version: 66.12
glider: 198
mission: 5
dive: 252
start: 9 4 114 6 8 29
data:
$ID,198
$MISSION,5
$DIVE,252
$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,-5023.6465
$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,35
$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,1
$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
$GPS1,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.83
$_SM_ANGLEo,-17.1
$GPS2,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,172.3,353001,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-145.9,2677,2691,1790,1701,0.0,0.0,0,30,0.00,0.00,-12.50,0.000,16386,0.000,0.000,2676,2690,2489,2546,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2677,2691,2547,2433,17.7,0.0,1,61,0.90,2.03,-19.88,0.000,20740,0.073,0.144,2345,3784,3785,3839,3732,0,0,0,0,0,0,14.38,14.33,14.62
$GC,286,-0.64,-145.9,2346,3785,3840,3733,87.1,-22.2,52,292,0.10,1.90,0.00,0.000,3078,0.287,0.070,2371,2683,3783,3838,3729,0,0,0,0,0,0,14.19,14.41,28.83
$GC,591,-0.64,-145.9,2372,2683,3840,3733,137.2,-15.9,83,596,0.00,2.05,0.00,0.000,260,0.000,0.120,2363,3790,3785,3838,3732,0,0,0,0,0,0,28.83,14.37,28.83
$GC,776,-0.64,-145.9,2365,3791,3840,3733,167.6,-16.4,120,782,0.00,1.90,0.00,0.000,1030,0.000,0.071,2363,2684,3785,3839,3732,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1081,-0.64,-145.9,2364,2684,3841,3732,211.0,-13.2,151,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2684,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1381,-0.64,-145.9,2364,2685,3840,3732,248.7,-11.4,181,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2684,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,-0.67,-145.9,2364,2684,3841,3732,285.0,-11.3,193,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2684,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,-0.70,-145.9,2364,2685,3840,3733,316.3,-10.2,203,2006,0.00,2.00,0.00,0.000,260,0.000,0.123,2361,3790,3785,3839,3732,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2066,-0.70,-145.9,2362,3791,3840,3733,323.4,-11.1,216,2071,0.00,1.90,0.00,0.000,1030,0.000,0.073,2361,2678,3785,3839,3732,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2392,-0.73,-145.9,2362,2678,3840,3733,355.9,-9.7,231,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2677,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.77,-145.9,2361,2678,3841,3732,384.6,-9.6,241,2696,0.00,2.00,0.00,0.000,260,0.000,0.125,2361,3786,3785,3839,3732,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2771,-0.79,-145.9,2362,3788,3840,3732,392.8,-10.2,257,2776,0.00,1.90,0.00,0.000,1030,0.000,0.072,2361,2676,3785,3839,3731,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3082,-0.83,-145.9,2362,2677,3840,3733,422.5,-9.5,269,3084,0.12,0.00,0.00,0.000,4102,0.159,0.000,2312,2676,3785,3839,3731,0,0,0,0,0,0,14.63,28.83,28.83
$GC,3381,-0.83,-145.9,2312,2677,3844,3732,457.8,-11.8,279,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3681,-0.83,-145.9,2313,2677,3840,3733,492.7,-11.6,289,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.83,-145.9,2312,2676,3840,3732,527.4,-11.6,299,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-0.83,-145.9,2312,2677,3840,3733,561.7,-11.4,309,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4581,-0.83,-145.9,2312,2677,3840,3733,595.8,-11.3,319,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,-0.83,-145.9,2312,2676,3840,3733,629.7,-11.3,329,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5181,-0.83,-145.9,2313,2677,3840,3734,663.4,-11.3,339,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2676,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5481,-0.83,-145.9,2313,2677,3840,3734,696.7,-11.2,349,5486,0.00,2.03,0.00,0.000,260,0.000,0.120,2303,3786,3786,3839,3733,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5516,-0.83,-145.9,2303,3786,3840,3733,701.0,-12.1,356,5521,0.00,1.88,0.00,0.000,1030,0.000,0.070,2303,2681,3785,3838,3733,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5842,-0.83,-145.9,2304,2682,3840,3734,738.1,-11.4,371,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2681,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5959,begin apogee
$GC,5964,-0.14,0.0,2301,3054,3840,3734,751.7,-11.3,375,6097,0.90,0.00,130.12,1.717,10246,0.272,0.000,2535,3053,3187,3284,3090,0,0,0,0,0,0,14.45,28.83,13.33
$STATE,6098,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6100,0.70,145.9,2536,3053,3278,3082,754.7,0.0,379,6232,0.93,0.00,125.53,1.705,10502,0.177,0.000,2804,3053,2581,2661,2502,0,0,0,0,0,0,13.90,28.83,12.88
$GC,6531,0.70,145.9,2804,3053,2653,2494,706.9,12.9,409,6536,0.00,1.38,0.00,0.000,260,0.000,0.119,2803,3782,2572,2651,2494,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6581,0.66,145.9,2804,3781,2652,2494,700.0,14.1,419,6586,0.00,1.27,0.00,0.000,1030,0.000,0.072,2809,3057,2572,2650,2494,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6891,0.66,145.9,2809,3059,2651,2494,659.7,12.9,431,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3058,2572,2651,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7191,0.66,145.9,2809,3058,2652,2493,620.9,12.9,441,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3058,2571,2650,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7491,0.66,145.9,2811,3059,2651,2491,582.4,12.8,451,7496,0.00,1.38,0.00,0.000,260,0.000,0.118,2809,3792,2571,2650,2493,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7551,0.62,145.9,2810,3792,2651,2494,574.1,14.3,463,7556,0.00,1.27,0.00,0.000,1030,0.000,0.073,2814,3055,2571,2650,2493,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7882,0.60,145.9,2815,3055,2651,2494,531.4,12.9,479,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3055,2572,2651,2493,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bc56a6d24;,*01
$MODEM_MSG,CACST,6,0,20140904080128.954563,3,154,09,0152,0150,100,00,00,02,05,1,004,000,0,5,1,0,150,9.8,3.9,-100,-0.9,-01,0.3,13,900,0025*14
$GC,8185,0.58,145.9,2815,3056,2651,2494,492.9,12.8,489,8186,0.15,0.00,0.00,0.000,4102,0.282,0.000,2781,3055,2571,2650,2493,0,0,0,0,0,0,14.38,28.83,28.83
$GC,8481,0.59,155.1,2782,3055,2651,2493,459.2,11.1,499,8486,0.00,0.00,2.08,0.333,8454,0.000,0.000,2781,3054,2553,2636,2471,0,0,0,0,0,0,28.83,28.83,13.41
$GC,8812,0.59,162.6,2781,3055,2663,2474,422.2,11.2,515,8827,0.00,0.00,13.45,1.347,8198,0.000,0.000,2781,3055,2523,2607,2440,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9111,0.60,170.5,2782,3055,2593,2429,388.2,11.2,525,9115,0.00,0.00,2.28,0.475,8198,0.000,0.000,2781,3055,2489,2572,2406,0,0,0,0,0,0,28.83,28.83,13.75
$GC,9411,0.61,181.4,2781,3055,2605,2407,354.8,11.1,535,9429,0.00,0.00,16.42,1.269,8198,0.000,0.000,2781,3055,2445,2532,2359,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9711,0.61,188.8,2781,3055,2514,2347,320.9,11.2,545,9714,0.00,0.00,1.62,0.235,8198,0.000,0.000,2781,3055,2414,2497,2332,0,0,0,0,0,0,28.83,28.83,14.45
$GC,10012,0.65,207.7,2782,3056,2525,2333,288.4,10.6,555,10036,0.00,0.00,22.75,1.187,8198,0.000,0.000,2781,3054,2339,2422,2256,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10312,0.69,228.6,2781,3055,2400,2243,255.8,10.5,565,10336,0.00,2.40,18.08,1.152,8708,0.000,0.076,2791,1646,2245,2322,2168,0,0,0,0,0,0,28.83,14.48,13.95
$GC,10371,0.78,276.5,2792,1646,2314,2167,249.9,9.1,577,10417,0.17,2.50,41.25,1.115,11270,0.119,0.104,2862,3050,2059,2133,1985,0,0,0,0,0,0,14.52,14.45,13.78
$GC,10722,0.78,276.5,2863,3051,2107,1969,200.3,13.3,617,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,3050,2036,2106,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11022,0.78,276.5,2863,3050,2107,1966,161.1,12.3,647,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,3050,2036,2106,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11322,0.78,276.5,2863,3051,2106,1965,125.0,11.7,677,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,3050,2035,2106,1965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11622,0.80,310.7,2863,3051,2106,1965,93.6,9.8,707,11644,0.00,2.42,15.12,0.437,8708,0.000,0.077,2873,1641,1925,2003,1847,0,0,0,0,0,0,28.83,14.45,14.13
$GC,11680,0.86,354.5,2873,1640,2024,1846,88.4,9.3,718,11710,0.00,2.53,25.73,0.435,9222,0.000,0.104,2872,3056,1739,1802,1676,0,0,0,0,0,0,28.83,14.41,14.10
$GC,12014,0.94,408.9,2873,3056,1835,1676,54.6,8.7,755,12051,0.00,2.42,32.10,0.341,8708,0.000,0.075,2879,1646,1520,1584,1456,0,0,0,0,0,0,28.83,14.33,14.12
$GC,12097,1.09,511.4,2880,1647,1606,1457,49.1,6.2,769,12162,0.17,2.53,57.03,0.324,11270,0.122,0.105,2953,3052,1100,1138,1063,0,0,0,0,0,0,14.36,14.31,14.07
$GC,12466,1.20,590.5,2953,3053,1156,1065,13.1,7.4,813,12512,0.00,0.00,43.67,0.221,8454,0.000,0.000,2953,3052,777,781,773,0,0,0,0,0,0,28.83,28.83,14.20
$FREEZE,8.91,-1.394,-1.446,2,7,0
$STATE,12515,end climb,FINISH_DEPTH_REACHED
$STATE,12515,begin subsurface finish
$FINISH1,8.9,1.021244,349
$GC,12519,0.24,349.5,2954,3053,786,773,8.9,8.3,823,12548,1.00,0.00,-24.48,0.000,20486,0.200,0.000,2671,3053,1765,1804,1726,0,0,0,0,0,0,14.21,28.83,14.54
$FINISH2,8.7
$STATE,12549,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12549,begin surface
$RAFOS_CLK,386
$MODEM,4,1409817688,75.17880,-146.11040,87.955,127495.4
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.68
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3908960
$24V_AH,12.88,82.149
$10V_AH,12.79,0.000
$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,4.450,42.275,547.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10268.503,575.636,1686.462,131.873,0.000,1228.120,0.000,1234.546,1482.000,0.535,0.000
$DEVICE_MAMPS,286.875,143.820,1717.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12597.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.413,0.000,0.000,0.000
$MEM,230036
$DATA_FILE_SIZE,26745,826
$CAP_FILE_SIZE,129671,0
$CFSIZE,2097872896,2037907456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12516.77,0x2378b6,5,5
$SOUNDSPEED,1449.7
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0