version: 66.12
glider: 198
mission: 5
dive: 359
start: 9 20 114 20 50 21
data:
$ID,198
$MISSION,5
$DIVE,359
$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,-6169.3325
$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,38
$R_STBD_OVSHOOT,18
$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
$GPS1,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.59
$_SM_ANGLEo,-17.5
$GPS2,190914,120405,7336.426,-14240.137,0,2255.0,0,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,188.6,80131,-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,-145.9,2677,2681,1747,1651,0.0,0.0,0,30,0.00,0.00,-11.60,0.000,16386,0.000,0.000,2677,2681,2429,2490,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2678,2681,2490,2368,19.8,0.0,1,62,0.90,2.08,-19.65,0.000,20740,0.072,0.138,2348,3790,3784,3838,3730,0,0,0,0,0,0,14.28,14.27,14.58
$GC,227,-0.65,-145.9,2348,3791,3840,3732,72.7,-21.8,40,233,0.12,1.88,0.00,0.000,3078,0.310,0.068,2371,2680,3785,3838,3732,0,0,0,0,0,0,14.05,14.37,28.83
$GC,532,-0.65,-145.9,2372,2680,3840,3732,124.3,-15.3,71,536,0.00,2.03,0.00,0.000,260,0.000,0.116,2364,3789,3785,3838,3732,0,0,0,0,0,0,28.83,14.26,28.83
$GC,591,-0.65,-145.9,2364,3789,3840,3732,133.8,-14.8,83,596,0.00,1.88,0.00,0.000,1030,0.000,0.069,2365,2680,3785,3839,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,902,-0.65,-145.9,2365,2679,3840,3732,176.8,-13.2,115,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2680,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1202,-0.65,-145.9,2365,2681,3839,3733,214.9,-12.5,145,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2680,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1502,-0.68,-145.9,2364,2680,3840,3733,249.1,-10.6,175,1507,0.00,2.40,0.00,0.000,516,0.000,0.078,2364,1270,3785,3839,3732,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1567,-0.72,-145.9,2365,1271,3839,3733,255.8,-10.2,188,1572,0.00,2.53,0.00,0.000,1030,0.000,0.103,2361,2681,3785,3839,3732,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1894,-0.75,-145.9,2362,2682,3839,3733,291.2,-11.1,203,1898,0.00,2.00,0.00,0.000,260,0.000,0.120,2361,3793,3785,3838,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1958,-0.78,-145.9,2362,3794,3839,3733,299.0,-12.0,216,1963,0.00,1.88,0.00,0.000,1030,0.000,0.070,2361,2677,3785,3838,3732,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2285,-0.82,-145.9,2362,2678,3839,3733,332.5,-10.0,231,2287,0.12,0.00,0.00,0.000,4102,0.150,0.000,2311,2677,3785,3838,3732,0,0,0,0,0,0,14.54,28.83,28.83
$GC,2583,-0.82,-145.9,2311,2677,3840,3733,367.9,-11.7,241,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,-0.82,-145.9,2311,2677,3840,3732,402.7,-11.6,251,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3183,-0.82,-145.9,2312,2678,3838,3733,437.7,-11.6,261,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3483,-0.82,-145.9,2311,2677,3840,3732,472.1,-11.3,271,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2677,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3784,-0.82,-145.9,2311,2677,3840,3731,505.7,-11.2,281,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4083,-0.82,-145.9,2311,2678,3839,3731,538.7,-11.0,291,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2676,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4383,-0.82,-145.9,2312,2678,3839,3733,571.6,-11.0,301,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4683,-0.82,-145.9,2311,2682,3838,3733,604.1,-10.8,311,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4983,-0.82,-145.9,2310,2678,3839,3733,636.2,-10.7,321,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5284,-0.82,-145.9,2312,2678,3839,3734,668.3,-10.7,331,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5583,-0.82,-145.9,2311,2677,3840,3733,700.4,-10.7,341,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5883,-0.82,-145.9,2311,2677,3847,3734,732.2,-10.6,351,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2677,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6061,begin apogee
$GC,6066,-0.14,0.0,2309,3058,3839,3734,751.3,-10.5,357,6199,0.88,0.00,130.30,1.718,10246,0.256,0.000,2535,3057,3186,3301,3071,0,0,0,0,0,0,14.18,28.83,13.22
$STATE,6200,end apogee,CONTROL_FINISHED_OK
$STATE,6200,begin climb
$GC,6202,0.70,145.9,2536,3058,3295,3065,754.2,0.0,361,6336,0.93,0.00,127.18,1.696,10502,0.167,0.000,2805,3054,2586,2685,2487,0,0,0,0,0,0,13.88,28.83,12.79
$GC,6633,0.70,145.9,2806,3058,2670,2479,708.6,12.2,391,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3057,2574,2670,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6933,0.70,145.9,2806,3058,2671,2479,672.2,12.2,401,6938,0.00,1.35,0.00,0.000,260,0.000,0.116,2806,3784,2574,2670,2478,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6968,0.66,145.9,2806,3785,2670,2479,667.6,12.8,408,6973,0.00,1.27,0.00,0.000,1030,0.000,0.070,2810,3047,2573,2669,2478,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7295,0.66,145.9,2812,3048,2670,2478,627.4,12.3,423,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2670,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7593,0.66,145.9,2812,3048,2670,2478,590.6,12.3,433,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2669,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,0.66,145.9,2811,3047,2671,2478,554.1,12.2,443,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3047,2573,2669,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8193,0.66,145.9,2811,3047,2671,2478,517.0,12.4,453,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2669,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,0.66,145.9,2811,3047,2670,2478,480.6,12.1,463,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2574,2670,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8793,0.66,145.9,2811,3048,2670,2478,445.0,11.9,473,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2670,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,0.66,145.9,2811,3047,2671,2478,409.5,11.7,483,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2669,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,0.67,148.4,2811,3047,2671,2477,374.8,11.5,493,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2669,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9693,0.67,153.9,2812,3048,2670,2478,341.0,11.3,503,9696,0.00,0.00,1.62,0.227,8198,0.000,0.000,2811,3047,2558,2655,2461,0,0,0,0,0,0,28.83,28.83,14.30
$GC,9994,0.68,162.4,2812,3048,2669,2473,306.7,11.2,513,10008,0.00,0.00,13.80,1.222,8198,0.000,0.000,2811,3047,2523,2621,2425,0,0,0,0,0,0,28.83,28.83,13.96
$GC,10293,0.68,162.4,2811,3047,2608,2411,271.7,11.7,523,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2508,2606,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10595,0.70,202.1,2811,3047,2608,2411,239.6,9.5,539,10634,0.00,0.00,34.38,1.118,8198,0.000,0.000,2810,3047,2352,2448,2256,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10935,0.75,241.7,2811,3047,2436,2250,206.4,9.5,573,10975,0.00,2.38,34.03,1.076,8708,0.000,0.070,2821,1650,2191,2282,2100,0,0,0,0,0,0,28.83,14.39,13.83
$GC,11007,0.83,289.5,2822,1651,2273,2099,199.6,9.1,587,11056,0.12,2.50,41.85,1.045,11270,0.144,0.099,2878,3049,1996,2081,1911,0,0,0,0,0,0,14.38,14.33,13.70
$GC,11355,0.83,289.5,2880,3050,2065,1901,150.3,13.1,627,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,3049,1982,2065,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11661,0.83,289.5,2880,3046,2063,1898,112.0,11.8,657,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,3049,1980,2063,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11959,0.85,322.0,2876,3049,2063,1897,79.8,9.9,687,11980,0.00,2.42,14.27,0.385,8708,0.000,0.073,2888,1651,1877,1967,1788,0,0,0,0,0,0,28.83,14.26,13.97
$GC,12005,0.91,363.0,2888,1651,1980,1795,75.4,9.4,696,12035,0.00,2.53,24.30,0.386,9222,0.000,0.099,2889,3049,1708,1785,1632,0,0,0,0,0,0,28.83,14.14,13.94
$GC,12340,1.05,497.0,2888,3049,1803,1637,49.0,4.5,733,12422,0.12,2.53,76.30,0.313,10756,0.141,0.074,2953,1639,1161,1205,1118,0,0,0,0,0,0,14.23,14.16,13.94
$GC,12464,1.12,527.5,2954,1640,1220,1119,37.4,10.0,757,12489,0.00,2.55,19.12,0.278,9222,0.000,0.099,2953,3048,1033,1066,1001,0,0,0,0,0,0,28.83,14.12,13.95
$FREEZE,8.62,-1.445,-1.431,2,26,0
$GC,12795,1.25,628.8,2954,3047,1086,1001,11.5,6.2,793,12833,0.12,0.00,36.08,0.204,10754,0.141,0.000,3007,3047,776,786,767,0,0,0,0,0,0,14.23,28.83,28.83
$STATE,12833,end climb,FINISH_DEPTH_REACHED
$STATE,12833,begin subsurface finish
$FINISH1,8.6,1.021022,361
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bc9aa51aa;,*04
$MODEM_MSG,CACST,6,0,20140921000303.936946,3,3672,17,0376,0150,100,00,00,03,04,1,004,000,0,5,1,0,150,6.6,8.0,-100,-5.0,-01,0.3,20,900,0025*25
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b308a748f;,*51
$MODEM_MSG,CACST,6,0,20140921000552.928302,3,2176,21,0372,0150,100,00,00,02,04,1,005,000,0,5,1,0,150,10.9,12.9,-100,-9.9,-01,0.2,21,900,0025*23
$GC,12838,0.25,361.0,3008,3048,792,767,8.6,8.5,800,12871,1.20,2.42,-24.55,0.000,20996,0.210,0.093,2674,1648,1717,1753,1681,0,0,0,0,0,0,14.06,14.16,14.48
$FINISH2,8.0
$STATE,12871,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12871,begin surface
$RAFOS_CLK,100
$MODEM,5,1411257952,74.70240,-145.35080,111.928,162077.0
$MODEM,4,1411257783,75.19240,-148.92400,182.937,264900.6
$RAFOS_FIX,7322.304688,-14320.208008,210914,000027,2,255,0.26
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.28
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3860992
$24V_AH,12.79,115.389
$10V_AH,12.68,0.000
$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,4.525,39.200,553.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10625.942,552.657,1656.701,160.850,0.000,1201.478,0.000,1208.332,1437.000,0.535,0.000
$DEVICE_MAMPS,309.825,138.465,1718.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12924.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.616,0.000,0.000,0.000
$MEM,173056
$DATA_FILE_SIZE,26728,805
$CAP_FILE_SIZE,129165,0
$CFSIZE,2097872896,2017165312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12835.67,0x2378b6,5,5
$SOUNDSPEED,1448.8
$GPS,210914,000427,7322.305,-14320.208,0,2255.0,0,24.1