MIZ Jul14 *
SG198 *
Dive index
* Mission links
version: 66.12
glider: 198
mission: 5
dive: 91
start: 8 9 114 19 36 35
data:
$ID,198
$MISSION,5
$DIVE,91
$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,-3424.3486
$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,27
$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,3
$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
$GPS1,090814,192718,7159.685,-14447.300,100,0.8,121,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-72.5
$GPS2,090814,193617,7159.686,-14447.288,5,1.0,26,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,131.1,48984,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.70,-145.9,199,2674,468,535,0.0,0.0,0,104,0.00,0.00,-47.53,0.000,16386,0.000,0.000,198,2674,1677,1712,1643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.70,-145.9,198,2673,1716,1643,3.2,-2.7,6,185,11.10,2.42,-36.20,0.000,18948,0.457,0.112,2351,1268,3781,3870,3693,0,0,0,0,0,0,14.15,14.39,14.59
$GC,410,-0.65,-145.9,2352,1268,3874,3698,70.7,-17.0,62,439,0.12,2.50,0.00,0.000,3078,0.351,0.109,2371,2678,3785,3873,3697,0,0,0,0,0,0,14.29,14.39,28.83
$GC,744,-0.65,-145.9,2372,2679,3874,3699,126.0,-15.8,94,773,0.00,2.40,0.00,0.000,516,0.000,0.086,2371,1263,3786,3874,3698,0,0,0,0,0,0,28.83,14.54,28.83
$GC,832,-0.65,-145.9,2372,1264,3874,3699,139.6,-14.5,107,861,0.00,2.53,0.00,0.000,1030,0.000,0.108,2361,2687,3789,3873,3705,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1156,-0.65,-145.9,2362,2688,3875,3698,187.2,-14.2,138,1184,0.00,1.95,0.00,0.000,260,0.000,0.127,2361,3789,3785,3873,3698,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1198,-0.65,-145.9,2362,3790,3873,3697,193.4,-14.4,142,1227,0.00,1.85,0.00,0.000,1030,0.000,0.076,2361,2672,3784,3871,3698,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1542,-0.65,-145.9,2361,2673,3872,3698,236.5,-11.7,174,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2672,3784,3871,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1875,-0.65,-145.9,2362,2673,3871,3699,274.2,-11.1,192,1903,0.00,2.03,0.00,0.000,260,0.000,0.130,2361,3794,3786,3874,3698,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1928,-0.65,-145.9,2361,3795,3870,3698,280.3,-12.2,198,1956,0.00,1.85,0.00,0.000,1030,0.000,0.077,2361,2679,3783,3869,3697,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2281,-0.65,-145.9,2358,2679,3869,3698,318.2,-11.0,214,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2584,-0.67,-145.9,2361,2680,3868,3699,350.1,-10.4,224,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2679,3782,3867,3698,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140809200451.171834,3,810,23,0101,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,14.6,1.0,-100,2.0,-01,-0.2,27,900,0025*07
$GC,2891,-0.69,-145.9,2362,2680,3867,3699,381.2,-10.2,234,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2679,3782,3867,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3195,-0.71,-145.9,2362,2679,3868,3698,412.1,-10.1,244,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2679,3781,3866,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3499,-0.74,-145.9,2361,2679,3867,3698,442.5,-9.9,254,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2679,3782,3866,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3803,-0.76,-145.9,2361,2679,3867,3698,473.0,-10.0,264,3831,0.00,1.98,0.00,0.000,260,0.000,0.129,2361,3790,3782,3866,3698,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3866,-0.76,-145.9,2361,3790,3866,3698,479.7,-10.7,272,3894,0.00,1.85,0.00,0.000,1030,0.000,0.077,2361,2675,3781,3865,3698,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4209,-0.79,-145.9,2361,2675,3866,3698,513.2,-9.7,286,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2675,3781,3864,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4513,-0.81,-145.9,2361,2675,3866,3698,541.8,-9.3,296,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2674,3781,3865,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4817,-0.84,-145.9,2361,2675,3866,3698,570.2,-9.4,306,4845,0.12,0.00,0.00,0.000,4102,0.167,0.000,2312,2674,3781,3864,3698,0,0,0,0,0,0,14.73,28.83,28.83
$GC,5121,-0.84,-145.9,2313,2676,3865,3699,605.2,-11.7,316,5149,0.00,1.98,0.00,0.000,260,0.000,0.125,2305,3795,3781,3864,3698,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5174,-0.80,-145.9,2306,3795,3865,3698,611.8,-13.2,322,5202,0.00,1.85,0.00,0.000,1030,0.000,0.076,2305,2672,3781,3864,3698,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5526,-0.80,-145.9,2306,2672,3865,3698,654.2,-11.9,338,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2672,3781,3864,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5829,-0.80,-145.9,2306,2672,3865,3698,690.0,-11.9,348,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2672,3781,3864,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6132,-0.80,-145.9,2305,2672,3865,3699,726.2,-12.0,358,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2672,3781,3864,3698,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6344,begin apogee
$GC,6348,-0.14,0.0,2302,3058,3865,3698,751.5,-11.9,365,6552,0.90,0.00,177.82,1.499,10246,0.288,0.000,2537,3057,3184,3261,3108,0,0,0,0,0,0,14.62,28.83,13.37
$STATE,6553,end apogee,CONTROL_FINISHED_OK
$STATE,6553,begin climb
$GC,6555,0.70,145.9,2540,3063,3257,3103,757.4,0.0,371,6721,0.93,1.42,124.57,1.774,10500,0.190,0.117,2801,3781,2580,2642,2519,0,0,0,0,0,0,13.96,13.56,13.00
$GC,6756,0.67,145.9,2800,3783,2639,2517,742.4,12.2,381,6804,0.00,1.33,0.00,0.000,1030,0.000,0.077,2806,3051,2577,2639,2515,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7121,0.67,145.9,2807,3051,2639,2514,693.3,13.3,393,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3051,2574,2637,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7454,0.67,145.9,2807,3051,2640,2512,649.3,13.1,404,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2575,2639,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7789,0.67,145.9,2807,3051,2639,2512,605.8,13.1,415,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2575,2639,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8124,0.67,145.9,2807,3051,2640,2511,562.8,12.7,426,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8458,0.67,145.9,2807,3051,2639,2511,520.2,12.8,437,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8793,0.67,145.9,2807,3051,2639,2512,477.3,12.8,448,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9128,0.67,145.9,2806,3051,2640,2511,435.3,12.4,459,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3051,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9462,0.67,145.9,2806,3052,2638,2512,392.9,12.7,470,9511,0.00,1.35,0.00,0.000,260,0.000,0.122,2806,3789,2574,2638,2511,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9564,0.64,145.9,2807,3788,2639,2511,379.7,13.7,474,9612,0.00,1.27,0.00,0.000,1030,0.000,0.080,2811,3042,2574,2638,2511,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9928,0.64,145.9,2813,3042,2639,2512,333.1,12.4,486,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3042,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10262,0.64,145.9,2813,3042,2639,2512,291.9,12.4,497,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3042,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10597,0.64,145.9,2812,3041,2638,2511,252.4,11.8,508,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3042,2574,2638,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11150,0.68,196.3,2812,3041,2639,2511,194.9,8.9,539,11233,0.00,2.42,41.08,1.152,8708,0.000,0.080,2820,1648,2376,2437,2315,0,0,0,0,0,0,28.83,14.36,13.91
$GC,11284,0.71,246.8,2821,1648,2434,2314,182.9,8.9,545,11367,0.00,2.47,43.30,1.137,9222,0.000,0.109,2820,3050,2168,2229,2108,0,0,0,0,0,0,28.83,14.39,13.75
$GC,11888,0.77,282.7,2821,3051,2222,2098,120.9,9.7,579,11954,0.00,0.00,29.92,1.093,8198,0.000,0.000,2820,3047,2023,2083,1963,0,0,0,0,0,0,28.83,28.83,13.85
$GC,12462,0.85,331.2,2821,3051,2074,1956,67.0,9.0,611,12528,0.12,2.47,23.30,0.376,10756,0.151,0.083,2887,1638,1838,1899,1778,0,0,0,0,0,0,14.51,14.38,14.25
$GC,12581,0.89,341.2,2887,1638,1909,1778,54.4,11.1,616,12629,0.00,2.53,7.00,0.321,9222,0.000,0.112,2887,3053,1797,1859,1735,0,0,0,0,0,0,28.83,14.44,14.28
$GC,13137,1.11,576.5,2888,3054,1865,1736,17.6,-0.9,647,13308,0.15,1.33,123.93,0.229,11012,0.138,0.129,2955,3784,836,823,850,0,0,0,0,0,0,14.50,14.34,14.28
$FREEZE,8.56,4.625,-1.280,2,1,0
$FREEZE,7.87,4.655,-1.279,2,1,0
$FREEZE,7.29,4.655,-1.279,2,1,0
$FREEZE,6.57,4.694,-1.278,2,1,0
$FREEZE,5.82,4.694,-1.277,2,1,0
$FREEZE,5.00,4.694,-1.277,2,1,0
$FREEZE,4.24,4.694,-1.276,2,1,0
$FREEZE,3.54,4.700,-1.276,2,1,0
$FREEZE,2.75,4.700,-1.275,2,1,0
$FREEZE,2.08,4.660,-1.277,2,1,0
$FREEZE,1.26,4.660,-1.276,2,1,0
$STATE,13594,end climb,SURFACE_DEPTH_REACHED
$STATE,13594,begin surface coast
$FREEZE,1.27,4.398,-1.286,2,1,0
$FREEZE,1.23,4.398,-1.286,2,1,0
$FREEZE,1.18,4.585,-0.691,2,1,0
$FREEZE,1.32,4.585,-0.691,2,1,0
$FREEZE,1.26,4.640,-1.277,2,1,0
$FREEZE,1.25,4.640,-1.277,2,1,0
$FREEZE,1.28,4.596,-0.658,2,1,0
$FREEZE,1.18,4.596,-0.658,2,1,0
$FINISH,1.2,1.009617
$STATE,13631,end surface coast,CONTROL_FINISHED_OK
$STATE,13631,begin surface
$SM_CCo,13659,44.22,0.189,0,0,498,658.88
$SM_GC,2.13,8.10,1.92,44.22,0.080,0.080,0.189,199,2678,498,-7.40,1.10,658.88,0,0,0,0,0,0,14.52,14.50,14.38
$RAFOS_CLK,740
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7125.74,-14453.64,090814,153651
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.11
$INTERNAL_PRESSURE,8.57378
$TCM_TEMP,13.20
$XPDR_PINGS,0
$SC_FREEKB,3981088
$24V_AH,13.00,32.881
$10V_AH,12.82,0.000
$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,21.550,44.400,570.925,44.225,0.000,0.000,0.000,344.525,0.000,0.000,27.584,0.000,6444.522,462.900,7184.234,161.689,0.000,3129.985,0.000,1021.329,1495.000,0.535,0.000
$DEVICE_MAMPS,457.470,130.050,1774.035,188.955,0.000,0.000,0.000,188.190,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13660.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.270,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,319892
$DATA_FILE_SIZE,23419,680
$CAP_FILE_SIZE,190246,0
$CFSIZE,2097872896,2066513920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14276.34,0x2378b6,7,5
$SOUNDSPEED,1451.0
$GPS,090814,232654,7158.143,-14445.041,38,0.8,59,22.5
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0