version: 66.12
glider: 198
mission: 5
dive: 103
start: 8 11 114 20 11 49
data:
$ID,198
$MISSION,5
$DIVE,103
$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,-3439.47
$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,28
$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,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
$GPS1,110814,200442,7159.473,-14423.351,38,0.8,58,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.0
$GPS2,110814,201130,7159.503,-14423.404,3,0.8,24,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7212.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,355.6,24357,-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,-145.9,197,2683,453,540,0.0,0.0,0,114,0.00,0.00,-58.17,0.000,16386,0.000,0.000,196,2682,1910,1940,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,197,2683,1942,1881,3.1,-2.1,7,194,11.10,2.08,-33.80,0.000,18692,0.451,0.150,2347,3792,3784,3846,3722,0,0,0,0,0,0,14.10,14.28,14.52
$GC,419,-0.63,-145.9,2348,3793,3848,3729,77.9,-21.1,63,448,0.15,1.88,0.00,0.000,3078,0.330,0.075,2378,2670,3788,3847,3729,0,0,0,0,0,0,14.21,14.38,28.83
$MODEM_MSG,CACST,6,1,20140811201459.510220,3,928,05,0093,0150,100,00,00,04,05,-1,-01,-01,1,3,0,0,150,-8.8,0.5,-100,2.5,-01,0.1,22,900,0025*34
$MODEM_MSG,CACST,6,1,20140811201641.090366,3,190,16,0094,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,14.8,0.4,-100,2.7,-01,-0.1,23,900,0025*03
$MODEM_MSG,CARDP,9,0,1,0,0,1;5;5a8a9a4e92;,*00
$MODEM_MSG,CACST,6,0,20140811201922.013049,3,1560,13,0270,0150,100,00,00,03,05,1,009,000,0,5,1,0,150,1.6,4.0,-100,-1.0,-01,-0.0,21,900,0025*07
$MODEM_MSG,CARDP,6,0,1,0,0,1;5;5aad8a0b35;,*55
$MODEM_MSG,CACST,6,0,20140811202118.329815,3,99,07,0147,0150,100,00,00,02,05,1,006,000,0,5,1,0,150,-5.3,1.4,-100,1.6,-01,0.2,22,900,0025*23
$GC,753,-0.63,-145.9,2379,2673,3848,3729,131.3,-15.0,95,787,0.00,2.00,0.00,0.000,260,0.000,0.126,2374,3786,3785,3842,3728,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1006,-0.63,-145.9,2375,3787,3848,3729,170.8,-16.0,140,1035,0.00,1.85,0.00,0.000,1030,0.000,0.077,2374,2679,3787,3846,3728,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1330,-0.63,-145.9,2375,2680,3848,3729,214.0,-12.8,171,1359,0.00,2.38,0.00,0.000,516,0.000,0.085,2374,1278,3787,3847,3728,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1469,-0.65,-145.9,2375,1278,3848,3728,230.0,-11.2,194,1498,0.00,2.47,0.00,0.000,1030,0.000,0.113,2374,2680,3791,3856,3727,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1812,-0.67,-145.9,2375,2681,3847,3728,266.8,-10.5,217,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3786,3847,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.70,-145.9,2374,2680,3848,3725,297.4,-10.2,227,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3786,3847,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-0.73,-145.9,2375,2681,3847,3725,327.8,-9.9,237,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3785,3847,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2724,-0.76,-145.9,2374,2680,3847,3724,357.5,-9.7,247,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2680,3785,3847,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,-0.80,-145.9,2375,2681,3847,3725,385.5,-9.3,257,3057,0.12,0.00,0.00,0.000,4102,0.154,0.000,2323,2680,3785,3847,3724,0,0,0,0,0,0,14.71,28.83,28.83
$GC,3332,-0.80,-145.9,2324,2681,3847,3724,420.9,-11.9,267,3361,0.00,1.95,0.00,0.000,260,0.000,0.124,2315,3789,3785,3847,3723,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3400,-0.77,-145.9,2316,3789,3848,3723,429.9,-13.4,276,3429,0.00,1.83,0.00,0.000,1030,0.000,0.077,2315,2680,3784,3847,3722,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3739,-0.77,-145.9,2315,2680,3848,3723,470.2,-11.8,289,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2680,3784,3847,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4042,-0.77,-145.9,2316,2681,3847,3723,506.3,-11.8,299,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2680,3783,3847,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4345,-0.77,-145.9,2316,2680,3848,3722,542.2,-11.8,309,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2680,3785,3847,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4648,-0.77,-145.9,2316,2681,3847,3723,577.6,-11.7,319,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2684,3784,3847,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4952,-0.77,-145.9,2316,2680,3848,3722,612.6,-11.6,329,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2680,3784,3847,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,-0.77,-145.9,2316,2681,3847,3723,648.2,-11.8,339,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2679,3784,3847,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5557,-0.77,-145.9,2316,2681,3847,3723,684.0,-11.8,349,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2680,3786,3847,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,-0.77,-145.9,2315,2680,3848,3722,719.0,-11.5,359,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2680,3784,3847,3722,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6132,begin apogee
$GC,6136,-0.14,0.0,2313,3056,3847,3724,750.2,-11.3,368,6287,0.85,0.00,124.88,1.744,10246,0.282,0.000,2534,3052,3185,3267,3104,0,0,0,0,0,0,14.61,28.83,13.33
$STATE,6288,end apogee,CONTROL_FINISHED_OK
$STATE,6288,begin climb
$GC,6290,0.70,145.9,2532,3052,3253,3106,754.7,0.0,372,6441,0.95,0.00,122.65,1.722,10246,0.189,0.000,2808,3052,2591,2660,2522,0,0,0,0,0,0,14.00,28.83,13.07
$GC,6727,0.70,145.9,2809,3052,2648,2510,709.3,13.0,387,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3052,2578,2647,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7062,0.70,145.9,2809,3052,2656,2510,666.0,13.0,398,7111,0.00,1.38,0.00,0.000,260,0.000,0.125,2808,3792,2578,2647,2509,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7164,0.66,145.9,2809,3792,2648,2508,652.6,13.8,402,7211,0.00,1.27,0.00,0.000,1030,0.000,0.080,2813,3055,2577,2646,2509,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7528,0.64,145.9,2814,3056,2647,2510,603.7,13.1,414,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3055,2577,2646,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7862,0.62,145.9,2814,3056,2648,2509,559.7,13.1,425,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3055,2577,2646,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,0.60,145.9,2814,3056,2647,2509,515.7,13.0,436,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3055,2577,2646,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8531,0.58,145.9,2814,3055,2647,2509,472.3,13.0,447,8580,0.12,0.00,0.00,0.000,4102,0.315,0.000,2784,3055,2576,2646,2507,0,0,0,0,0,0,14.50,28.83,28.83
$GC,8866,0.58,151.2,2785,3056,2647,2509,433.5,11.3,458,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3055,2577,2646,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9201,0.58,157.1,2785,3056,2647,2509,395.7,11.3,469,9249,0.00,0.00,9.38,1.432,8198,0.000,0.000,2783,3055,2537,2608,2467,0,0,0,0,0,0,28.83,28.83,14.01
$GC,9536,0.59,161.7,2784,3055,2608,2465,357.7,11.4,480,9584,0.00,0.00,1.15,0.264,8198,0.000,0.000,2784,3055,2531,2611,2452,0,0,0,0,0,0,28.83,28.83,14.51
$GC,9870,0.60,171.8,2785,3056,2618,2454,320.2,11.1,491,9919,0.00,2.42,13.52,1.321,8708,0.000,0.078,2794,1644,2478,2553,2404,0,0,0,0,0,0,28.83,14.53,14.01
$GC,9972,0.61,194.1,2795,1644,2545,2405,310.0,10.4,495,10038,0.00,2.47,19.02,1.268,9222,0.000,0.109,2793,3057,2385,2456,2315,0,0,0,0,0,0,28.83,14.52,13.93
$GC,10325,0.61,194.1,2794,3058,2453,2314,267.9,11.8,507,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,3058,2383,2452,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10762,0.63,217.4,2794,3057,2454,2314,219.2,10.4,528,10828,0.00,0.00,20.10,1.177,8198,0.000,0.000,2794,3058,2289,2358,2221,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11336,0.69,259.3,2794,3057,2356,2219,162.7,9.4,560,11419,0.00,2.42,35.97,1.081,8708,0.000,0.080,2804,1647,2119,2186,2053,0,0,0,0,0,0,28.83,14.31,13.89
$GC,11539,0.79,317.6,2804,1647,2183,2052,144.9,8.5,570,11639,0.10,2.50,50.53,1.036,11270,0.099,0.109,2857,3050,1879,1940,1818,0,0,0,0,0,0,14.42,14.39,13.76
$GC,12145,0.82,323.4,2857,3049,1934,1811,72.0,11.3,604,12193,0.00,1.35,0.00,0.000,260,0.000,0.123,2857,3790,1870,1931,1810,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12262,0.82,323.4,2858,3790,1932,1809,58.6,11.7,609,12311,0.00,1.27,0.00,0.000,1030,0.000,0.081,2860,3050,1869,1930,1809,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12820,0.97,451.5,2866,3051,1930,1808,19.2,4.8,640,12920,0.12,0.00,68.03,0.249,10758,0.153,0.000,2921,3050,1344,1395,1293,0,0,0,0,0,0,14.54,28.83,14.32
$FREEZE,8.85,5.182,-1.365,2,1,0
$FREEZE,8.44,5.202,-1.366,2,1,0
$FREEZE,8.00,5.034,-1.360,2,1,0
$FREEZE,7.56,5.208,-1.372,2,1,0
$FREEZE,7.02,5.238,-1.374,2,1,0
$FREEZE,6.01,5.238,-1.373,2,1,0
$FREEZE,5.28,5.263,-1.373,2,1,0
$FREEZE,4.40,5.263,-1.373,2,1,0
$FREEZE,3.53,5.275,-1.372,2,1,0
$GC,13426,1.19,619.6,2922,3051,1395,1294,7.0,2.7,674,13549,0.12,2.40,87.07,0.199,10756,0.162,0.080,2977,1645,657,631,683,0,0,0,0,0,0,14.52,14.42,14.28
$FREEZE,1.33,5.092,-0.280,2,1,0
$STATE,13565,end climb,SURFACE_DEPTH_REACHED
$STATE,13565,begin surface coast
$FREEZE,1.33,5.092,-0.280,2,1,0
$FREEZE,1.25,5.219,-0.223,2,1,0
$FREEZE,1.29,5.219,-0.223,2,1,0
$FREEZE,1.26,5.186,-0.258,2,1,0
$FREEZE,1.33,5.186,-0.258,2,1,0
$FREEZE,1.27,5.268,-1.370,2,1,0
$FREEZE,1.20,5.268,-1.370,2,1,0
$FREEZE,1.25,5.263,-1.370,2,1,0
$FINISH,1.2,1.019890
$STATE,13603,end surface coast,CONTROL_FINISHED_OK
$STATE,13603,begin surface
$SM_CCo,13631,21.65,0.197,0,0,500,658.88
$SM_GC,2.30,8.43,1.92,21.65,0.106,0.119,0.197,197,2686,500,-7.40,-0.34,658.88,0,0,0,0,0,0,14.50,14.42,14.36
$RAFOS_CLK,813
$MODEM,9,1407788362,74.17140,-149.24080,681.013,988100.4
$MODEM,6,1407788478,74.28320,-156.13879,317.330,460422.5
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7125.74,-14422.89,110814,161428
$TT8_MAMPS,0.042693,0.042693
$HUMID,50.07
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3975712
$24V_AH,13.07,37.073
$10V_AH,13.03,0.000
$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,22.075,36.525,552.300,21.650,0.000,0.000,0.000,220.225,0.000,0.000,25.678,0.000,6372.476,431.845,7116.088,154.624,0.000,2921.019,0.000,1028.432,0.000,0.536,0.000
$DEVICE_MAMPS,451.350,149.940,1744.200,196.605,0.000,0.000,0.000,179.010,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.401,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,312772
$DATA_FILE_SIZE,23400,688
$CAP_FILE_SIZE,189774,0
$CFSIZE,2097872896,2066939904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13997.27,0x2378b6,7,5
$SOUNDSPEED,1450.6
$GPS,120814,000118,7201.490,-14423.576,35,0.7,55,22.6