version: 66.12
glider: 198
mission: 5
dive: 124
start: 8 15 114 6 38 57
data:
$ID,198
$MISSION,5
$DIVE,124
$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,-3465.9397
$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,31
$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
$GPS1,150814,063124,7232.058,-14420.701,24,0.7,44,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-69.4
$GPS2,150814,063835,7232.045,-14420.938,5,0.9,25,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,347.4,33786,-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,-145.9,203,2674,448,543,0.0,0.0,0,124,0.00,0.00,-67.88,0.000,16386,0.000,0.000,202,2673,2120,2152,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.70,-145.9,202,2674,2155,2089,3.3,-2.3,8,201,11.05,2.10,-29.08,0.000,18692,0.455,0.148,2345,3790,3785,3917,3653,0,0,0,0,0,0,14.15,14.38,14.62
$GC,426,-0.63,-145.9,2346,3790,3892,3690,80.0,-20.5,63,455,0.17,1.88,0.00,0.000,3078,0.317,0.075,2382,2675,3790,3891,3690,0,0,0,0,0,0,14.31,14.50,28.83
$GC,750,-0.63,-145.9,2384,2675,3892,3692,130.9,-14.4,94,779,0.00,2.00,0.00,0.000,260,0.000,0.125,2375,3787,3791,3891,3691,0,0,0,0,0,0,28.83,14.47,28.83
$GC,813,-0.63,-145.9,2376,3788,3901,3692,140.9,-16.0,102,842,0.00,1.88,0.00,0.000,1030,0.000,0.075,2375,2669,3791,3891,3691,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1147,-0.63,-145.9,2376,2670,3891,3692,186.7,-12.4,134,1176,0.00,2.03,0.00,0.000,260,0.000,0.128,2374,3787,3790,3891,3689,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1195,-0.63,-145.9,2375,3789,3892,3691,193.4,-14.0,139,1224,0.00,1.88,0.00,0.000,1030,0.000,0.076,2374,2671,3787,3889,3686,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1519,-0.65,-145.9,2374,2672,3891,3691,230.9,-11.3,170,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2672,3789,3888,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.67,-145.9,2375,2672,3888,3692,266.0,-10.3,192,1881,0.00,2.03,0.00,0.000,260,0.000,0.130,2375,3786,3789,3888,3691,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1971,-0.67,-145.9,2375,3787,3886,3692,279.0,-10.8,211,2000,0.00,1.88,0.00,0.000,1030,0.000,0.077,2374,2676,3789,3887,3691,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2319,-0.70,-145.9,2375,2676,3888,3691,313.2,-9.5,226,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3788,3887,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,-0.73,-145.9,2375,2676,3888,3691,342.2,-9.5,236,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2676,3789,3887,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2927,-0.76,-145.9,2375,2677,3887,3692,371.1,-9.4,246,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2676,3788,3887,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3231,-0.80,-145.9,2375,2677,3888,3691,399.6,-9.4,256,3260,0.12,2.00,0.00,0.000,4356,0.156,0.124,2310,3793,3788,3886,3691,0,0,0,0,0,0,14.69,14.65,28.83
$GC,3345,-0.77,-145.9,2311,3795,3887,3692,414.1,-14.1,274,3374,0.10,1.85,0.00,0.000,3078,0.324,0.076,2333,2678,3788,3886,3691,0,0,0,0,0,0,14.53,14.72,28.83
$GC,3698,-0.77,-145.9,2333,2677,3887,3691,454.2,-11.1,290,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2677,3788,3886,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4002,-0.77,-145.9,2334,2678,3888,3692,487.2,-10.7,300,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2677,3788,3886,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4306,-0.77,-145.9,2333,2678,3887,3692,519.5,-10.6,310,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2677,3789,3886,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4610,-0.77,-145.9,2334,2678,3887,3692,551.8,-10.6,320,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2678,3788,3886,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4912,-0.77,-145.9,2334,2678,3887,3693,583.9,-10.6,330,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2678,3789,3886,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5216,-0.77,-145.9,2334,2679,3887,3693,616.0,-10.5,340,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2677,3787,3882,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5520,-0.77,-145.9,2334,2678,3887,3690,647.9,-10.5,350,5549,0.00,2.38,0.00,0.000,516,0.000,0.084,2333,1267,3792,3892,3693,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5578,-0.77,-145.9,2334,1267,3887,3693,654.1,-10.4,357,5607,0.00,2.50,0.00,0.000,1030,0.000,0.109,2330,2682,3789,3886,3693,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5926,-0.77,-145.9,2331,2682,3887,3693,691.1,-10.7,372,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2683,3789,3886,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6230,-0.77,-145.9,2331,2682,3887,3693,723.7,-10.9,382,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2682,3789,3886,3693,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140815080457.658844,3,1244,18,0134,0150,100,00,00,02,03,-1,-01,-01,1,3,0,0,150,8.2,0.3,-100,2.7,-01,0.0,27,900,0025*25
$MODEM_MSG,CACST,6,1,20140815081644.749871,3,479,26,0207,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,17.8,4.2,-100,-1.2,-01,0.3,26,900,0025*01
$STATE,6501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6501,begin apogee
$GC,6505,-0.14,0.0,2329,3061,3887,3695,753.2,-10.8,391,6710,0.80,0.00,178.02,1.454,10246,0.274,0.000,2537,3058,3187,3267,3108,0,0,0,0,0,0,14.47,28.83,13.36
$STATE,6711,end apogee,CONTROL_FINISHED_OK
$STATE,6711,begin climb
$GC,6713,0.70,145.9,2538,3059,3261,3105,758.7,0.0,397,6878,0.93,1.45,125.45,1.720,10500,0.185,0.117,2805,3786,2582,2643,2521,0,0,0,0,0,0,13.93,13.46,12.89
$GC,6946,0.66,145.9,2806,3786,2639,2516,738.7,14.0,409,6995,0.00,1.33,0.00,0.000,1030,0.000,0.077,2810,3059,2577,2639,2516,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7378,0.64,145.9,2811,3060,2640,2516,680.8,13.2,425,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7712,0.64,145.9,2811,3058,2641,2514,636.2,13.2,436,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3059,2576,2639,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8047,0.62,145.9,2811,3060,2640,2515,592.2,13.1,447,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8381,0.60,145.9,2811,3060,2640,2514,548.3,13.0,458,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2573,2633,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8716,0.60,145.9,2811,3060,2640,2514,504.5,13.1,469,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9050,0.60,145.9,2811,3060,2640,2514,461.2,12.8,480,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,0.60,145.9,2811,3059,2640,2513,418.5,12.6,491,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3059,2576,2640,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9719,0.60,145.9,2811,3060,2641,2513,376.5,12.4,502,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2576,2640,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10054,0.60,145.9,2811,3060,2640,2514,335.5,12.1,513,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2576,2640,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10389,0.60,145.9,2811,3060,2641,2513,295.8,11.7,524,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3059,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10723,0.60,148.0,2811,3059,2641,2514,256.9,11.5,535,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3060,2576,2639,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11242,0.62,176.1,2811,3060,2641,2513,200.6,10.1,564,11309,0.00,1.35,25.23,1.129,8452,0.000,0.119,2810,3786,2456,2520,2392,0,0,0,0,0,0,28.83,14.45,13.98
$GC,11377,0.64,207.1,2812,3786,2519,2391,187.6,10.0,570,11443,0.00,1.27,25.98,1.099,9222,0.000,0.079,2816,3048,2332,2394,2271,0,0,0,0,0,0,28.83,14.50,13.86
$GC,11947,0.70,260.8,2817,3049,2388,2266,134.2,8.8,602,12030,0.00,2.47,46.08,1.024,8708,0.000,0.079,2822,1642,2112,2172,2053,0,0,0,0,0,0,28.83,14.26,13.83
$GC,12115,0.79,315.2,2822,1641,2165,2049,119.7,8.7,610,12198,0.00,2.53,46.95,1.002,9222,0.000,0.109,2822,3050,1892,1949,1836,0,0,0,0,0,0,28.83,14.34,13.72
$GC,12719,0.89,379.4,2822,3051,1934,1823,63.6,8.2,644,12785,0.15,0.00,30.83,0.367,10246,0.132,0.000,2890,3050,1641,1697,1585,0,0,0,0,0,0,14.50,28.83,14.20
$GC,13291,1.08,555.0,2892,3051,1707,1586,16.4,2.3,676,13428,0.12,2.47,94.18,0.230,10756,0.148,0.079,2958,1638,922,926,918,0,0,0,0,0,0,14.52,14.39,14.27
$FREEZE,7.78,1.699,-1.437,2,1,0
$FREEZE,6.43,1.699,-1.436,2,1,0
$FREEZE,4.96,1.695,-1.435,2,1,0
$GC,13445,1.20,664.9,2959,1637,930,914,9.8,5.8,683,13549,0.00,2.55,55.80,0.203,9222,0.000,0.111,2958,3058,499,466,533,0,0,0,0,0,0,28.83,14.38,14.28
$FREEZE,1.30,1.587,-0.491,2,1,0
$STATE,13564,end climb,SURFACE_DEPTH_REACHED
$STATE,13564,begin surface coast
$FREEZE,1.27,1.090,-0.473,2,1,0
$FREEZE,1.39,1.659,-1.432,2,1,0
$FINISH,1.4,1.021034
$STATE,13577,end surface coast,CONTROL_FINISHED_OK
$STATE,13577,begin surface
$SM_CCo,13664,0.00,0.000,0,0,499,659.12
$SM_GC,2.32,8.27,0.65,0.00,0.091,0.085,0.000,197,2678,499,-7.40,0.99,659.12,0,0,0,0,0,0,14.44,14.43,28.83
$RAFOS_CLK,516
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7153.15,-14419.42,150814,024125
$TT8_MAMPS,0.041944,0.041944
$HUMID,47.91
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3966304
$24V_AH,12.89,44.040
$10V_AH,12.78,0.000
$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,21.725,41.125,628.500,0.000,0.000,0.000,0.000,239.725,0.000,0.000,26.186,0.000,6573.819,446.211,6928.535,158.398,0.000,3038.982,0.000,1044.177,1483.000,0.536,0.000
$DEVICE_MAMPS,455.175,148.410,1719.720,0.000,0.000,0.000,0.000,169.830,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13605.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.011,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,300748
$DATA_FILE_SIZE,23399,690
$CAP_FILE_SIZE,187371,0
$CFSIZE,2097872896,2062811136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13998.94,0x2378b6,7,5
$SOUNDSPEED,1451.0
$GPS,150814,102824,7233.335,-14420.896,28,0.8,48,22.8