version: 66.12
glider: 198
mission: 5
dive: 113
start: 8 13 114 11 35 45
data:
$ID,198
$MISSION,5
$DIVE,113
$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,-3452.071
$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,36
$R_STBD_OVSHOOT,16
$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
$GPS1,130814,112824,7218.089,-14424.337,33,0.8,54,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.3
$GPS2,130814,113526,7218.101,-14424.275,4,0.8,24,22.7
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.8,59590,-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,-145.9,204,2677,453,542,0.0,0.0,0,114,0.00,0.00,-57.80,0.000,16386,0.000,0.000,201,2677,1912,1940,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,203,2677,1943,1886,3.2,-2.2,7,191,11.00,2.10,-33.35,0.000,18692,0.455,0.148,2344,3797,3784,3875,3694,0,0,0,0,0,0,14.16,14.39,14.61
$GC,416,-0.62,-145.9,2345,3797,3876,3698,79.7,-20.8,62,446,0.17,1.88,0.00,0.000,3078,0.327,0.073,2381,2678,3786,3875,3698,0,0,0,0,0,0,14.33,14.51,28.83
$GC,741,-0.62,-145.9,2382,2678,3876,3698,131.2,-15.0,93,770,0.00,2.00,0.00,0.000,260,0.000,0.123,2374,3795,3786,3875,3698,0,0,0,0,0,0,28.83,14.49,28.83
$GC,994,-0.62,-145.9,2374,3795,3877,3698,170.8,-14.7,139,1023,0.00,1.88,0.00,0.000,1030,0.000,0.073,2374,2675,3786,3875,3698,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1328,-0.62,-145.9,2375,2675,3876,3699,213.8,-11.6,171,1357,0.00,2.00,0.00,0.000,260,0.000,0.128,2374,3792,3787,3875,3699,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1591,-0.62,-145.9,2375,3792,3874,3698,245.7,-12.0,217,1619,0.00,1.85,0.00,0.000,1030,0.000,0.075,2374,2679,3785,3872,3698,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1934,-0.65,-145.9,2375,2680,3868,3699,282.0,-10.3,230,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2679,3784,3871,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,-0.67,-145.9,2375,2676,3872,3698,312.3,-9.8,240,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2681,3785,3871,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-0.71,-145.9,2375,2681,3870,3699,342.0,-9.6,250,2570,0.00,2.00,0.00,0.000,260,0.000,0.129,2374,3790,3784,3870,3698,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2615,-0.73,-145.9,2375,3791,3871,3698,349.3,-10.2,260,2643,0.00,1.85,0.00,0.000,1030,0.000,0.074,2374,2679,3781,3865,3698,0,0,0,0,0,0,28.83,14.58,28.83
$MODEM_MSG,CACST,6,1,20140813121625.191785,3,218,23,0091,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,13.9,1.3,-100,1.7,-01,-0.0,28,900,0025*01
$GC,2951,-0.76,-145.9,2375,2680,3870,3699,380.5,-9.5,272,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2683,3783,3869,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3255,-0.80,-145.9,2375,2679,3870,3698,409.3,-9.5,282,3285,0.12,2.00,0.00,0.000,4356,0.153,0.122,2313,3793,3783,3868,3698,0,0,0,0,0,0,14.66,14.59,28.83
$GC,3344,-0.77,-145.9,2314,3794,3868,3699,420.4,-13.7,295,3373,0.00,1.85,0.00,0.000,1030,0.000,0.073,2313,2676,3783,3868,3698,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3692,-0.77,-145.9,2314,2676,3869,3698,463.8,-12.2,310,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2676,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3995,-0.77,-145.9,2314,2676,3869,3699,500.1,-11.9,320,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2676,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4298,-0.77,-145.9,2314,2676,3869,3697,535.8,-11.8,330,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2676,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4601,-0.77,-145.9,2314,2677,3869,3699,571.5,-11.7,340,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2676,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4904,-0.77,-145.9,2314,2675,3869,3698,607.4,-11.8,350,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2675,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5207,-0.77,-145.9,2314,2677,3869,3699,643.1,-11.8,360,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2676,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,-0.77,-145.9,2314,2682,3869,3699,677.5,-11.2,370,5540,0.00,1.98,0.00,0.000,260,0.000,0.123,2304,3795,3783,3868,3698,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5615,-0.73,-145.9,2304,3796,3869,3698,690.5,-12.9,386,5644,0.20,1.85,0.00,0.000,3078,0.306,0.073,2350,2671,3783,3868,3699,0,0,0,0,0,0,14.58,14.76,28.83
$GC,5948,-0.76,-145.9,2351,2671,3869,3699,723.8,-9.6,398,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2671,3783,3868,3698,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6251,begin apogee
$GC,6254,-0.14,0.0,2348,3056,3869,3698,752.8,-9.5,408,6460,0.70,0.00,179.20,1.470,10246,0.265,0.000,2535,3056,3186,3266,3106,0,0,0,0,0,0,14.61,28.83,13.38
$STATE,6461,end apogee,CONTROL_FINISHED_OK
$STATE,6461,begin climb
$GC,6463,0.70,145.9,2532,3057,3260,3102,758.1,0.0,414,6630,0.93,0.00,124.68,1.748,10502,0.186,0.000,2804,3056,2580,2644,2516,0,0,0,0,0,0,13.95,28.83,12.95
$GC,6980,0.70,145.9,2805,3057,2641,2511,702.9,12.6,434,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3056,2574,2639,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,0.70,145.9,2804,3056,2641,2509,660.8,12.5,445,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2574,2639,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7648,0.70,145.9,2805,3056,2641,2509,618.8,12.7,456,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7983,0.70,145.9,2800,3056,2641,2508,575.5,13.0,467,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8317,0.70,145.9,2804,3056,2641,2508,532.4,12.9,478,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2574,2640,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8652,0.70,145.9,2805,3057,2640,2509,489.2,12.8,489,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2638,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8987,0.70,145.9,2804,3056,2641,2508,446.6,12.7,500,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2639,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9321,0.70,145.9,2804,3056,2640,2508,404.1,12.5,511,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,0.70,145.9,2805,3057,2640,2509,363.1,12.2,522,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2639,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9990,0.70,145.9,2804,3056,2641,2508,321.9,12.2,533,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10325,0.70,145.9,2804,3057,2640,2509,281.4,12.0,544,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3056,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10701,0.71,159.2,2804,3056,2641,2507,239.2,10.9,559,10750,0.00,2.42,10.30,1.225,8708,0.000,0.073,2814,1639,2529,2597,2462,0,0,0,0,0,0,28.83,14.57,14.05
$GC,10785,0.73,189.1,2814,1642,2596,2461,230.8,10.0,562,10851,0.00,2.47,26.05,1.157,9222,0.000,0.106,2814,3050,2404,2471,2338,0,0,0,0,0,0,28.83,14.53,13.93
$GC,11376,0.75,229.3,2815,3051,2466,2336,170.8,9.5,595,11442,0.00,0.00,33.95,1.083,8198,0.000,0.000,2814,3050,2246,2311,2182,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11950,0.82,278.9,2815,3051,2296,2166,117.4,9.0,627,12033,0.12,2.45,42.50,1.022,10756,0.146,0.075,2884,1651,2037,2097,1977,0,0,0,0,0,0,14.53,14.28,13.84
$GC,12101,0.82,278.9,2885,1652,2091,1975,100.7,11.7,634,12150,0.00,2.50,0.00,0.000,1030,0.000,0.107,2884,3050,2031,2090,1972,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12658,0.89,381.7,2885,3050,2090,1966,45.0,6.2,665,12740,0.00,0.00,51.15,0.315,8454,0.000,0.000,2884,3050,1630,1685,1576,0,0,0,0,0,0,28.83,28.83,14.26
$FREEZE,8.09,-0.359,-1.424,2,1,0
$FREEZE,6.88,-0.111,-1.414,2,1,0
$GC,13247,1.11,587.4,2885,3051,1697,1576,11.4,0.7,698,13402,0.15,2.40,108.10,0.213,10756,0.143,0.075,2958,1642,790,771,809,0,0,0,0,0,0,14.47,14.37,14.31
$FREEZE,3.64,3.778,-1.365,2,1,0
$FREEZE,2.73,3.778,-1.365,2,1,0
$FREEZE,1.27,3.759,-1.377,2,1,0
$GC,13438,1.27,690.6,2958,1642,774,810,2.7,6.1,707,13486,0.12,2.55,17.52,0.196,11266,0.173,0.122,2994,3049,654,627,681,0,0,0,0,0,0,14.41,14.40,28.83
$STATE,13486,end climb,SURFACE_DEPTH_REACHED
$STATE,13487,begin surface coast
$FREEZE,1.38,3.759,-1.377,2,1,0
$FINISH,1.4,1.020110
$STATE,13490,end surface coast,CONTROL_FINISHED_OK
$STATE,13490,begin surface
$SM_CCo,13516,22.33,0.196,0,0,499,658.88
$SM_GC,2.41,8.45,0.65,22.33,0.101,0.084,0.196,198,2673,499,-7.39,0.71,658.88,0,0,0,0,0,0,14.46,14.45,14.33
$RAFOS_CLK,731
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7139.36,-14417.06,130814,073658
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.08
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3971232
$24V_AH,12.95,40.398
$10V_AH,13.02,0.000
$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,21.975,39.375,593.450,22.325,0.000,0.000,0.000,233.775,0.000,0.000,26.126,0.000,6412.496,468.091,6936.569,155.264,0.000,2953.519,0.000,1057.177,1496.000,0.535,0.000
$DEVICE_MAMPS,455.175,148.410,1748.025,195.840,0.000,0.000,0.000,169.830,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13513.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.204,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,307164
$DATA_FILE_SIZE,23430,709
$CAP_FILE_SIZE,184996,0
$CFSIZE,2097872896,2064973824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13904.33,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,130814,152319,7219.443,-14423.201,37,0.8,58,22.7