version: 66.12
glider: 198
mission: 5
dive: 54
start: 8 2 114 23 14 40
data:
$ID,198
$MISSION,5
$DIVE,54
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,648.87579
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-3390.8481
$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,1
$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
$GPS1,020814,230214,7136.173,-14408.797,15,0.9,36,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.4
$GPS2,020814,231422,7136.146,-14409.124,6,0.9,26,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7154.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,342.2,33070,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.70,-145.9,208,2678,467,523,0.0,0.0,0,74,0.00,0.00,-52.60,0.000,16386,0.000,0.000,207,2677,1831,1861,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.70,-145.9,208,2677,1863,1801,3.5,-3.4,5,132,11.27,2.50,-36.67,0.000,18948,0.464,0.113,2357,1272,3788,3843,3734,0,0,0,0,0,0,14.12,14.33,14.51
$GC,231,-0.62,-145.9,2357,1270,3844,3731,38.0,-21.3,33,239,0.17,2.53,0.00,0.000,3078,0.349,0.113,2382,2679,3787,3843,3731,0,0,0,0,0,0,14.23,14.34,28.83
$GC,544,-0.60,-145.9,2383,2679,3844,3733,93.1,-15.6,65,551,0.00,1.98,0.00,0.000,260,0.000,0.128,2375,3786,3787,3843,3732,0,0,0,0,0,0,28.83,14.42,28.83
$GC,641,-0.56,-145.9,2375,3786,3844,3733,109.4,-16.5,84,650,0.15,1.90,0.00,0.000,3078,0.310,0.081,2404,2670,3787,3843,3732,0,0,0,0,0,0,14.33,14.46,28.83
$GC,946,-0.56,-145.9,2407,2672,3844,3733,149.9,-12.2,115,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2671,3788,3843,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1246,-0.59,-145.9,2407,2672,3844,3733,184.1,-10.4,145,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2671,3786,3842,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1546,-0.63,-145.9,2406,2671,3843,3731,213.6,-9.4,175,1553,0.00,2.03,0.00,0.000,260,0.000,0.135,2400,3793,3786,3843,3730,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1592,-0.66,-145.9,2401,3794,3843,3732,218.3,-9.7,184,1602,0.00,1.88,0.00,0.000,1030,0.000,0.083,2400,2679,3787,3843,3731,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1898,-0.70,-145.9,2401,2680,3844,3730,247.4,-9.1,215,1901,0.12,0.00,0.00,0.000,4102,0.148,0.000,2348,2679,3785,3843,3728,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2198,-0.70,-145.9,2347,2680,3844,3729,281.3,-11.2,227,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2679,3785,3843,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2497,-0.70,-145.9,2349,2680,3844,3729,314.6,-11.0,237,2505,0.00,2.00,0.00,0.000,260,0.000,0.138,2347,3786,3785,3843,3728,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2539,-0.70,-145.9,2348,3786,3843,3729,319.4,-12.0,245,2547,0.00,1.90,0.00,0.000,1030,0.000,0.084,2343,2682,3785,3843,3728,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2861,-0.70,-145.9,2347,2682,3844,3733,354.9,-11.0,259,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2682,3785,3843,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-0.70,-145.9,2348,2683,3844,3728,387.3,-10.6,269,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3785,3843,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3461,-0.70,-145.9,2348,2683,3844,3728,418.8,-10.5,279,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2682,3785,3843,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3761,-0.70,-145.9,2347,2683,3842,3729,450.5,-10.5,289,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3784,3843,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4061,-0.70,-145.9,2343,2682,3844,3726,481.5,-10.4,299,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3785,3843,3727,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140803000438.878257,3,367,25,0138,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,19.5,0.8,-100,2.2,-01,-0.3,21,900,0025*01
$MODEM_MSG,CACST,6,1,20140803001631.318595,3,1199,30,0224,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,22.9,2.9,-100,0.1,-01,0.4,24,900,0025*1F
$GC,4361,-0.70,-145.9,2348,2682,3842,3727,512.3,-10.2,309,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3785,3843,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4661,-0.70,-145.9,2351,2683,3843,3727,543.1,-10.1,319,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3785,3843,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4961,-0.70,-145.9,2348,2682,3843,3727,573.6,-10.3,329,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3784,3842,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.70,-145.9,2348,2683,3849,3727,603.9,-10.1,339,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2682,3784,3843,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5561,-0.70,-145.9,2347,2682,3844,3726,634.3,-10.1,349,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3784,3843,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,-0.70,-145.9,2347,2682,3844,3726,663.9,-9.8,359,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3784,3843,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6161,-0.70,-145.9,2347,2682,3844,3726,693.3,-9.9,369,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2682,3784,3842,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,-0.70,-145.9,2348,2683,3843,3725,723.1,-10.1,379,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2681,3784,3843,3726,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6760,begin apogee
$GC,6763,-0.14,0.0,2345,3061,3844,3725,752.6,-9.8,389,6894,0.73,0.00,126.43,1.776,10246,0.275,0.000,2536,3060,3185,3271,3099,0,0,0,0,0,0,14.57,28.83,13.24
$STATE,6896,end apogee,CONTROL_FINISHED_OK
$STATE,6896,begin climb
$GC,6897,0.70,145.9,2537,3061,3263,3094,755.5,0.0,393,7035,0.98,0.00,125.68,1.757,10246,0.192,0.000,2808,3060,2582,2656,2509,0,0,0,0,0,0,13.90,28.83,13.06
$GC,7331,0.68,145.9,2812,3060,2646,2505,706.3,13.2,408,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7631,0.65,145.9,2809,3060,2642,2500,665.8,13.6,418,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2572,2645,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,0.63,145.9,2808,3060,2646,2500,626.1,13.2,428,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2571,2644,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,0.61,145.9,2809,3061,2645,2500,586.6,13.3,438,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2572,2645,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8531,0.59,145.9,2809,3060,2645,2506,546.7,13.4,448,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3059,2572,2644,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,0.57,145.9,2809,3060,2645,2500,506.9,13.2,458,8834,0.12,0.00,0.00,0.000,4102,0.318,0.000,2780,3059,2571,2643,2500,0,0,0,0,0,0,14.50,28.83,28.83
$GC,9131,0.57,145.9,2782,3061,2645,2500,471.9,11.7,468,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3061,2571,2644,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9431,0.57,146.1,2781,3061,2644,2500,436.9,11.6,478,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3060,2571,2644,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9731,0.57,148.1,2781,3060,2645,2499,402.2,11.5,488,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3060,2571,2644,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10031,0.57,149.9,2781,3060,2646,2499,367.4,11.5,498,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3060,2571,2644,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10331,0.58,160.0,2786,3061,2644,2500,333.8,11.1,508,10345,0.00,0.00,11.07,1.284,8198,0.000,0.000,2780,3060,2532,2608,2456,0,0,0,0,0,0,28.83,28.83,14.05
$GC,10631,0.58,164.5,2781,3067,2597,2446,299.6,11.4,518,10641,0.00,2.38,0.00,0.000,516,0.000,0.083,2790,1644,2520,2596,2445,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10675,0.61,175.8,2791,1644,2597,2445,294.9,11.0,526,10696,0.00,2.50,14.12,1.265,9222,0.000,0.117,2789,3057,2464,2542,2387,0,0,0,0,0,0,28.83,14.58,13.99
$GC,11000,0.61,175.8,2791,3058,2530,2381,256.5,11.9,540,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,3057,2454,2529,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11300,0.62,187.7,2791,3058,2530,2381,222.2,11.0,566,11315,0.00,0.00,4.15,1.036,8198,0.000,0.000,2790,3057,2429,2512,2347,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11611,0.64,217.5,2791,3058,2532,2348,188.7,10.0,597,11654,0.00,2.42,33.20,1.102,8708,0.000,0.081,2795,1641,2288,2361,2215,0,0,0,0,0,0,28.83,14.35,13.93
$GC,11674,0.72,268.7,2796,1642,2356,2215,182.5,8.9,607,11729,0.00,2.53,44.10,1.079,9222,0.000,0.116,2795,3048,2080,2150,2010,0,0,0,0,0,0,28.83,14.35,13.74
$GC,12033,0.77,291.6,2796,3049,2138,2000,144.0,10.4,646,12062,0.12,2.45,19.00,1.065,10756,0.145,0.085,2857,1636,1987,2056,1918,0,0,0,0,0,0,14.43,14.30,13.86
$GC,12086,0.77,291.6,2858,1637,2049,1919,137.4,12.9,655,12095,0.00,2.55,0.00,0.000,1030,0.000,0.115,2857,3050,1982,2048,1916,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12391,0.77,291.6,2858,3050,2045,1911,97.2,12.6,686,12401,0.00,2.42,0.00,0.000,516,0.000,0.086,2863,1636,1976,2044,1909,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12460,0.80,305.3,2863,1635,2044,1911,89.3,10.9,699,12475,0.00,2.53,4.82,0.343,9222,0.000,0.116,2863,3052,1947,2019,1875,0,0,0,0,0,0,28.83,14.40,14.23
$GC,12779,0.83,334.1,2863,3052,2040,1875,52.5,10.1,732,12803,0.00,0.00,18.27,0.334,8198,0.000,0.000,2863,3052,1824,1896,1753,0,0,0,0,0,0,28.83,28.83,14.31
$GC,13100,0.91,408.8,2864,3052,1916,1754,24.7,7.7,764,13145,0.00,0.00,41.55,0.247,8198,0.000,0.000,2863,3052,1518,1579,1458,0,0,0,0,0,0,28.83,28.83,14.33
$FREEZE,11.76,2.286,-1.418,0,1,0
$STATE,13419,end climb,NO_VERTICAL_VELOCITY
$STATE,13419,begin surface
$SM_CCo,13422,134.82,0.210,0,0,498,658.88
$SM_GC,2.28,7.82,0.65,0.00,0.080,0.086,0.000,203,2673,499,-7.39,0.71,659.12,0,0,0,0,0,0,14.50,14.50,28.83
$RAFOS_CLK,703
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7105.60,-14411.89,020814,200625
$TT8_MAMPS,0.046438,0.046438
$HUMID,50.82
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3996192
$TM_FREEKB,7122080
$24V_AH,13.06,19.220
$10V_AH,13.16,0.000
$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,21.500,37.825,442.400,134.825,0.000,0.000,0.000,470.675,0.000,0.000,27.154,0.000,11220.785,720.778,2451.727,110.569,0.000,1897.999,0.000,1193.056,1421.000,0.535,0.000
$DEVICE_MAMPS,463.590,137.700,1776.330,210.375,0.000,0.000,0.000,192.015,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13438.000,13496.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.473,13.365,0.000,0.000
$MEM,287928
$DATA_FILE_SIZE,26712,796
$CAP_FILE_SIZE,151976,0
$CFSIZE,2097872896,2079227904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10848.92,0x2378b6,7,5
$SOUNDSPEED,1449.9
$EKF,13871,4297.789551,-8648.356445,11.759490,0.006428,0.019273,0.016837,0.000339,0.003410,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.019,278.98,1
$GPS,030814,030548,7137.813,-14408.783,35,0.8,56,22.6