version: 66.12
glider: 198
mission: 5
dive: 122
start: 8 14 114 22 49 20
data:
$ID,198
$MISSION,5
$DIVE,122
$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,-3463.4148
$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,32
$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
$GPS1,140814,224155,7229.793,-14419.908,26,0.9,46,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.5
$GPS2,140814,224901,7229.744,-14420.046,4,0.9,24,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,345.5,37915,-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,-145.9,199,2678,445,543,0.0,0.0,0,124,0.00,0.00,-67.75,0.000,16386,0.000,0.000,195,2677,2120,2152,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.70,-145.9,199,2679,2156,2089,3.4,-2.6,8,195,10.90,2.00,-28.17,0.000,18692,0.449,0.142,2345,3787,3786,3887,3686,0,0,0,0,0,0,14.16,14.38,14.62
$GC,420,-0.63,-145.9,2346,3788,3884,3696,78.2,-21.3,62,449,0.17,1.88,0.00,0.000,3078,0.318,0.072,2382,2665,3789,3883,3695,0,0,0,0,0,0,14.27,14.47,28.83
$GC,753,-0.63,-145.9,2383,2665,3886,3696,130.5,-14.4,94,782,0.00,2.00,0.00,0.000,260,0.000,0.122,2374,3785,3789,3884,3695,0,0,0,0,0,0,28.83,14.51,28.83
$GC,816,-0.63,-145.9,2375,3785,3885,3695,139.9,-15.4,102,845,0.00,1.85,0.00,0.000,1030,0.000,0.073,2374,2675,3789,3883,3696,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1150,-0.63,-145.9,2374,2675,3885,3695,186.0,-12.8,134,1179,0.00,2.35,0.00,0.000,516,0.000,0.082,2375,1276,3789,3883,3695,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1223,-0.65,-145.9,2372,1276,3884,3695,194.9,-12.5,144,1252,0.00,2.47,0.00,0.000,1030,0.000,0.109,2374,2679,3789,3883,3695,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1557,-0.67,-145.9,2374,2679,3884,3696,232.6,-10.8,176,1586,0.00,1.98,0.00,0.000,260,0.000,0.126,2374,3791,3789,3883,3695,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1610,-0.67,-145.9,2375,3788,3883,3696,239.0,-12.2,182,1639,0.00,1.85,0.00,0.000,1030,0.000,0.073,2374,2675,3788,3882,3695,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1953,-0.70,-145.9,2374,2674,3883,3695,275.6,-10.3,199,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3789,3882,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,-0.73,-145.9,2374,2675,3882,3695,305.9,-9.8,209,2286,0.00,2.00,0.00,0.000,260,0.000,0.127,2374,3795,3788,3881,3695,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2346,-0.75,-145.9,2375,3796,3882,3696,315.1,-10.4,222,2375,0.00,1.88,0.00,0.000,1030,0.000,0.073,2374,2669,3788,3881,3695,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2694,-0.78,-145.9,2374,2669,3882,3695,348.6,-9.5,237,2723,0.12,0.00,0.00,0.000,4102,0.151,0.000,2323,2670,3788,3881,3695,0,0,0,0,0,0,14.69,28.83,28.83
$GC,2998,-0.78,-145.9,2324,2670,3881,3696,384.2,-11.9,247,3027,0.00,1.98,0.00,0.000,260,0.000,0.122,2318,3789,3786,3878,3695,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3066,-0.76,-145.9,2318,3788,3881,3695,393.0,-13.1,256,3095,0.00,1.83,0.00,0.000,1030,0.000,0.073,2317,2679,3787,3880,3695,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3405,-0.76,-145.9,2318,2679,3881,3695,434.3,-12.0,269,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3786,3878,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3708,-0.76,-145.9,2320,2680,3882,3696,470.9,-12.1,279,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3787,3880,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,-0.76,-145.9,2318,2679,3881,3695,507.9,-12.2,289,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2679,3787,3880,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4314,-0.76,-145.9,2318,2679,3881,3696,545.1,-12.2,299,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2679,3787,3880,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4617,-0.76,-145.9,2319,2680,3880,3697,581.6,-12.0,309,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4920,-0.76,-145.9,2318,2679,3881,3696,617.6,-11.8,319,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5223,-0.76,-145.9,2319,2680,3881,3697,653.1,-11.7,329,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2678,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,-0.76,-145.9,2318,2680,3881,3693,688.4,-11.6,339,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2679,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140815000456.235034,3,1503,19,0093,0150,100,00,00,02,03,-1,-01,-01,1,3,0,0,150,10.1,2.0,-100,1.0,-01,0.1,26,900,0025*1D
$MODEM_MSG,CACST,6,1,20140815001640.419378,3,321,25,0187,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,16.4,2.1,-100,0.9,-01,0.2,25,900,0025*2A
$GC,5828,-0.76,-145.9,2318,2679,3881,3696,723.2,-11.5,349,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2679,3788,3880,3696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6070,begin apogee
$GC,6074,-0.14,0.0,2316,3061,3881,3696,751.1,-11.4,357,6226,0.85,0.00,126.62,1.740,10246,0.277,0.000,2537,3061,3183,3262,3105,0,0,0,0,0,0,14.50,28.83,13.31
$STATE,6227,end apogee,CONTROL_FINISHED_OK
$STATE,6227,begin climb
$GC,6229,0.70,145.9,2538,3061,3256,3099,755.8,0.0,361,6397,0.90,0.00,124.20,1.716,10502,0.183,0.000,2799,3061,2582,2645,2520,0,0,0,0,0,0,13.97,28.83,12.95
$GC,6780,0.70,145.9,2800,3061,2641,2516,698.0,12.4,384,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3061,2578,2641,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7114,0.70,145.9,2800,3061,2642,2515,656.5,12.5,395,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3061,2578,2641,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7449,0.70,145.9,2800,3061,2642,2515,614.5,12.6,406,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3061,2577,2641,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7783,0.70,145.9,2800,3061,2642,2514,572.8,12.3,417,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3060,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8118,0.70,145.9,2800,3062,2640,2514,531.5,12.4,428,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3061,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8453,0.70,145.9,2801,3061,2642,2512,489.5,12.6,439,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3061,2577,2641,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8787,0.70,145.9,2800,3061,2642,2514,447.6,12.5,450,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3061,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,0.70,145.9,2800,3059,2643,2513,406.4,12.1,461,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,3060,2580,2641,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9457,0.70,145.9,2800,3061,2642,2513,366.2,11.9,472,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3061,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9791,0.70,145.9,2801,3061,2641,2514,326.5,11.7,483,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3060,2576,2641,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10126,0.70,145.9,2801,3061,2642,2514,287.0,11.7,494,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3060,2577,2641,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10461,0.70,157.5,2801,3059,2642,2514,249.3,11.0,505,10509,0.00,0.00,9.23,1.275,8198,0.000,0.000,2800,3060,2539,2605,2473,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11017,0.74,205.1,2800,3061,2604,2472,192.5,9.1,536,11100,0.00,0.00,41.10,1.095,8198,0.000,0.000,2800,3060,2338,2400,2277,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11608,0.81,268.8,2801,3061,2395,2272,139.9,8.2,569,11710,0.12,2.45,53.20,1.024,10756,0.148,0.073,2870,1651,2080,2137,2024,0,0,0,0,0,0,14.52,14.21,13.82
$GC,11794,0.82,272.9,2871,1651,2132,2024,120.2,11.4,578,11842,0.00,2.50,0.00,0.000,1030,0.000,0.106,2870,3048,2075,2132,2019,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12347,0.85,326.6,2871,3049,2131,2013,59.1,8.8,609,12412,0.00,0.00,28.50,0.351,8454,0.000,0.000,2870,3048,1858,1918,1798,0,0,0,0,0,0,28.83,28.83,14.24
$GC,12921,1.01,474.4,2871,3048,1919,1798,18.4,3.8,641,13040,0.12,0.00,78.40,0.237,10502,0.152,0.000,2932,3048,1255,1294,1217,0,0,0,0,0,0,14.53,28.83,14.31
$FREEZE,8.18,2.517,-1.454,2,1,0
$FREEZE,7.17,1.978,-1.444,2,1,0
$FREEZE,6.39,1.975,-1.434,2,1,0
$FREEZE,5.42,1.900,-1.430,2,1,0
$FREEZE,4.40,1.794,-1.427,2,1,0
$FREEZE,3.15,1.779,-1.423,2,1,0
$FREEZE,1.96,1.809,-1.421,2,1,0
$STATE,13257,end climb,SURFACE_DEPTH_REACHED
$STATE,13257,begin surface coast
$FREEZE,1.34,1.741,-1.400,2,1,0
$FREEZE,1.32,1.688,-1.398,2,1,0
$FREEZE,1.26,1.660,-1.047,2,1,0
$FINISH,1.3,1.015447
$STATE,13280,end surface coast,CONTROL_FINISHED_OK
$STATE,13280,begin surface
$SM_CCo,13306,97.22,0.184,0,0,499,659.12
$SM_GC,2.27,8.23,0.62,97.22,0.101,0.081,0.184,197,2677,499,-7.40,1.05,659.12,0,0,0,0,0,0,14.53,14.52,14.35
$RAFOS_CLK,538
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7153.15,-14417.78,140814,185024
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.22
$INTERNAL_PRESSURE,8.55425
$TCM_TEMP,12.30
$XPDR_PINGS,1
$SC_FREEKB,3967200
$24V_AH,12.95,43.363
$10V_AH,13.04,0.000
$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,21.425,30.325,461.250,97.225,0.000,0.000,0.000,233.525,0.250,0.000,25.823,0.000,6336.131,464.628,6897.667,148.072,0.000,2850.357,0.000,991.300,1428.000,0.536,0.000
$DEVICE_MAMPS,449.055,141.525,1740.375,184.365,0.000,0.000,0.000,173.655,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13308.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.257,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,301708
$DATA_FILE_SIZE,23455,662
$CAP_FILE_SIZE,181917,0
$CFSIZE,2097872896,2063204352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14061.30,0x2378b6,7,5
$SOUNDSPEED,1450.7
$GPS,150814,023442,7230.930,-14420.258,35,0.7,55,22.8