version: 66.12
glider: 198
mission: 5
dive: 332
start: 9 16 114 17 42 5
data:
$ID,198
$MISSION,5
$DIVE,332
$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,-5801.1099
$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,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,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,-14322.191,181,99.0,181,23.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.28
$_SM_ANGLEo,-18.1
$GPS2,140914,040738,7345.219,-14322.191,181,99.0,181,23.4
$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,-145.9,2674,2679,1809,1725,0.0,0.0,0,30,0.00,0.00,-11.82,0.000,16386,0.000,0.000,2674,2679,2454,2512,2397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2675,2680,2514,2398,17.0,0.0,1,56,0.90,0.00,-20.83,0.000,20998,0.070,0.000,2351,2679,3782,3836,3728,0,0,0,0,0,0,14.33,28.83,14.62
$GC,363,-0.67,-145.9,2353,2680,3837,3732,96.5,-17.5,37,367,0.00,2.42,0.00,0.000,516,0.000,0.084,2351,1273,3784,3837,3731,0,0,0,0,0,0,28.83,14.35,28.83
$GC,422,-0.67,-145.9,2352,1273,3838,3731,106.1,-15.1,49,427,0.00,2.55,0.00,0.000,1030,0.000,0.107,2348,2681,3783,3836,3731,0,0,0,0,0,0,28.83,14.31,28.83
$GC,732,-0.67,-145.9,2349,2682,3837,3732,157.0,-16.4,81,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2681,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1032,-0.67,-145.9,2349,2682,3838,3732,203.1,-14.5,111,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2681,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1332,-0.67,-145.9,2349,2682,3838,3732,243.9,-11.8,141,1337,0.00,2.42,0.00,0.000,516,0.000,0.083,2348,1273,3784,3838,3731,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1387,-0.67,-145.9,2348,1274,3837,3732,249.8,-10.6,152,1393,0.00,2.53,0.00,0.000,1030,0.000,0.108,2347,2681,3784,3837,3731,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1693,-0.67,-145.9,2348,2681,3838,3731,283.2,-11.5,163,1697,0.00,2.00,0.00,0.000,260,0.000,0.125,2347,3789,3784,3837,3731,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1837,-0.67,-145.9,2349,3789,3837,3732,300.7,-12.0,192,1843,0.00,1.92,0.00,0.000,1030,0.000,0.074,2347,2676,3784,3837,3731,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2144,-0.69,-145.9,2348,2676,3838,3731,332.7,-10.4,203,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2676,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,-0.72,-145.9,2347,2676,3838,3731,363.7,-10.1,213,2447,0.00,2.03,0.00,0.000,260,0.000,0.126,2347,3789,3784,3837,3731,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2497,-0.72,-145.9,2348,3789,3838,3728,369.5,-10.4,224,2503,0.00,1.88,0.00,0.000,1030,0.000,0.074,2348,2676,3783,3837,3730,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2804,-0.75,-145.9,2348,2677,3837,3731,399.1,-9.7,235,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2676,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3102,-0.78,-145.9,2348,2676,3838,3730,428.7,-10.0,245,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-0.81,-145.9,2348,2676,3838,3730,458.7,-10.1,255,3407,0.00,2.03,0.00,0.000,260,0.000,0.125,2347,3797,3783,3837,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3467,-0.84,-145.9,2349,3792,3837,3731,465.6,-10.5,268,3472,0.00,1.88,0.00,0.000,1030,0.000,0.073,2347,2676,3783,3837,3730,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3794,-0.87,-145.9,2348,2676,3837,3730,497.4,-9.7,283,3795,0.12,0.00,0.00,0.000,4102,0.150,0.000,2297,2676,3783,3837,3730,0,0,0,0,0,0,14.59,28.83,28.83
$GC,4092,-0.87,-145.9,2298,2676,3838,3730,532.5,-11.7,293,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.87,-145.9,2298,2677,3837,3732,567.3,-11.6,303,4397,0.00,2.03,0.00,0.000,260,0.000,0.122,2291,3794,3783,3837,3730,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4442,-0.84,-145.9,2292,3795,3837,3732,573.6,-12.9,313,4447,0.00,1.92,0.00,0.000,1030,0.000,0.070,2291,2645,3784,3837,3731,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4752,-0.84,-145.9,2292,2645,3837,3732,610.5,-11.8,325,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2646,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5052,-0.84,-145.9,2292,2645,3838,3732,645.9,-11.9,335,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2645,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5352,-0.84,-145.9,2292,2645,3838,3732,681.4,-11.8,345,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2645,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5652,-0.84,-145.9,2292,2646,3838,3733,717.0,-11.9,355,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2645,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5950,begin apogee
$GC,5955,-0.14,0.0,2289,3055,3836,3733,752.6,-11.9,365,6090,0.95,0.00,131.52,1.722,10246,0.267,0.000,2534,3054,3187,3282,3092,0,0,0,0,0,0,14.24,28.83,13.24
$STATE,6090,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6093,0.70,145.9,2535,3055,3275,3084,755.8,0.0,369,6224,0.95,0.00,128.35,1.711,10246,0.168,0.000,2806,3054,2589,2667,2511,0,0,0,0,0,0,13.88,28.83,12.80
$GC,6522,0.70,145.9,2807,3054,2650,2496,709.8,12.6,384,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2572,2649,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6822,0.70,145.9,2807,3055,2649,2497,672.5,12.3,394,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7122,0.70,145.9,2807,3054,2650,2495,635.4,12.3,404,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,0.70,145.9,2807,3055,2650,2495,598.2,12.4,414,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7722,0.70,145.9,2807,3054,2656,2495,560.7,12.5,424,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2572,2649,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8022,0.70,145.9,2808,3054,2650,2495,523.5,12.4,434,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,0.70,145.9,2807,3055,2649,2496,486.2,12.4,444,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3055,2572,2649,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8622,0.70,145.9,2807,3056,2649,2496,448.9,12.4,454,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2648,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8922,0.70,145.9,2807,3055,2649,2496,412.0,12.2,464,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3054,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9222,0.70,145.9,2807,3054,2650,2495,375.6,12.2,474,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9522,0.70,145.9,2807,3056,2649,2496,340.1,11.7,484,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3053,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5aec1a94d9;,*5D
$MODEM_MSG,CACST,6,0,20140916200443.437290,3,394,13,0119,0150,100,00,00,02,04,1,005,000,0,5,1,0,150,11.4,5.3,-100,-2.3,-01,0.3,21,900,0025*21
$GC,9822,0.70,150.8,2807,3055,2649,2496,305.8,11.4,494,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3054,2571,2648,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10122,0.70,155.1,2808,3056,2649,2496,272.1,11.4,504,10127,0.00,0.00,2.17,0.386,8710,0.000,0.000,2806,3054,2552,2632,2473,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10432,0.72,178.5,2806,3055,2664,2473,241.4,10.4,524,10463,0.00,0.00,27.12,1.148,8198,0.000,0.000,2807,3055,2449,2532,2366,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10764,0.76,243.6,2807,3056,2520,2361,213.2,8.2,557,10823,0.00,0.00,56.10,1.099,8198,0.000,0.000,2807,3056,2182,2258,2107,0,0,0,0,0,0,28.83,28.83,13.76
$GC,11122,0.84,291.8,2807,3055,2244,2098,179.0,9.1,593,11173,0.15,2.53,41.47,1.072,10756,0.127,0.078,2882,1644,1984,2051,1917,0,0,0,0,0,0,14.45,14.28,13.76
$GC,11243,0.84,291.8,2882,1644,2041,1914,164.6,12.3,617,11248,0.00,2.55,0.00,0.000,1030,0.000,0.106,2882,3049,1976,2039,1914,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11553,0.84,291.8,2883,3050,2038,1907,123.9,13.2,649,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,3049,1972,2038,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11853,0.85,306.1,2882,3049,2040,1905,86.6,10.9,679,11864,0.00,1.38,4.43,0.297,8452,0.000,0.119,2882,3781,1944,2020,1869,0,0,0,0,0,0,28.83,14.30,13.91
$GC,11894,0.85,310.6,2883,3782,2031,1876,82.1,11.4,687,11906,0.00,1.27,5.38,0.331,9222,0.000,0.074,2887,3051,1921,1994,1849,0,0,0,0,0,0,28.83,14.36,13.97
$GC,12206,0.93,388.1,2887,3052,2020,1853,53.7,7.5,719,12256,0.00,2.50,44.58,0.331,8708,0.000,0.078,2897,1644,1609,1673,1546,0,0,0,0,0,0,28.83,14.26,14.07
$GC,12337,1.08,512.2,2897,1644,1694,1546,48.2,5.0,745,12412,0.12,2.55,70.12,0.315,11270,0.142,0.106,2950,3050,1096,1125,1067,0,0,0,0,0,0,14.31,14.23,14.02
$GC,12719,1.20,599.0,2951,3051,1149,1068,16.6,7.0,791,12770,0.00,0.00,48.88,0.223,8198,0.000,0.000,2950,3050,743,744,743,0,0,0,0,0,0,28.83,28.83,14.09
$FREEZE,8.23,-1.411,-1.446,2,19,0
$STATE,12817,end climb,FINISH_DEPTH_REACHED
$STATE,12817,begin subsurface finish
$FINISH1,8.2,1.021245,349
$GC,12823,0.24,349.4,2952,3050,763,743,8.2,9.2,801,12856,0.95,2.53,-26.25,0.000,20996,0.182,0.101,2675,1644,1764,1802,1727,0,0,0,0,0,0,14.11,14.18,14.50
$FINISH2,8.0
$STATE,12856,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12856,begin surface
$RAFOS_CLK,304
$MODEM,5,1410897883,74.48340,-142.04440,42.437,61505.6
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7304.81,-14327.81,130914,235149
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.44
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3873088
$24V_AH,12.80,107.241
$10V_AH,12.60,0.000
$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,4.150,43.575,560.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10556.536,601.744,1657.112,161.246,0.000,1234.544,0.000,1204.102,1485.000,0.535,0.000
$DEVICE_MAMPS,266.985,126.225,1722.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.838,0.000,0.000,0.000
$MEM,186836
$DATA_FILE_SIZE,26652,807
$CAP_FILE_SIZE,128631,0
$CFSIZE,2097872896,2022375424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12820.58,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,140914,040738,7345.219,-14322.191,181,99.0,181,23.4