version: 66.12
glider: 198
mission: 5
dive: 250
start: 9 3 114 22 59 3
data:
$ID,198
$MISSION,5
$DIVE,250
$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,-5023.6465
$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,37
$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,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
$GPS1,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.56
$_SM_ANGLEo,-18.6
$GPS2,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,172.3,353001,-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,16,-0.70,-145.9,2675,2677,1780,1694,0.0,0.0,0,29,0.00,0.00,-11.90,0.000,16386,0.000,0.000,2674,2677,2441,2498,2384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2675,2678,2500,2384,17.5,0.0,1,58,0.90,0.00,-20.83,0.000,20998,0.073,0.000,2352,2678,3781,3837,3726,0,0,0,0,0,0,14.39,28.83,14.64
$GC,358,-0.67,-145.9,2352,2678,3839,3729,95.8,-18.6,36,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2677,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,657,-0.67,-145.9,2353,2678,3838,3730,147.4,-16.0,66,662,0.00,2.38,0.00,0.000,516,0.000,0.083,2351,1277,3784,3838,3730,0,0,0,0,0,0,28.83,14.52,28.83
$GC,717,-0.67,-145.9,2350,1276,3841,3730,156.5,-14.6,78,722,0.00,2.50,0.00,0.000,1030,0.000,0.105,2348,2686,3784,3838,3730,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1027,-0.67,-145.9,2348,2687,3839,3730,204.0,-14.5,110,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2687,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1327,-0.67,-145.9,2348,2687,3846,3730,244.4,-12.8,140,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2687,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1648,-0.67,-145.9,2348,2688,3838,3731,283.2,-11.8,154,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2687,3784,3838,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,-0.67,-145.9,2348,2686,3838,3730,317.3,-11.2,164,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2687,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-0.69,-145.9,2348,2688,3837,3730,349.6,-10.7,174,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2686,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2547,-0.71,-145.9,2348,2687,3839,3730,381.1,-10.5,184,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2686,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-0.74,-145.9,2349,2688,3845,3730,412.3,-10.4,194,2852,0.00,1.98,0.00,0.000,260,0.000,0.122,2347,3796,3783,3838,3729,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2927,-0.74,-145.9,2348,3797,3838,3730,421.2,-11.5,210,2932,0.00,1.90,0.00,0.000,1030,0.000,0.068,2347,2673,3783,3838,3729,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3238,-0.76,-145.9,2348,2673,3838,3730,452.6,-10.0,222,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2673,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,-0.79,-145.9,2347,2673,3839,3729,482.3,-9.8,232,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2673,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3838,-0.82,-145.9,2348,2673,3839,3729,511.9,-9.8,242,3843,0.00,2.00,0.00,0.000,260,0.000,0.122,2347,3790,3783,3837,3729,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3902,-0.82,-145.9,2348,3791,3838,3730,518.8,-10.8,255,3907,0.00,1.90,0.00,0.000,1030,0.000,0.069,2347,2676,3784,3839,3729,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4229,-0.85,-145.9,2346,2676,3839,3729,550.5,-9.6,270,4230,0.10,0.00,0.00,0.000,4102,0.174,0.000,2305,2676,3783,3838,3729,0,0,0,0,0,0,14.57,28.83,28.83
$GC,4527,-0.85,-145.9,2306,2676,3839,3729,585.0,-11.6,280,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2676,3783,3838,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4828,-0.85,-145.9,2306,2676,3839,3730,619.7,-11.6,290,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2676,3783,3837,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5127,-0.85,-145.9,2306,2676,3839,3731,653.8,-11.4,300,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2676,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bc87a6d3c;,*53
$MODEM_MSG,CACST,6,0,20140904000128.281569,3,1786,14,0164,0150,100,00,00,03,05,1,004,000,0,5,1,0,150,13.0,4.8,-100,-1.8,-01,-0.0,13,900,0025*36
$GC,5427,-0.85,-145.9,2306,2676,3839,3731,687.7,-11.3,310,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5727,-0.85,-145.9,2306,2676,3839,3732,721.4,-11.3,320,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2676,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5996,begin apogee
$GC,6000,-0.14,0.0,2303,3059,3839,3732,751.7,-11.2,329,6132,0.90,0.00,128.98,1.722,10246,0.264,0.000,2539,3055,3185,3279,3092,0,0,0,0,0,0,14.40,28.83,13.28
$STATE,6133,end apogee,CONTROL_FINISHED_OK
$STATE,6133,begin climb
$GC,6135,0.70,145.9,2540,3060,3275,3086,754.8,0.0,333,6269,0.90,0.00,125.95,1.708,10502,0.172,0.000,2801,3059,2582,2659,2505,0,0,0,0,0,0,13.88,28.83,12.86
$GC,6567,0.70,145.9,2802,3059,2652,2498,708.1,12.5,353,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3059,2574,2650,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6867,0.70,145.9,2802,3060,2651,2499,670.7,12.3,363,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,3059,2574,2650,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7167,0.70,145.9,2803,3060,2651,2499,633.6,12.4,373,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3059,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7467,0.70,145.9,2802,3059,2651,2497,596.5,12.3,383,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,3059,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7768,0.70,145.9,2802,3059,2651,2498,559.4,12.3,393,7772,0.00,1.33,0.00,0.000,260,0.000,0.118,2801,3785,2573,2650,2497,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7812,0.66,145.9,2803,3785,2650,2498,553.3,13.6,402,7817,0.00,1.25,0.00,0.000,1030,0.000,0.071,2806,3048,2573,2649,2497,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8128,0.66,145.9,2807,3048,2651,2497,513.7,12.6,415,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3048,2574,2651,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8427,0.66,145.9,2807,3049,2651,2498,476.2,12.5,425,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3048,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8727,0.66,145.9,2807,3049,2651,2497,438.9,12.4,435,8732,0.00,1.35,0.00,0.000,260,0.000,0.117,2806,3784,2573,2650,2497,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8777,0.63,145.9,2806,3785,2651,2497,432.2,14.0,445,8782,0.00,1.25,0.00,0.000,1030,0.000,0.071,2812,3047,2573,2650,2497,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9087,0.63,145.9,2812,3047,2651,2498,393.9,12.3,457,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3047,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,0.63,145.9,2812,3047,2652,2497,357.2,12.2,467,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9687,0.63,145.9,2813,3048,2650,2498,320.6,12.0,477,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3047,2573,2650,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9987,0.63,146.2,2812,3047,2651,2497,285.6,11.6,487,9992,0.00,1.35,0.00,0.000,260,0.000,0.116,2811,3788,2573,2650,2497,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10037,0.60,146.2,2812,3788,2651,2498,279.5,12.6,497,10043,0.10,1.25,0.00,0.000,5126,0.256,0.071,2789,3050,2577,2657,2497,0,0,0,0,0,0,14.47,14.71,28.83
$GC,10349,0.63,190.4,2789,3055,2652,2497,249.8,9.3,509,10389,0.00,0.00,36.67,1.143,8198,0.000,0.000,2789,3050,2405,2483,2327,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10689,0.70,242.0,2789,3050,2469,2318,218.6,8.9,543,10739,0.00,2.40,44.75,1.094,8708,0.000,0.073,2798,1649,2189,2260,2119,0,0,0,0,0,0,28.83,14.35,13.84
$GC,10770,0.79,288.4,2799,1649,2251,2118,211.4,9.2,559,10815,0.15,2.45,39.97,1.072,11270,0.132,0.103,2861,3053,2009,2075,1944,0,0,0,0,0,0,14.40,14.34,13.73
$GC,11120,0.79,288.4,2862,3054,2050,1924,166.3,12.8,599,11125,0.00,2.40,0.00,0.000,516,0.000,0.076,2865,1646,1986,2050,1922,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11155,0.81,288.4,2869,1646,2050,1924,162.2,11.9,606,11161,0.00,2.50,0.00,0.000,1030,0.000,0.102,2868,3056,1986,2050,1923,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11460,0.81,288.4,2865,3057,2048,1922,123.8,12.1,637,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,3056,1984,2048,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11760,0.82,298.7,2869,3057,2048,1920,90.3,11.1,667,11766,0.00,2.47,1.98,0.233,8708,0.000,0.076,2876,1646,1967,2035,1900,0,0,0,0,0,0,28.83,14.42,14.32
$GC,11817,0.88,347.8,2877,1646,2057,1900,84.9,9.0,678,11852,0.00,2.50,27.73,0.428,9222,0.000,0.103,2876,3051,1772,1838,1707,0,0,0,0,0,0,28.83,14.38,14.09
$GC,12151,0.98,436.0,2877,3052,1860,1707,51.3,6.9,715,12206,0.00,1.38,50.00,0.338,8452,0.000,0.122,2876,3782,1410,1467,1354,0,0,0,0,0,0,28.83,14.28,14.11
$GC,12291,1.09,517.1,2877,3783,1489,1354,42.2,7.3,743,12343,0.15,1.27,45.35,0.307,11270,0.076,0.070,2954,3046,1078,1117,1039,0,0,0,0,0,0,14.36,14.37,14.09
$FREEZE,8.59,-1.348,-1.439,2,5,0
$GC,12641,1.20,593.7,2955,3047,1138,1039,11.2,7.6,783,12680,0.00,0.00,36.67,0.216,8706,0.000,0.000,2954,3046,809,825,793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12680,end climb,FINISH_DEPTH_REACHED
$STATE,12680,begin subsurface finish
$FINISH1,8.6,1.021132,355
$GC,12684,0.25,355.3,2955,3046,829,793,8.6,7.6,790,12716,0.98,2.40,-24.12,0.000,20996,0.204,0.099,2675,1647,1741,1783,1699,0,0,0,0,0,0,14.21,14.33,14.55
$FINISH2,7.9
$STATE,12717,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12717,begin surface
$RAFOS_CLK,586
$MODEM,4,1409788888,75.18860,-146.10080,87.282,126515.6
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.72
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3909856
$24V_AH,12.86,81.570
$10V_AH,12.77,0.000
$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,4.175,42.825,538.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10490.701,570.698,1637.645,135.283,0.000,1206.508,0.000,1192.785,1412.000,0.536,0.000
$DEVICE_MAMPS,263.925,121.635,1722.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12767.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.832,0.000,0.000,0.000
$MEM,231056
$DATA_FILE_SIZE,26728,796
$CAP_FILE_SIZE,130001,0
$CFSIZE,2097872896,2038267904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12682.50,0x2378b6,5,5
$SOUNDSPEED,1449.3
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0