,0.000,0.000
$MEM,189364
$DATA_FILE_SIZE,26725,819
$CAP_FILE_SIZE,130862,0
$CFSIZE,2097872896,2023325696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,140914,040738,7345.219,-14322.191,181,99.0,181,23.4