version: 66.12
glider: 198
mission: 5
dive: 280
start: 9 8 114 14 15 7
data:
$ID,198
$MISSION,5
$DIVE,280
$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,-5401.876
$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,30
$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
$GPS1,080914,135924,7348.604,-14349.618,28,0.8,48,23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.7
$GPS2,080914,141452,7348.688,-14349.319,4,1.0,24,23.3
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7330.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,203.7,50795,-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
$GC,18,-0.70,-145.9,196,2677,457,539,0.0,0.0,0,91,0.00,0.00,-71.95,0.000,16386,0.000,0.000,195,2677,2167,2189,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.70,-145.9,196,2678,2190,2145,3.3,-1.8,7,143,11.15,0.00,-35.78,0.000,18694,0.445,0.000,2349,2677,3783,3851,3715,0,0,0,0,0,0,13.95,28.83,14.53
$GC,439,-0.65,-145.9,2350,2678,3852,3720,91.9,-20.4,44,440,0.12,0.00,0.00,0.000,2054,0.330,0.000,2374,2677,3785,3851,3719,0,0,0,0,0,0,14.14,28.83,28.83
$GC,739,-0.65,-145.9,2374,2682,3852,3720,141.3,-15.3,74,744,0.00,2.42,0.00,0.000,516,0.000,0.086,2373,1261,3785,3851,3720,0,0,0,0,0,0,28.83,14.46,28.83
$GC,789,-0.65,-145.9,2375,1262,3852,3721,148.7,-14.3,84,794,0.00,2.55,0.00,0.000,1030,0.000,0.108,2373,2682,3785,3851,3720,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1099,-0.65,-145.9,2374,2683,3852,3721,193.6,-14.1,116,1104,0.00,2.42,0.00,0.000,516,0.000,0.084,2374,1267,3785,3851,3720,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1169,-0.68,-145.9,2375,1266,3852,3720,202.8,-12.5,130,1174,0.00,2.53,0.00,0.000,1030,0.000,0.109,2374,2681,3785,3851,3720,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1479,-0.68,-145.9,2374,2681,3852,3720,241.5,-11.5,162,1484,0.00,2.00,0.00,0.000,260,0.000,0.125,2374,3792,3785,3851,3720,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1608,-0.68,-145.9,2374,3792,3853,3720,256.8,-11.6,188,1614,0.00,1.92,0.00,0.000,1030,0.000,0.074,2371,2675,3785,3851,3720,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1930,-0.71,-145.9,2374,2675,3852,3719,291.1,-10.2,202,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3789,3858,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2229,-0.74,-145.9,2375,2675,3852,3721,320.9,-9.8,212,2234,0.00,2.00,0.00,0.000,260,0.000,0.126,2374,3787,3785,3851,3720,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2309,-0.77,-145.9,2374,3788,3852,3720,329.1,-10.8,228,2314,0.00,1.88,0.00,0.000,1030,0.000,0.075,2373,2666,3785,3851,3720,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2620,-0.81,-145.9,2375,2667,3852,3721,358.2,-9.3,240,2622,0.15,0.00,0.00,0.000,4102,0.135,0.000,2312,2665,3785,3851,3720,0,0,0,0,0,0,14.66,28.83,28.83
$GC,2919,-0.81,-145.9,2313,2667,3852,3721,393.8,-12.0,250,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3785,3851,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3219,-0.81,-145.9,2313,2666,3852,3720,430.0,-12.1,260,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3785,3851,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-0.81,-145.9,2313,2666,3852,3720,465.9,-12.0,270,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3785,3850,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3819,-0.81,-145.9,2313,2666,3852,3720,501.3,-11.8,280,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2671,3786,3851,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4119,-0.81,-145.9,2313,2666,3852,3721,537.1,-11.9,290,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3786,3851,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.81,-145.9,2313,2666,3852,3722,572.6,-11.8,300,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3786,3851,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4719,-0.81,-145.9,2313,2666,3852,3722,608.2,-11.7,310,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3786,3851,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.81,-145.9,2313,2666,3853,3723,643.1,-11.6,320,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3787,3851,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5319,-0.81,-145.9,2313,2666,3851,3724,677.9,-11.6,330,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2666,3787,3851,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5619,-0.81,-145.9,2313,2666,3852,3724,712.2,-11.4,340,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3787,3851,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5919,-0.81,-145.9,2313,2667,3852,3725,746.2,-11.3,350,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2666,3787,3851,3724,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5977,begin apogee
$GC,5982,-0.14,0.0,2310,3060,3852,3724,752.9,-11.3,352,6113,0.88,0.00,129.18,1.708,10246,0.269,0.000,2538,3060,3186,3263,3109,0,0,0,0,0,0,14.40,28.83,13.31
$STATE,6114,end apogee,CONTROL_FINISHED_OK
$STATE,6114,begin climb
$GC,6116,0.70,145.9,2539,3061,3259,3104,756.1,0.0,356,6261,0.93,0.00,126.20,1.687,10502,0.174,0.000,2806,3061,2581,2643,2519,0,0,0,0,0,0,13.91,28.83,12.86
$GC,6549,0.70,145.9,2806,3060,2640,2514,709.0,12.7,376,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3060,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6849,0.70,145.9,2806,3061,2641,2514,671.0,12.7,386,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3061,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7149,0.70,145.9,2806,3060,2640,2513,633.3,12.6,396,7154,0.00,1.35,0.00,0.000,260,0.000,0.120,2805,3785,2576,2639,2513,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7189,0.66,145.9,2807,3785,2640,2514,627.8,14.0,404,7194,0.00,1.27,0.00,0.000,1030,0.000,0.076,2810,3051,2576,2639,2513,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7510,0.66,145.9,2810,3051,2640,2513,587.2,12.5,418,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3051,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140908161635.664924,3,647,16,0095,0150,100,00,00,02,04,-1,-01,-01,1,3,0,0,150,8.3,1.1,-100,1.9,-01,-0.5,26,900,0025*36
$GC,7810,0.66,145.9,2811,3051,2641,2513,549.7,12.5,428,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3051,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,0.66,145.9,2811,3052,2640,2514,512.3,12.5,438,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3051,2575,2637,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8409,0.66,145.9,2811,3052,2639,2514,475.0,12.4,448,8414,0.00,1.35,0.00,0.000,260,0.000,0.119,2810,3781,2576,2639,2513,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8444,0.62,145.9,2810,3785,2640,2514,470.4,13.2,455,8449,0.00,1.25,0.00,0.000,1030,0.000,0.076,2815,3053,2575,2639,2512,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8770,0.62,145.9,2815,3054,2641,2513,430.0,12.2,470,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3054,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,0.62,145.9,2815,3054,2641,2513,393.2,12.2,480,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3054,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9369,0.62,145.9,2816,3054,2640,2514,356.4,12.2,490,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3054,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9669,0.62,145.9,2815,3053,2640,2513,320.7,11.7,500,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3054,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9969,0.62,148.5,2815,3054,2641,2512,285.7,11.5,510,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3054,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10269,0.64,166.6,2815,3053,2641,2513,253.3,10.7,520,10290,0.00,1.38,17.30,1.187,8452,0.000,0.119,2815,3787,2501,2567,2435,0,0,0,0,0,0,28.83,14.60,14.07
$GC,10361,0.61,166.6,2815,3787,2560,2430,243.0,12.6,538,10365,0.10,1.27,0.00,0.000,5126,0.251,0.076,2792,3048,2494,2558,2430,0,0,0,0,0,0,14.38,14.58,28.83
$GC,10671,0.67,251.1,2792,3048,2558,2429,217.0,7.1,570,10745,0.00,0.00,71.88,1.072,8710,0.000,0.000,2792,3048,2162,2221,2103,0,0,0,0,0,0,28.83,28.83,13.80
$GC,11040,0.76,303.3,2792,3048,2204,2084,184.7,8.9,608,11091,0.12,0.00,45.50,1.033,10502,0.141,0.000,2850,3047,1940,1992,1888,0,0,0,0,0,0,14.39,28.83,13.78
$GC,11390,0.78,304.7,2851,3046,1982,1878,143.2,11.6,644,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,3047,1929,1981,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11690,0.82,321.2,2851,3047,1981,1877,109.6,10.8,674,11711,0.00,0.00,14.77,1.013,8198,0.000,0.000,2850,3047,1867,1919,1816,0,0,0,0,0,0,28.83,28.83,13.95
$GC,12011,0.89,362.3,2851,3047,1911,1811,77.2,9.4,706,12036,0.00,2.40,19.70,0.405,8708,0.000,0.076,2860,1648,1714,1765,1664,0,0,0,0,0,0,28.83,14.36,14.07
$GC,12121,0.99,419.4,2860,1650,1784,1659,67.3,8.6,728,12163,0.15,2.53,33.08,0.376,11270,0.126,0.107,2927,3053,1480,1528,1432,0,0,0,0,0,0,14.40,14.32,14.04
$GC,12461,1.07,494.7,2928,3053,1540,1432,32.5,7.6,766,12512,0.00,2.53,41.90,0.284,8708,0.000,0.079,2932,1641,1171,1209,1134,0,0,0,0,0,0,28.83,14.29,14.13
$GC,12572,1.18,565.8,2933,1641,1221,1134,22.7,7.8,788,12618,0.12,2.55,39.35,0.252,11270,0.142,0.106,2989,3050,878,882,875,0,0,0,0,0,0,14.34,14.28,14.12
$FREEZE,8.75,-1.210,-1.426,2,1,0
$FREEZE,7.68,-1.210,-1.425,2,1,0
$FREEZE,6.78,-1.213,-1.424,2,1,0
$FREEZE,5.74,-1.210,-1.423,2,1,0
$FREEZE,4.67,-1.209,-1.422,2,1,0
$FREEZE,3.90,-1.209,-1.422,2,1,0
$FREEZE,2.73,-1.211,-1.421,2,1,0
$FREEZE,1.67,-1.210,-1.420,2,1,0
$STATE,12802,end climb,SURFACE_DEPTH_REACHED
$STATE,12802,begin surface coast
$FREEZE,1.41,-1.189,-0.342,2,1,0
$FINISH,1.4,1.004861
$STATE,12811,end surface coast,FINISH_DEPTH_REACHED
$STATE,12811,begin surface
$SM_CCo,12827,50.78,0.197,0,0,499,658.88
$SM_GC,2.44,8.40,0.62,50.78,0.092,0.079,0.197,201,2681,499,-7.39,1.19,658.88,0,0,0,0,0,0,14.45,14.44,14.24
$RAFOS_CLK,434
$RAFOS_FIX,7236.470703,-14818.450195,060914,161617,3,255,9.86
$IRIDIUM_FIX,7304.81,-14346.43,080914,140334
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.05
$INTERNAL_PRESSURE,8.52495
$TCM_TEMP,12.20
$XPDR_PINGS,3
$SC_FREEKB,3896384
$24V_AH,12.86,90.903
$10V_AH,13.07,0.000
$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,22.125,36.950,538.850,50.775,0.000,0.000,0.000,606.725,0.750,0.000,25.789,0.000,10543.952,689.395,2285.673,289.312,0.000,1951.150,0.000,1226.375,1485.000,0.535,0.000
$DEVICE_MAMPS,445.230,126.225,1708.245,196.605,0.000,0.000,0.000,204.255,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12851.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.929,0.000,0.000,0.000
$MEM,214944
$DATA_FILE_SIZE,26766,817
$CAP_FILE_SIZE,142750,0
$CFSIZE,2097872896,2032369664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13902.26,0x2378b6,7,5
$SOUNDSPEED,1448.5
$GPS,080914,175124,7347.654,-14353.194,36,0.9,56,23.3