version: 66.12
glider: 198
mission: 5
dive: 321
start: 9 15 114 1 37 9
data:
$ID,198
$MISSION,5
$DIVE,321
$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,-5436.165
$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,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
$GPS1,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.65
$_SM_ANGLEo,-16.6
$GPS2,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,6
$TGT_LATLONG,7400.000,-14100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,45.9,77576,-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,17,-0.70,-145.9,2675,2687,1780,1702,0.0,0.0,0,30,0.00,0.00,-11.98,0.000,16386,0.000,0.000,2674,2686,2403,2463,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2675,2688,2466,2344,15.7,0.0,1,62,0.90,2.00,-22.67,0.000,20740,0.072,0.141,2346,3787,3782,3838,3726,0,0,0,0,0,0,14.31,14.28,14.60
$GC,286,-0.64,-145.9,2346,3788,3839,3729,84.3,-20.9,52,293,0.10,1.92,0.00,0.000,3078,0.285,0.070,2371,2680,3783,3838,3729,0,0,0,0,0,0,14.07,14.35,28.83
$GC,591,-0.64,-145.9,2372,2680,3839,3730,133.9,-14.8,83,596,0.00,2.03,0.00,0.000,260,0.000,0.119,2363,3789,3784,3838,3730,0,0,0,0,0,0,28.83,14.30,28.83
$GC,696,-0.64,-145.9,2365,3790,3838,3731,150.4,-15.1,104,702,0.00,1.92,0.00,0.000,1030,0.000,0.071,2364,2673,3783,3838,3729,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1001,-0.64,-145.9,2365,2674,3838,3730,193.6,-14.4,135,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2673,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-0.64,-145.9,2364,2673,3839,3730,232.3,-11.9,165,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2673,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1612,-0.67,-145.9,2364,2674,3838,3730,267.0,-10.5,186,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2673,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,-0.70,-145.9,2365,2674,3838,3730,298.3,-10.5,196,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2673,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.74,-145.9,2364,2673,3839,3729,327.8,-9.7,206,2216,0.00,2.05,0.00,0.000,260,0.000,0.124,2361,3795,3783,3837,3730,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2313,-0.77,-145.9,2361,3795,3839,3729,338.1,-10.0,226,2318,0.00,1.88,0.00,0.000,1030,0.000,0.072,2361,2678,3783,3837,3729,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2634,-0.80,-145.9,2361,2678,3839,3729,368.8,-9.5,240,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2677,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,-0.84,-145.9,2361,2677,3839,3729,397.2,-9.5,250,2938,0.12,2.00,0.00,0.000,4356,0.158,0.119,2305,3786,3783,3838,3729,0,0,0,0,0,0,14.51,14.45,28.83
$GC,2998,-0.84,-145.9,2306,3787,3838,3730,405.3,-13.1,263,3003,0.00,1.90,0.00,0.000,1030,0.000,0.071,2305,2680,3783,3837,3729,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3324,-0.84,-145.9,2306,2681,3838,3730,444.5,-11.9,278,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3623,-0.84,-145.9,2306,2681,3838,3730,479.6,-11.7,288,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3923,-0.84,-145.9,2306,2681,3838,3730,514.4,-11.6,298,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3785,3841,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4223,-0.84,-145.9,2306,2681,3839,3730,548.8,-11.5,308,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4523,-0.84,-145.9,2305,2681,3840,3730,583.3,-11.5,318,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,-0.84,-145.9,2305,2678,3839,3730,617.7,-11.5,328,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5123,-0.84,-145.9,2311,2681,3839,3731,651.9,-11.4,338,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5423,-0.84,-145.9,2306,2681,3838,3731,685.6,-11.2,348,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5723,-0.84,-145.9,2305,2680,3839,3732,719.3,-11.1,358,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6021,begin apogee
$GC,6026,-0.14,0.0,2304,3057,3838,3733,752.9,-11.2,368,6215,0.90,0.00,186.70,1.411,10246,0.259,0.000,2538,3057,3187,3292,3082,0,0,0,0,0,0,14.27,28.83,13.29
$STATE,6216,end apogee,CONTROL_FINISHED_OK
$STATE,6216,begin climb
$GC,6218,0.70,145.9,2538,3057,3288,3077,757.9,0.0,374,6356,0.93,1.48,126.72,1.674,10500,0.168,0.116,2806,3786,2582,2670,2495,0,0,0,0,0,0,13.80,13.38,12.78
$GC,6426,0.66,145.9,2807,3787,2661,2489,739.0,14.1,418,6431,0.00,1.33,0.00,0.000,1030,0.000,0.070,2812,3060,2574,2660,2489,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6747,0.66,145.9,2811,3060,2660,2487,698.1,12.7,432,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,0.66,145.9,2813,3060,2660,2488,659.8,12.8,442,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3059,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7346,0.66,145.9,2812,3061,2659,2488,621.4,12.8,452,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,0.66,145.9,2812,3060,2660,2487,583.1,12.7,462,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7946,0.66,145.9,2812,3060,2659,2487,544.6,12.9,472,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8246,0.66,145.9,2812,3060,2660,2487,505.9,13.0,482,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8548,0.66,145.9,2812,3060,2660,2487,467.8,12.7,492,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,0.66,145.9,2813,3061,2660,2488,429.6,12.6,502,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9146,0.66,145.9,2812,3061,2659,2487,392.2,12.4,512,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9446,0.66,145.9,2812,3060,2660,2487,355.2,12.4,522,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3059,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9746,0.66,145.9,2811,3060,2660,2487,318.7,11.9,532,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2572,2658,2487,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140915040121.551280,3,155,09,0096,0150,100,00,00,02,04,1,000,000,2,5,1,0,150,0.4,2.0,-100,1.0,-01,0.4,24,900,0025*36
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5a93fa9e77;,*0C
$MODEM_MSG,CACST,6,0,20140915040445.784208,3,1000,11,0101,0150,100,00,00,03,04,1,005,000,0,5,1,0,150,4.9,4.0,-100,-1.0,-01,-0.3,24,900,0025*0A
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;8000080000;,*39
$MODEM_MSG,CACST,6,0,20140915041646.393640,3,397,13,0118,0150,100,00,00,02,04,1,014,000,0,5,1,0,150,6.5,3.7,-100,-0.7,-01,0.2,25,900,0025*16
$GC,10052,0.66,146.0,2812,3060,2660,2487,283.3,11.6,542,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3060,2573,2659,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10346,0.67,161.6,2812,3061,2660,2488,251.5,10.8,552,10360,0.00,0.00,12.85,1.151,8198,0.000,0.000,2811,3060,2528,2616,2440,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10646,0.72,230.6,2812,3061,2602,2426,222.8,8.0,580,10712,0.00,2.45,59.62,1.071,8708,0.000,0.076,2822,1646,2235,2318,2153,0,0,0,0,0,0,28.83,14.31,13.79
$GC,10751,0.78,265.8,2822,1646,2306,2149,213.3,9.8,599,10788,0.00,2.55,30.10,1.051,9222,0.000,0.102,2822,3055,2095,2176,2014,0,0,0,0,0,0,28.83,14.21,13.70
$GC,11087,0.84,294.9,2823,3057,2161,2000,177.4,10.1,636,11118,0.12,0.00,24.62,1.026,10246,0.141,0.000,2877,3056,1974,2052,1896,0,0,0,0,0,0,14.44,28.83,13.83
$GC,11418,0.84,294.9,2878,3057,2040,1890,135.6,12.6,669,11423,0.00,2.42,0.00,0.000,516,0.000,0.077,2886,1643,1963,2038,1888,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11482,0.84,294.9,2887,1643,2041,1889,127.5,12.0,682,11489,0.00,2.53,0.00,0.000,1030,0.000,0.103,2886,3053,1963,2039,1887,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11787,0.84,305.8,2887,3053,2039,1888,90.5,11.0,713,11799,0.00,2.47,2.95,0.225,8708,0.000,0.076,2895,1651,1946,2031,1861,0,0,0,0,0,0,28.83,14.29,14.14
$GC,11834,0.88,329.7,2896,1651,2042,1868,85.7,10.4,722,11854,0.00,2.53,15.23,0.407,9222,0.000,0.103,2895,3054,1844,1922,1767,0,0,0,0,0,0,28.83,14.32,14.03
$GC,12161,0.98,435.8,2895,3054,1947,1775,57.2,6.0,757,12223,0.00,0.00,60.60,0.343,8454,0.000,0.000,2894,3054,1409,1466,1352,0,0,0,0,0,0,28.83,28.83,14.04
$GC,12519,1.10,520.9,2896,3055,1492,1353,29.7,7.1,794,12571,0.15,0.00,48.45,0.264,10758,0.128,0.000,2958,3054,1062,1104,1020,0,0,0,0,0,0,14.35,28.83,14.08
$FREEZE,8.90,-1.410,-1.440,2,8,0
$STATE,12797,end climb,FINISH_DEPTH_REACHED
$STATE,12797,begin subsurface finish
$FINISH1,8.9,1.021150,354
$GC,12804,0.25,354.4,2959,3055,1124,1021,8.9,6.9,825,12826,1.00,1.42,-17.02,0.000,20740,0.213,0.166,2675,3793,1740,1773,1707,0,0,0,0,0,0,14.12,14.19,14.55
$FINISH2,8.4
$STATE,12827,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12827,begin surface
$RAFOS_CLK,278
$MODEM,14,1410754606,104.85760,-209.71519,45.394,65784.2
$MODEM,5,1410753885,74.20140,-141.05960,44.784,64901.1
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7257.42,-14347.65,130914,052906
$TT8_MAMPS,0.043442,0.043442
$HUMID,50.31
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3878016
$24V_AH,12.78,103.991
$10V_AH,12.65,0.000
$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,4.225,37.500,567.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10521.252,577.598,1703.559,150.266,0.000,1231.680,0.000,1242.877,1497.000,0.535,0.000
$DEVICE_MAMPS,285.345,166.005,1673.820,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12879.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.029,0.000,0.000,0.000
$MEM,192412
$DATA_FILE_SIZE,26672,829
$CAP_FILE_SIZE,129450,0
$CFSIZE,2097872896,2024407040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12800.94,0x2378b6,5,5
$SOUNDSPEED,1449.3
$GPS,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4