version: 66.12
glider: 198
mission: 5
dive: 142
start: 8 18 114 2 59 9
data:
$ID,198
$MISSION,5
$DIVE,142
$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,-3488.6228
$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,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
$GPS1,180814,025212,7240.003,-14413.780,38,0.8,59,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-67.8
$GPS2,180814,025850,7239.986,-14413.954,4,0.9,25,22.9
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.0,118525,-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,15,begin dive
$GC,16,-0.70,-145.9,194,2680,454,529,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,16386,0.000,0.000,193,2679,1976,2004,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.70,-145.9,194,2679,2006,1950,3.2,-2.4,6,140,10.80,2.45,-39.80,0.000,18948,0.442,0.117,2355,1273,3783,3908,3658,0,0,0,0,0,0,14.15,14.40,14.63
$GC,364,-0.65,-145.9,2356,1273,3887,3694,70.5,-18.6,63,371,0.12,2.55,0.00,0.000,3078,0.344,0.108,2371,2684,3789,3886,3693,0,0,0,0,0,0,14.33,14.45,28.83
$GC,669,-0.65,-145.9,2373,2685,3887,3694,121.9,-15.7,94,675,0.00,2.45,0.00,0.000,516,0.000,0.085,2371,1272,3789,3886,3693,0,0,0,0,0,0,28.83,14.54,28.83
$GC,899,-0.65,-145.9,2373,1271,3891,3693,155.2,-13.8,140,905,0.00,2.53,0.00,0.000,1030,0.000,0.108,2362,2681,3789,3886,3693,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1209,-0.65,-145.9,2363,2680,3886,3694,199.3,-13.3,172,1215,0.00,2.42,0.00,0.000,516,0.000,0.084,2362,1273,3793,3893,3693,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1339,-0.65,-145.9,2363,1272,3886,3693,215.0,-11.9,198,1345,0.00,2.53,0.00,0.000,1030,0.000,0.110,2357,2675,3789,3885,3693,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1670,-0.65,-145.9,2366,2676,3880,3694,253.6,-11.1,230,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3788,3883,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1970,-0.65,-145.9,2362,2676,3883,3694,286.9,-11.2,240,1975,0.00,2.00,0.00,0.000,260,0.000,0.128,2361,3783,3788,3883,3693,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2039,-0.65,-145.9,2361,3783,3883,3694,295.2,-12.3,254,2045,0.00,1.88,0.00,0.000,1030,0.000,0.076,2361,2680,3787,3882,3693,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2360,-0.67,-145.9,2362,2680,3883,3693,329.6,-10.7,268,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2680,3787,3882,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-0.69,-145.9,2361,2681,3883,3693,361.0,-10.4,278,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2681,3787,3882,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-0.71,-145.9,2361,2681,3883,3694,391.8,-10.3,288,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2680,3787,3881,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3260,-0.74,-145.9,2361,2681,3882,3694,422.3,-10.1,298,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2680,3787,3881,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3560,-0.76,-145.9,2361,2680,3881,3693,452.4,-9.9,308,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2680,3787,3881,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3860,-0.78,-145.9,2361,2681,3883,3693,482.4,-9.9,318,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2680,3786,3880,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4160,-0.81,-145.9,2362,2681,3882,3694,511.7,-9.7,328,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2680,3788,3883,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4460,-0.84,-145.9,2362,2681,3882,3694,540.7,-9.6,338,4461,0.12,0.00,0.00,0.000,4102,0.160,0.000,2310,2680,3787,3881,3693,0,0,0,0,0,0,14.64,28.83,28.83
$GC,4759,-0.84,-145.9,2311,2681,3882,3694,576.0,-11.9,348,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2681,3787,3881,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5059,-0.84,-145.9,2311,2681,3882,3696,611.7,-11.9,358,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2680,3787,3881,3694,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140818041623.467957,3,643,22,0105,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,9.0,1.2,-100,1.8,-01,-0.2,29,900,0025*31
$GC,5360,-0.84,-145.9,2311,2681,3882,3695,647.5,-11.9,368,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2680,3787,3881,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,-0.84,-145.9,2311,2681,3882,3694,683.4,-12.0,378,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2680,3787,3881,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,-0.84,-145.9,2310,2680,3883,3695,718.7,-11.7,388,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2680,3787,3881,3694,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6232,-0.14,0.0,2308,3053,3882,3695,750.2,-11.5,397,6361,0.88,0.00,125.90,1.727,10246,0.282,0.000,2542,3053,3185,3267,3104,0,0,0,0,0,0,14.56,28.83,13.35
$STATE,6362,end apogee,CONTROL_FINISHED_OK
$STATE,6362,begin climb
$GC,6363,0.70,145.9,2537,3053,3262,3099,753.3,0.0,401,6491,0.93,0.00,122.75,1.708,10502,0.185,0.000,2804,3053,2589,2654,2524,0,0,0,0,0,0,13.91,28.83,13.00
$GC,6770,0.70,145.9,2804,3053,2642,2512,708.2,12.9,435,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7069,0.70,145.9,2804,3053,2642,2510,669.7,12.8,445,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2575,2641,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7369,0.70,145.9,2804,3054,2642,2510,631.5,12.7,455,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,0.70,145.9,2804,3053,2642,2510,593.3,12.7,465,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3053,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,0.70,145.9,2804,3054,2641,2510,555.0,12.7,475,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8269,0.70,145.9,2803,3053,2642,2509,517.3,12.5,485,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8569,0.70,145.9,2804,3053,2642,2509,480.2,12.4,495,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3050,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,0.70,145.9,2804,3054,2641,2510,443.2,12.3,505,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3050,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9169,0.70,145.9,2804,3053,2641,2510,406.5,12.3,515,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9470,0.70,145.9,2804,3054,2642,2509,370.0,12.2,525,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9769,0.70,145.9,2804,3053,2642,2509,333.8,11.9,535,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,3053,2575,2641,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10070,0.70,152.3,2804,3054,2642,2510,299.6,11.3,545,10072,0.00,0.00,1.00,0.273,8198,0.000,0.000,2803,3053,2564,2631,2498,0,0,0,0,0,0,28.83,28.83,14.64
$GC,10370,0.70,152.9,2804,3054,2652,2498,265.2,11.6,555,10376,0.00,2.35,1.62,0.251,8708,0.000,0.076,2813,1648,2563,2638,2489,0,0,0,0,0,0,28.83,14.73,14.61
$GC,10410,0.72,173.5,2814,1647,2658,2489,260.7,10.5,563,10436,0.00,2.47,22.15,1.210,9222,0.000,0.107,2813,3044,2478,2549,2407,0,0,0,0,0,0,28.83,14.70,14.10
$GC,10741,0.73,189.8,2814,3044,2536,2399,222.4,10.8,597,10761,0.00,0.00,13.98,1.181,8710,0.000,0.000,2814,3043,2401,2468,2335,0,0,0,0,0,0,28.83,28.83,14.06
$GC,11061,0.74,212.3,2814,3044,2468,2334,187.0,10.4,630,11087,0.00,2.40,19.42,1.116,8708,0.000,0.080,2823,1646,2313,2379,2248,0,0,0,0,0,0,28.83,14.47,14.02
$GC,11151,0.81,261.2,2823,1646,2372,2247,178.3,9.0,648,11198,0.00,2.50,41.15,1.049,9222,0.000,0.106,2822,3054,2120,2184,2056,0,0,0,0,0,0,28.83,14.47,13.84
$GC,11502,0.85,284.8,2822,3055,2168,2042,140.8,10.4,688,11528,0.12,2.45,20.17,1.044,10756,0.149,0.080,2883,1639,2016,2077,1955,0,0,0,0,0,0,14.50,14.38,13.92
$GC,11572,0.85,284.8,2884,1639,2070,1954,132.1,12.7,702,11578,0.00,2.55,0.00,0.000,1030,0.000,0.106,2883,3043,2010,2069,1952,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11883,0.85,284.8,2883,3044,2068,1947,91.7,12.3,734,11888,0.00,2.40,0.00,0.000,516,0.000,0.080,2891,1635,2006,2067,1946,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11917,0.86,289.7,2892,1636,2068,1948,87.7,11.4,741,11924,0.00,2.55,0.00,0.000,1030,0.000,0.107,2891,3046,2007,2067,1947,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12223,0.91,363.9,2891,3046,2067,1945,54.6,7.7,772,12269,0.00,2.42,38.78,0.345,8708,0.000,0.079,2898,1654,1705,1763,1647,0,0,0,0,0,0,28.83,14.45,14.29
$GC,12343,0.99,425.5,2899,1654,1774,1648,44.8,8.3,796,12385,0.00,2.53,34.22,0.316,9222,0.000,0.108,2898,3078,1452,1502,1402,0,0,0,0,0,0,28.83,14.47,14.26
$GC,12683,1.22,630.4,2899,3078,1513,1402,16.7,0.7,834,12797,0.25,1.35,106.53,0.237,10500,0.113,0.124,2990,3790,614,577,651,0,0,0,0,0,0,14.55,14.35,14.28
$FREEZE,8.80,2.739,-1.385,2,1,0
$FREEZE,8.18,2.746,-1.384,2,1,0
$FREEZE,7.43,2.746,-1.384,2,1,0
$FREEZE,6.92,2.750,-1.383,2,1,0
$FREEZE,6.22,2.750,-1.383,2,1,0
$FREEZE,5.66,2.747,-1.382,2,1,0
$FREEZE,5.05,2.747,-1.382,2,1,0
$FREEZE,4.33,2.747,-1.381,2,1,0
$FREEZE,3.66,2.747,-1.381,2,1,0
$FREEZE,2.72,2.747,-1.380,2,1,0
$FREEZE,2.19,2.747,-1.380,2,1,0
$FREEZE,1.72,2.748,-1.379,2,1,0
$STATE,12875,end climb,SURFACE_DEPTH_REACHED
$STATE,12875,begin surface coast
$FREEZE,1.20,2.748,-1.379,2,1,0
$FINISH,1.2,1.020208
$STATE,12880,end surface coast,CONTROL_FINISHED_OK
$STATE,12880,begin surface
$SM_CCo,12896,16.50,0.199,0,0,497,659.12
$SM_GC,2.09,8.27,1.95,16.50,0.083,0.076,0.199,192,2677,497,-7.40,0.85,659.12,0,0,0,0,0,0,14.48,14.46,14.34
$RAFOS_CLK,608
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7207.11,-14414.30,170814,230616
$TT8_MAMPS,0.042693,0.042693
$HUMID,50.15
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.90
$XPDR_PINGS,1
$SC_FREEKB,3958240
$24V_AH,13.00,49.239
$10V_AH,12.85,0.000
$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,21.500,47.400,547.675,16.500,0.000,0.000,0.000,232.075,0.250,0.000,26.349,0.000,10544.916,619.568,2018.198,127.939,0.000,1554.291,0.000,1299.775,1473.000,0.535,0.000
$DEVICE_MAMPS,442.170,127.755,1726.605,198.900,0.000,0.000,0.000,174.420,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.266,0.000,0.000,0.000
$MEM,290032
$DATA_FILE_SIZE,30009,873
$CAP_FILE_SIZE,139653,0
$CFSIZE,2097872896,2059304960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13716.38,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,180814,063554,7238.154,-14414.900,39,0.7,59,22.9