version: 66.12
glider: 198
mission: 5
dive: 110
start: 8 12 114 23 51 51
data:
$ID,198
$MISSION,5
$DIVE,110
$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,-3448.29
$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,37
$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
$GPS1,120814,234354,7212.954,-14426.402,23,0.8,43,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.4
$GPS2,120814,235132,7213.005,-14426.478,3,0.8,23,22.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.8,69104,-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,-145.9,194,2681,447,536,0.0,0.0,0,114,0.00,0.00,-57.88,0.000,16386,0.000,0.000,193,2680,1921,1944,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,193,2680,1948,1897,3.2,-2.4,7,191,10.88,2.08,-34.35,0.000,18692,0.448,0.145,2343,3796,3784,3883,3685,0,0,0,0,0,0,14.17,14.39,14.62
$GC,416,-0.61,-145.9,2344,3796,3881,3695,76.7,-22.0,62,446,0.20,1.85,0.00,0.000,3078,0.324,0.069,2386,2676,3787,3879,3695,0,0,0,0,0,0,14.33,14.52,28.83
$GC,744,-0.61,-145.9,2387,2676,3881,3695,129.1,-14.8,93,772,0.00,2.03,0.00,0.000,260,0.000,0.122,2386,3789,3788,3880,3696,0,0,0,0,0,0,28.83,14.45,28.83
$GC,946,-0.61,-145.9,2387,3789,3881,3696,160.3,-14.6,129,975,0.00,1.85,0.00,0.000,1030,0.000,0.071,2386,2680,3787,3878,3696,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1281,-0.64,-145.9,2387,2681,3878,3696,202.9,-12.0,161,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2681,3786,3877,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-0.67,-145.9,2386,2681,3879,3698,237.7,-10.7,192,1633,0.00,2.35,0.00,0.000,516,0.000,0.081,2386,1282,3786,3876,3696,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1658,-0.71,-145.9,2387,1282,3877,3696,243.4,-10.3,198,1686,0.00,2.47,0.00,0.000,1030,0.000,0.109,2386,2680,3785,3875,3696,0,0,0,0,0,0,28.83,14.47,28.83
$MODEM_MSG,CACST,6,1,20140813000440.795126,3,536,21,0124,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,11.4,0.8,-100,2.2,-01,0.7,28,900,0025*26
$MODEM_MSG,CACST,6,1,20140813001619.803763,3,1329,25,0110,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,14.7,2.6,-100,0.4,-01,-0.3,31,900,0025*39
$GC,2001,-0.74,-145.9,2387,2681,3874,3696,277.7,-9.9,213,2030,0.12,0.00,0.00,0.000,4102,0.144,0.000,2334,2680,3784,3873,3696,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2305,-0.74,-145.9,2335,2682,3872,3697,313.9,-12.0,223,2334,0.00,1.98,0.00,0.000,260,0.000,0.121,2324,3795,3783,3871,3696,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2399,-0.72,-145.9,2326,3796,3871,3696,326.2,-13.7,237,2428,0.12,1.85,0.00,0.000,3078,0.307,0.073,2351,2676,3783,3871,3696,0,0,0,0,0,0,14.47,14.64,28.83
$GC,2742,-0.72,-145.9,2352,2677,3871,3697,363.6,-10.5,251,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2676,3783,3870,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3046,-0.72,-145.9,2352,2677,3871,3697,395.9,-10.6,261,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2681,3782,3869,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3349,-0.72,-145.9,2351,2676,3870,3696,428.6,-10.7,271,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2676,3782,3869,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3653,-0.72,-145.9,2352,2677,3869,3697,460.5,-10.5,281,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2676,3782,3869,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-0.72,-145.9,2351,2676,3870,3696,492.0,-10.3,291,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2676,3782,3868,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4261,-0.72,-145.9,2350,2676,3870,3696,523.4,-10.3,301,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2676,3782,3868,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4564,-0.72,-145.9,2352,2677,3869,3697,554.2,-10.1,311,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2676,3781,3868,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4868,-0.72,-145.9,2352,2677,3869,3697,585.0,-10.0,321,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2676,3782,3868,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5172,-0.72,-145.9,2352,2677,3869,3696,615.3,-10.0,331,5201,0.00,1.98,0.00,0.000,260,0.000,0.125,2347,3795,3781,3867,3696,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5225,-0.72,-145.9,2348,3795,3868,3697,620.9,-11.1,337,5254,0.00,1.83,0.00,0.000,1030,0.000,0.073,2347,2678,3781,3866,3696,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5578,-0.72,-145.9,2348,2678,3867,3697,656.7,-10.0,353,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2678,3781,3867,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5882,-0.72,-145.9,2348,2678,3867,3696,687.0,-10.1,363,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3780,3866,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6186,-0.74,-145.9,2348,2678,3868,3696,717.4,-9.9,373,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3779,3862,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-0.74,-145.9,2347,2678,3869,3696,747.3,-9.7,383,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2677,3781,3867,3696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6521,begin apogee
$GC,6525,-0.14,0.0,2347,3061,3868,3696,750.6,-9.8,384,6674,0.73,0.00,123.85,1.783,10246,0.269,0.000,2540,3060,3188,3269,3108,0,0,0,0,0,0,14.62,28.83,13.35
$STATE,6675,end apogee,CONTROL_FINISHED_OK
$STATE,6675,begin climb
$GC,6677,0.70,145.9,2541,3060,3262,3103,754.5,0.0,388,6846,0.90,0.00,124.22,1.772,10502,0.184,0.000,2803,3060,2581,2646,2517,0,0,0,0,0,0,14.01,28.83,13.04
$GC,7162,0.70,145.9,2805,3061,2642,2514,703.2,12.8,407,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3060,2577,2642,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,0.70,145.9,2804,3061,2642,2513,659.9,13.1,418,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3060,2577,2642,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7831,0.70,145.9,2804,3061,2643,2512,616.4,13.1,429,7880,0.00,1.33,0.00,0.000,260,0.000,0.122,2804,3785,2576,2641,2512,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7916,0.67,145.9,2805,3785,2643,2512,605.2,13.6,432,7964,0.00,1.25,0.00,0.000,1030,0.000,0.078,2808,3057,2576,2641,2512,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8297,0.67,145.9,2809,3057,2642,2513,554.1,13.1,445,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3056,2576,2641,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,0.67,145.9,2809,3058,2642,2512,510.7,12.9,456,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8966,0.67,145.9,2809,3057,2642,2512,467.5,12.9,467,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3056,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9301,0.67,145.9,2809,3057,2642,2512,424.5,12.7,478,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3056,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9635,0.67,145.9,2808,3057,2642,2511,382.3,12.6,489,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9970,0.67,145.9,2809,3057,2642,2511,339.9,12.7,500,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10304,0.67,145.9,2808,3057,2642,2511,298.6,12.2,511,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10639,0.67,145.9,2817,3057,2642,2512,259.0,11.8,522,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3055,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11135,0.70,182.3,2809,3057,2643,2511,206.4,9.7,549,11202,0.00,1.35,29.95,1.162,8452,0.000,0.116,2808,3786,2433,2500,2367,0,0,0,0,0,0,28.83,14.42,13.97
$GC,11220,0.72,218.7,2810,3786,2497,2365,198.1,9.7,552,11286,0.00,1.27,30.83,1.137,9222,0.000,0.077,2813,3048,2288,2351,2225,0,0,0,0,0,0,28.83,14.46,13.83
$GC,11811,0.78,270.6,2814,3048,2342,2217,141.1,8.9,585,11893,0.00,2.45,44.03,1.072,8708,0.000,0.076,2820,1647,2074,2135,2013,0,0,0,0,0,0,28.83,14.27,13.83
$GC,11945,0.86,323.8,2821,1648,2128,2012,129.3,8.8,591,12029,0.10,2.47,45.75,1.051,11270,0.095,0.107,2875,3043,1856,1912,1801,0,0,0,0,0,0,14.35,14.31,13.72
$GC,12552,0.91,361.9,2875,3043,1900,1789,55.3,9.6,625,12618,0.00,2.45,17.48,0.352,8708,0.000,0.078,2881,1650,1717,1780,1654,0,0,0,0,0,0,28.83,14.40,14.26
$GC,12686,1.01,435.7,2882,1644,1784,1654,44.5,7.7,631,12769,0.00,2.47,41.35,0.305,9222,0.000,0.108,2881,3049,1411,1465,1358,0,0,0,0,0,0,28.83,14.42,14.24
$FREEZE,8.73,2.971,-1.419,2,1,0
$FREEZE,8.36,2.662,-1.427,2,1,0
$FREEZE,8.06,3.263,-1.401,2,1,0
$FREEZE,7.87,3.634,-1.380,2,1,0
$FREEZE,7.90,3.746,-1.371,2,1,0
$FREEZE,7.98,3.806,-1.369,2,1,0
$FREEZE,7.98,3.808,-1.372,2,1,0
$FREEZE,7.72,3.808,-1.372,2,1,0
$FREEZE,7.56,3.911,-1.376,2,1,0
$FREEZE,7.39,3.911,-1.376,2,1,0
$FREEZE,6.91,4.645,-1.345,2,1,0
$FREEZE,6.18,4.921,-1.339,2,1,0
$FREEZE,5.36,4.921,-1.339,2,1,0
$GC,13290,1.28,653.7,2882,3049,1465,1358,8.0,0.0,665,13452,0.35,1.33,114.55,0.207,11012,0.112,0.123,3008,3787,518,479,558,0,0,0,0,0,0,14.47,14.35,14.30
$FREEZE,1.95,5.008,-1.327,2,1,0
$STATE,13469,end climb,SURFACE_DEPTH_REACHED
$STATE,13469,begin surface coast
$FREEZE,1.23,4.849,-1.335,2,1,0
$FINISH,1.2,1.019430
$STATE,13472,end surface coast,CONTROL_FINISHED_OK
$STATE,13472,begin surface
$SM_CCo,13500,3.00,0.212,0,0,498,658.88
$SM_GC,2.57,8.55,1.95,3.00,0.106,0.077,0.212,198,2673,498,-7.41,0.85,658.88,0,0,0,0,0,0,14.45,14.43,14.34
$RAFOS_CLK,784
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7139.36,-14419.56,120814,194934
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.46
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3972576
$24V_AH,13.04,39.409
$10V_AH,13.01,0.000
$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,21.950,39.275,572.000,3.000,0.000,0.000,0.000,266.650,0.000,0.000,25.117,0.000,6572.122,392.668,6848.943,158.303,0.000,3009.736,0.000,1009.183,1431.000,0.536,0.000
$DEVICE_MAMPS,447.525,144.585,1783.215,211.905,0.000,0.000,0.000,166.770,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13500.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.074,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,308824
$DATA_FILE_SIZE,23354,674
$CAP_FILE_SIZE,185792,0
$CFSIZE,2097872896,2065563648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14270.19,0x2378b6,7,5
$SOUNDSPEED,1451.1
$GPS,130814,033848,7214.729,-14425.856,36,0.8,56,22.7