version: 66.12
glider: 198
mission: 5
dive: 102
start: 8 11 114 16 18 31
data:
$ID,198
$MISSION,5
$DIVE,102
$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,-3438.2104
$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,26
$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,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
$GPS1,110814,161124,7157.488,-14424.404,22,1.0,42,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-72.3
$GPS2,110814,161812,7157.523,-14424.469,4,0.9,24,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,354.4,28033,-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,-145.9,197,2682,444,552,0.0,0.0,0,114,0.00,0.00,-58.08,0.000,16386,0.000,0.000,195,2685,1927,1950,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,196,2682,1965,1907,3.3,-2.7,7,190,11.07,2.08,-32.33,0.000,18692,0.450,0.148,2347,3788,3782,3870,3694,0,0,0,0,0,0,14.14,14.30,14.52
$MODEM_MSG,CACST,6,1,20140811160453.269726,3,98,19,0111,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,12.0,1.0,-100,2.0,-01,0.3,22,900,0025*1C
$GC,415,-0.62,-145.9,2347,3787,3870,3700,77.5,-21.9,62,445,0.17,1.88,0.00,0.000,3078,0.326,0.072,2384,2668,3784,3869,3700,0,0,0,0,0,0,14.27,14.45,28.83
$GC,740,-0.62,-145.9,2384,2668,3871,3700,129.0,-14.7,93,769,0.00,2.03,0.00,0.000,260,0.000,0.123,2376,3794,3785,3870,3701,0,0,0,0,0,0,28.83,14.43,28.83
$GC,918,-0.62,-145.9,2376,3794,3871,3700,156.5,-15.0,124,947,0.00,1.88,0.00,0.000,1030,0.000,0.075,2375,2676,3785,3869,3701,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1242,-0.62,-145.9,2376,2676,3871,3701,200.2,-12.6,155,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2676,3785,3870,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1566,-0.62,-145.9,2376,2676,3870,3700,238.7,-11.6,186,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2676,3784,3869,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,-0.64,-145.9,2376,2676,3868,3700,277.2,-10.9,203,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2676,3783,3867,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2213,-0.67,-145.9,2376,2676,3873,3700,309.0,-10.3,213,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2676,3783,3866,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.70,-145.9,2376,2676,3866,3701,339.5,-9.9,223,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2676,3780,3859,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.73,-145.9,2376,2676,3864,3701,368.5,-9.3,233,2850,0.00,2.00,0.00,0.000,260,0.000,0.131,2374,3791,3782,3863,3701,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2905,-0.75,-145.9,2374,3790,3864,3700,377.1,-10.1,245,2934,0.00,1.85,0.00,0.000,1030,0.000,0.079,2374,2680,3781,3862,3701,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3258,-0.79,-145.9,2375,2681,3862,3701,410.3,-9.2,261,3287,0.12,0.00,0.00,0.000,4102,0.155,0.000,2324,2680,3781,3862,3701,0,0,0,0,0,0,14.71,28.83,28.83
$GC,3562,-0.79,-145.9,2327,2681,3857,3701,443.9,-11.2,271,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2684,3781,3862,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3866,-0.79,-145.9,2325,2680,3863,3700,477.8,-11.1,281,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2680,3780,3861,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4170,-0.79,-145.9,2326,2680,3863,3701,512.0,-11.3,291,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2680,3781,3861,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-0.79,-145.9,2326,2681,3862,3701,546.1,-11.2,301,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2680,3781,3861,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4778,-0.79,-145.9,2326,2681,3862,3701,579.8,-11.0,311,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2680,3781,3861,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5081,-0.79,-145.9,2326,2680,3863,3701,613.6,-11.2,321,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2680,3778,3861,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5385,-0.79,-145.9,2325,2680,3863,3701,647.9,-11.3,331,5414,0.00,2.33,0.00,0.000,516,0.000,0.086,2325,1276,3780,3860,3701,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5448,-0.79,-145.9,2325,1277,3861,3701,655.1,-10.8,339,5477,0.00,2.45,0.00,0.000,1030,0.000,0.110,2318,2682,3780,3860,3700,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5791,-0.79,-145.9,2319,2683,3861,3702,694.5,-11.5,353,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2682,3779,3860,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6095,-0.79,-145.9,2318,2683,3861,3701,729.5,-11.5,363,6124,0.00,1.95,0.00,0.000,260,0.000,0.125,2309,3792,3780,3860,3700,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6178,-0.76,-145.9,2310,3791,3861,3701,740.4,-13.3,375,6207,0.12,1.83,0.00,0.000,3078,0.313,0.077,2336,2677,3780,3859,3701,0,0,0,0,0,0,14.60,14.76,28.83
$STATE,6290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6290,begin apogee
$GC,6294,-0.14,0.0,2334,3061,3861,3700,753.1,-10.7,383,6498,0.77,0.00,177.68,1.437,10246,0.273,0.000,2540,3061,3189,3269,3109,0,0,0,0,0,0,14.60,28.83,13.40
$STATE,6499,end apogee,CONTROL_FINISHED_OK
$STATE,6499,begin climb
$GC,6501,0.70,145.9,2541,3061,3263,3104,758.9,0.0,389,6667,0.93,1.42,124.05,1.716,10500,0.184,0.119,2807,3784,2580,2645,2515,0,0,0,0,0,0,13.96,13.56,13.00
$GC,6735,0.66,145.9,2804,3784,2643,2511,739.7,13.3,401,6784,0.00,1.30,0.00,0.000,1030,0.000,0.079,2811,3063,2575,2640,2511,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7070,0.64,145.9,2812,3063,2642,2509,693.7,13.7,412,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3063,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7405,0.62,145.9,2812,3062,2641,2508,648.3,13.6,423,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3063,2574,2640,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7739,0.60,145.9,2813,3064,2641,2509,603.3,13.3,434,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3063,2574,2640,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,0.58,145.9,2813,3063,2641,2509,559.3,13.1,445,8123,0.12,0.00,0.00,0.000,4102,0.317,0.000,2782,3063,2574,2640,2508,0,0,0,0,0,0,14.47,28.83,28.83
$GC,8409,0.58,150.2,2783,3063,2642,2507,520.4,11.4,456,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,3063,2573,2640,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,0.58,150.2,2783,3064,2641,2509,481.5,12.0,467,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,3062,2574,2640,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9078,0.58,150.2,2783,3064,2641,2508,442.1,11.6,478,9127,0.00,1.30,0.00,0.000,260,0.000,0.125,2783,3781,2573,2639,2507,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9161,0.58,150.2,2784,3782,2641,2508,432.1,12.1,481,9210,0.00,1.25,0.00,0.000,1030,0.000,0.080,2788,3048,2573,2640,2507,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9543,0.58,151.9,2788,3048,2642,2507,386.9,11.5,494,9592,0.00,2.33,0.00,0.000,516,0.000,0.080,2797,1648,2574,2641,2507,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9610,0.59,159.5,2797,1649,2637,2508,379.7,11.2,496,9659,0.00,2.45,10.77,1.379,9222,0.000,0.111,2797,3052,2529,2598,2461,0,0,0,0,0,0,28.83,14.59,13.98
$GC,10008,0.59,159.5,2799,3053,2595,2459,331.7,12.1,510,10057,0.00,1.33,0.00,0.000,260,0.000,0.125,2797,3783,2526,2594,2458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10142,0.56,159.5,2798,3783,2596,2458,314.6,13.3,516,10191,0.08,1.25,0.00,0.000,5126,0.263,0.081,2781,3048,2526,2594,2458,0,0,0,0,0,0,14.48,14.62,28.83
$GC,10573,0.59,192.4,2782,3049,2595,2459,268.9,9.9,532,10639,0.00,2.42,28.35,1.203,8708,0.000,0.078,2791,1643,2392,2460,2324,0,0,0,0,0,0,28.83,14.45,13.95
$GC,10792,0.65,225.7,2791,1642,2456,2322,247.7,9.9,543,10857,0.00,2.50,27.98,1.165,9222,0.000,0.110,2791,3055,2259,2326,2193,0,0,0,0,0,0,28.83,14.45,13.88
$GC,11381,0.72,269.0,2792,3056,2317,2186,187.5,9.3,576,11464,0.00,2.42,37.25,1.090,8708,0.000,0.078,2799,1641,2077,2141,2013,0,0,0,0,0,0,28.83,14.30,13.85
$GC,11533,0.82,324.4,2799,1641,2139,2012,173.9,8.7,583,11616,0.17,2.53,47.72,1.053,11270,0.125,0.109,2870,3049,1856,1916,1797,0,0,0,0,0,0,14.40,14.34,13.71
$GC,12122,0.82,324.4,2871,3050,1901,1785,93.7,12.9,616,12171,0.00,1.35,0.00,0.000,260,0.000,0.125,2870,3783,1845,1899,1792,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12240,0.82,324.4,2871,3784,1899,1782,77.8,13.8,621,12289,0.00,1.25,0.00,0.000,1030,0.000,0.082,2874,3057,1840,1898,1782,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12797,0.91,410.8,2875,3057,1899,1782,25.7,7.0,652,12879,0.00,2.42,43.03,0.268,8708,0.000,0.080,2880,1650,1513,1573,1454,0,0,0,0,0,0,28.83,14.45,14.34
$GC,13133,1.17,620.6,2880,1649,1580,1454,14.6,0.5,670,13294,0.22,2.45,111.68,0.230,11270,0.103,0.112,2967,3044,657,624,691,0,0,0,0,0,0,14.49,14.46,14.26
$FREEZE,6.78,5.077,-1.384,2,1,0
$FREEZE,5.75,5.152,-1.378,2,1,0
$FREEZE,4.62,5.151,-1.378,2,1,0
$FREEZE,3.42,5.154,-1.377,2,1,0
$FREEZE,2.09,5.152,-1.376,2,1,0
$FREEZE,1.30,5.097,-1.378,2,1,0
$STATE,13395,end climb,SURFACE_DEPTH_REACHED
$STATE,13395,begin surface coast
$FREEZE,1.26,5.126,-0.681,2,1,0
$FREEZE,1.23,4.974,-0.839,2,1,0
$FINISH,1.2,1.012250
$STATE,13409,end surface coast,CONTROL_FINISHED_OK
$STATE,13409,begin surface
$SM_CCo,13435,21.67,0.200,0,0,499,659.12
$SM_GC,2.59,8.25,0.62,21.67,0.085,0.094,0.200,197,2683,499,-7.41,1.07,659.12,0,0,0,0,0,0,14.42,14.42,14.30
$RAFOS_CLK,19
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7118.99,-14430.96,110814,121958
$TT8_MAMPS,0.079394,0.079394
$HUMID,49.33
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3976160
$24V_AH,13.00,36.763
$10V_AH,12.80,0.000
$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,22.050,51.550,608.500,21.675,0.000,0.000,0.000,218.375,0.000,0.000,25.356,0.000,6256.308,439.912,7020.160,157.797,0.000,3082.159,0.000,1020.795,1497.000,0.535,0.000
$DEVICE_MAMPS,449.820,148.410,1715.895,200.430,0.000,0.000,0.000,176.715,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13436.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.807,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,313400
$DATA_FILE_SIZE,23416,685
$CAP_FILE_SIZE,189953,0
$CFSIZE,2097872896,2067136512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14060.36,0x2378b6,7,5
$SOUNDSPEED,1450.9
$GPS,110814,200442,7159.473,-14423.351,38,0.8,58,22.6