version: 66.12
glider: 198
mission: 5
dive: 120
start: 8 14 114 15 2 1
data:
$ID,198
$MISSION,5
$DIVE,120
$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,-3460.8943
$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,34
$R_STBD_OVSHOOT,15
$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
$GPS1,140814,145448,7227.334,-14419.529,38,0.9,58,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-71.5
$GPS2,140814,150142,7227.268,-14419.655,4,0.9,25,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.3,42430,-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,-145.9,204,2670,444,544,0.0,0.0,0,124,0.00,0.00,-67.90,0.000,16386,0.000,0.000,202,2670,2108,2141,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.70,-145.9,203,2670,2144,2076,3.1,-2.0,8,196,10.90,2.10,-28.77,0.000,18692,0.449,0.147,2345,3790,3784,3855,3714,0,0,0,0,0,0,14.15,14.38,14.62
$GC,420,-0.63,-145.9,2346,3790,3856,3721,78.3,-21.6,62,449,0.17,1.88,0.00,0.000,3078,0.314,0.073,2382,2672,3787,3855,3719,0,0,0,0,0,0,14.28,14.45,28.83
$GC,754,-0.63,-145.9,2382,2672,3857,3719,130.7,-14.6,94,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2668,3786,3854,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-0.63,-145.9,2383,2672,3856,3720,175.3,-13.3,125,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2669,3787,3855,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,-0.65,-145.9,2383,2672,3855,3720,213.8,-11.1,156,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2672,3786,3855,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.68,-145.9,2383,2673,3856,3720,248.9,-10.6,187,1753,0.00,2.00,0.00,0.000,260,0.000,0.125,2374,3790,3787,3856,3718,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1818,-0.68,-145.9,2375,3790,3855,3719,259.2,-11.5,201,1847,0.00,1.88,0.00,0.000,1030,0.000,0.075,2374,2675,3787,3855,3719,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2161,-0.71,-145.9,2376,2676,3856,3720,293.3,-9.8,215,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2675,3787,3855,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2465,-0.74,-145.9,2375,2675,3850,3719,323.1,-9.7,225,2494,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3794,3789,3860,3718,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2564,-0.76,-145.9,2375,3795,3856,3718,333.0,-10.6,240,2593,0.00,1.88,0.00,0.000,1030,0.000,0.074,2374,2675,3786,3854,3718,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2903,-0.79,-145.9,2375,2676,3856,3718,365.3,-9.4,253,2932,0.12,0.00,0.00,0.000,4102,0.152,0.000,2323,2675,3786,3855,3718,0,0,0,0,0,0,14.69,28.83,28.83
$GC,3207,-0.79,-145.9,2324,2675,3856,3718,399.8,-11.3,263,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2674,3790,3863,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-0.79,-145.9,2324,2675,3856,3718,434.5,-11.4,273,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2675,3785,3853,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3814,-0.79,-145.9,2324,2676,3856,3719,469.4,-11.5,283,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2674,3785,3854,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-0.79,-145.9,2323,2675,3856,3718,504.3,-11.6,293,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2674,3786,3855,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4421,-0.79,-145.9,2324,2675,3856,3718,539.3,-11.4,303,4450,0.00,2.35,0.00,0.000,516,0.000,0.081,2322,1271,3788,3854,3723,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4484,-0.79,-145.9,2323,1272,3856,3718,546.6,-11.3,311,4513,0.00,2.50,0.00,0.000,1030,0.000,0.106,2318,2691,3786,3854,3718,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4827,-0.79,-145.9,2318,2692,3856,3718,586.3,-11.6,325,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2691,3788,3854,3723,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814160455.842027,3,550,21,0110,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,15.0,2.1,-100,0.9,-01,-0.2,20,900,0025*06
$MODEM_MSG,CACST,6,1,20140814161636.522833,3,203,23,0161,0150,100,00,00,00,03,1,000,000,2,5,1,0,150,19.4,3.8,-100,-0.8,-01,-0.0,20,900,0025*04
$GC,5129,-0.79,-145.9,2318,2691,3856,3718,621.6,-11.8,335,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2691,3786,3854,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5432,-0.79,-145.9,2318,2691,3856,3718,657.1,-11.7,345,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2691,3786,3855,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,-0.79,-145.9,2318,2691,3856,3719,692.6,-11.7,355,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2690,3786,3855,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,-0.79,-145.9,2318,2691,3856,3719,727.7,-11.5,365,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2691,3787,3855,3719,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6251,begin apogee
$GC,6254,-0.14,0.0,2321,3057,3856,3720,752.4,-11.6,372,6407,0.85,0.00,126.32,1.743,10246,0.275,0.000,2540,3056,3184,3262,3106,0,0,0,0,0,0,14.54,28.83,13.33
$STATE,6408,end apogee,CONTROL_FINISHED_OK
$STATE,6408,begin climb
$GC,6409,0.70,145.9,2541,3057,3257,3103,756.9,0.0,376,6578,0.90,0.00,124.07,1.728,10502,0.181,0.000,2802,3055,2581,2644,2519,0,0,0,0,0,0,13.99,28.83,13.00
$GC,6961,0.70,145.9,2803,3057,2642,2515,699.1,12.5,399,7009,0.00,1.35,0.00,0.000,260,0.000,0.119,2802,3782,2577,2641,2514,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7062,0.67,145.9,2803,3782,2642,2514,685.9,13.4,403,7110,0.00,1.27,0.00,0.000,1030,0.000,0.075,2807,3048,2577,2641,2514,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7426,0.67,145.9,2808,3048,2642,2513,637.9,13.0,415,7475,0.00,2.38,0.00,0.000,516,0.000,0.076,2815,1638,2577,2641,2513,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7493,0.67,145.9,2817,1639,2643,2513,629.9,12.8,417,7542,0.00,2.50,0.00,0.000,1030,0.000,0.105,2816,3048,2577,2641,2513,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7891,0.65,145.9,2817,3048,2642,2513,576.8,13.4,431,7939,0.00,1.35,0.00,0.000,260,0.000,0.119,2817,3791,2576,2640,2513,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8025,0.60,145.9,2818,3792,2641,2514,557.7,15.1,437,8074,0.12,1.25,0.00,0.000,5126,0.260,0.074,2788,3053,2576,2640,2513,0,0,0,0,0,0,14.42,14.58,28.83
$GC,8457,0.60,145.9,2789,3053,2642,2513,505.1,11.7,453,8505,0.00,2.33,0.00,0.000,516,0.000,0.076,2797,1649,2576,2640,2513,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8524,0.60,148.2,2798,1649,2641,2514,497.8,11.5,455,8572,0.00,2.42,0.00,0.000,1030,0.000,0.105,2797,3050,2576,2640,2513,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8921,0.60,148.2,2798,3051,2641,2513,450.8,11.7,469,8970,0.00,1.33,0.00,0.000,260,0.000,0.119,2798,3790,2576,2640,2512,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9005,0.60,148.2,2799,3791,2641,2513,440.4,12.4,472,9054,0.00,1.25,0.00,0.000,1030,0.000,0.075,2803,3050,2576,2640,2513,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9387,0.60,148.2,2804,3050,2641,2513,393.4,12.2,485,9436,0.00,2.33,0.00,0.000,516,0.000,0.076,2813,1644,2576,2640,2513,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9470,0.60,148.2,2816,1644,2642,2513,383.8,12.0,488,9520,0.08,2.42,0.00,0.000,5126,0.236,0.104,2791,3047,2576,2640,2513,0,0,0,0,0,0,14.48,14.59,28.83
$GC,9852,0.60,148.2,2792,3048,2641,2514,338.8,11.7,501,9901,0.00,1.33,0.00,0.000,260,0.000,0.119,2791,3789,2576,2640,2513,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9954,0.60,148.2,2792,3789,2642,2513,326.5,12.4,505,10002,0.00,1.25,0.00,0.000,1030,0.000,0.074,2795,3049,2576,2640,2513,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10318,0.61,155.1,2795,3049,2642,2513,283.5,11.3,517,10367,0.00,2.38,3.62,1.224,8708,0.000,0.073,2806,1651,2564,2643,2486,0,0,0,0,0,0,28.83,14.61,13.72
$GC,10402,0.62,176.9,2806,1650,2647,2487,275.2,10.5,520,10467,0.00,2.45,23.88,1.220,9222,0.000,0.105,2805,3055,2454,2521,2388,0,0,0,0,0,0,28.83,14.54,13.97
$GC,10884,0.62,181.3,2806,3055,2518,2388,219.8,11.4,543,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3055,2452,2517,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11437,0.67,240.2,2806,3055,2518,2387,165.4,8.5,574,11538,0.00,0.00,53.17,1.061,8454,0.000,0.000,2809,3054,2196,2256,2137,0,0,0,0,0,0,28.83,28.83,13.85
$GC,12042,0.75,298.2,2806,3055,2252,2130,112.2,8.5,608,12125,0.00,2.42,48.58,1.004,8708,0.000,0.073,2815,1649,1964,2021,1908,0,0,0,0,0,0,28.83,14.24,13.83
$GC,12177,0.84,356.4,2816,1648,2013,1906,100.9,8.5,614,12243,0.10,2.50,29.25,0.477,11270,0.093,0.107,2870,3050,1734,1785,1683,0,0,0,0,0,0,14.35,14.30,14.03
$GC,12747,0.92,414.7,2871,3050,1792,1683,38.6,8.5,646,12813,0.00,1.38,32.08,0.292,8452,0.000,0.123,2870,3792,1496,1548,1444,0,0,0,0,0,0,28.83,14.40,14.27
$GC,12848,1.00,468.5,2871,3792,1555,1444,29.8,8.8,650,12914,0.08,1.27,29.58,0.262,11270,0.099,0.075,2925,3050,1279,1325,1233,0,0,0,0,0,0,14.45,14.46,14.26
$FREEZE,7.95,1.119,-1.449,2,1,0
$FREEZE,7.10,1.037,-1.442,2,1,0
$FREEZE,6.30,1.057,-1.438,2,1,0
$FREEZE,5.43,1.030,-1.435,2,1,0
$FREEZE,4.62,1.020,-1.428,2,1,0
$FREEZE,4.07,0.828,-1.421,2,1,0
$FREEZE,3.61,0.817,-1.413,2,1,0
$FREEZE,2.96,0.818,-1.410,2,1,0
$FREEZE,2.29,0.811,-1.408,2,1,0
$FREEZE,1.33,0.830,-1.405,2,1,0
$STATE,13251,end climb,SURFACE_DEPTH_REACHED
$STATE,13251,begin surface coast
$FREEZE,1.30,0.828,-0.945,2,1,0
$FREEZE,1.14,0.844,-1.403,2,1,0
$FREEZE,1.34,0.858,-0.859,2,1,0
$FREEZE,1.39,0.831,-0.162,2,1,0
$FINISH,1.4,1.002264
$STATE,13284,end surface coast,CONTROL_FINISHED_OK
$STATE,13284,begin surface
$SM_CCo,13310,99.80,0.186,0,0,501,659.37
$SM_GC,2.30,8.00,0.60,99.80,0.081,0.080,0.186,201,2677,501,-7.39,1.22,659.37,0,0,0,0,0,0,14.54,14.54,14.35
$RAFOS_CLK,587
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7153.15,-14416.15,140814,105958
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.26
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.40
$XPDR_PINGS,1
$SC_FREEKB,3968096
$24V_AH,13.00,42.707
$10V_AH,12.89,0.000
$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,21.325,54.975,470.550,99.800,0.000,0.000,0.000,221.150,0.250,0.000,26.428,0.000,6130.905,458.308,7084.789,158.007,0.000,3041.925,0.000,1026.795,1471.000,0.536,0.000
$DEVICE_MAMPS,449.055,146.880,1742.670,185.895,0.000,0.000,0.000,176.715,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13311.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.028,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,302908
$DATA_FILE_SIZE,23415,676
$CAP_FILE_SIZE,191605,0
$CFSIZE,2097872896,2063597568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14241.38,0x2378b6,7,5
$SOUNDSPEED,1450.8
$GPS,140814,184725,7228.625,-14419.985,39,0.8,59,22.8