version: 66.12
glider: 198
mission: 5
dive: 318
start: 9 14 114 14 40 18
data:
$ID,198
$MISSION,5
$DIVE,318
$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,-5436.165
$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,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
$GPS1,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.24
$_SM_ANGLEo,-18.7
$GPS2,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
$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,16,-0.70,-145.9,2675,2678,1781,1707,0.0,0.0,0,30,0.00,0.00,-12.38,0.000,16386,0.000,0.000,2674,2677,2482,2538,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2674,2676,2540,2427,17.8,0.0,1,61,0.90,2.08,-20.02,0.000,20740,0.068,0.142,2341,3790,3783,3836,3731,0,0,0,0,0,0,14.34,14.30,14.62
$GC,151,-0.61,-145.9,2343,3791,3837,3733,54.3,-31.5,25,156,0.20,1.90,0.00,0.000,3078,0.295,0.070,2385,2666,3784,3837,3732,0,0,0,0,0,0,14.11,14.33,28.83
$GC,461,-0.61,-145.9,2387,2666,3838,3733,109.0,-15.8,57,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2665,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,761,-0.61,-145.9,2386,2665,3838,3732,150.9,-13.6,87,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2665,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-0.63,-145.9,2386,2665,3839,3732,190.4,-12.5,117,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2665,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-0.67,-145.9,2386,2665,3839,3732,226.7,-11.7,147,1366,0.00,2.38,0.00,0.000,516,0.000,0.083,2385,1277,3784,3837,3732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1406,-0.72,-145.9,2386,1276,3839,3732,231.5,-10.2,156,1413,0.00,2.53,0.00,0.000,1030,0.000,0.106,2385,2680,3784,3837,3732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1712,-0.76,-145.9,2386,2680,3838,3732,262.3,-10.2,179,1716,0.12,2.00,0.00,0.000,4356,0.145,0.118,2328,3787,3784,3837,3731,0,0,0,0,0,0,14.56,14.42,28.83
$GC,1791,-0.76,-145.9,2328,3788,3839,3732,272.2,-12.8,195,1796,0.00,1.90,0.00,0.000,1030,0.000,0.070,2328,2680,3784,3837,3732,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2102,-0.76,-145.9,2328,2680,3838,3731,309.8,-12.1,207,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2402,-0.76,-145.9,2329,2681,3837,3733,344.7,-11.6,217,2406,0.00,2.00,0.00,0.000,260,0.000,0.120,2319,3787,3784,3837,3732,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2451,-0.76,-145.9,2321,3788,3837,3732,351.0,-12.4,227,2456,0.00,1.90,0.00,0.000,1030,0.000,0.071,2319,2679,3784,3837,3732,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2763,-0.76,-145.9,2321,2680,3838,3733,386.9,-11.3,239,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2680,3787,3837,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,-0.76,-145.9,2320,2680,3838,3731,420.6,-11.2,249,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3361,-0.76,-145.9,2321,2681,3838,3733,454.2,-11.2,259,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2680,3784,3837,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-0.76,-145.9,2320,2680,3838,3732,487.3,-11.0,269,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2680,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3961,-0.76,-145.9,2321,2681,3838,3733,520.2,-10.9,279,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2680,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4262,-0.76,-145.9,2321,2681,3837,3733,552.3,-10.7,289,4266,0.00,2.00,0.00,0.000,260,0.000,0.121,2318,3788,3784,3837,3731,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4317,-0.76,-145.9,2319,3788,3838,3733,558.5,-11.0,300,4322,0.00,1.85,0.00,0.000,1030,0.000,0.070,2318,2677,3784,3837,3732,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4623,-0.76,-145.9,2318,2678,3839,3732,591.0,-10.5,311,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2678,3784,3836,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4923,-0.76,-145.9,2318,2678,3837,3733,622.3,-10.5,321,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2677,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-0.76,-145.9,2318,2678,3838,3733,653.6,-10.4,331,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2678,3784,3837,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-0.76,-145.9,2318,2678,3838,3733,684.6,-10.4,341,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3788,3844,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5821,-0.76,-145.9,2318,2677,3839,3733,715.6,-10.3,351,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6121,-0.76,-145.9,2319,2678,3838,3734,746.8,-10.5,361,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2677,3785,3837,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6179,begin apogee
$MODEM_MSG,CACST,6,1,20140914161645.502999,3,764,16,0198,0150,100,00,00,02,04,1,000,000,2,5,1,0,150,5.5,1.3,-100,1.7,-01,-0.1,25,900,0025*11
$GC,6184,-0.14,0.0,2318,3052,3838,3733,753.0,-10.4,363,6319,0.85,0.00,131.48,1.705,10246,0.258,0.000,2537,3052,3183,3285,3082,0,0,0,0,0,0,14.14,28.83,13.18
$STATE,6320,end apogee,CONTROL_FINISHED_OK
$STATE,6321,begin climb
$GC,6323,0.70,145.9,2537,3052,3280,3076,756.0,0.0,367,6454,0.93,0.00,127.45,1.688,10502,0.171,0.000,2804,3051,2591,2675,2507,0,0,0,0,0,0,13.81,28.83,12.77
$GC,6751,0.70,145.9,2805,3052,2658,2493,710.2,12.4,387,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3052,2575,2657,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7051,0.70,145.9,2805,3052,2658,2498,672.8,12.4,397,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3051,2575,2657,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,0.70,145.9,2805,3053,2658,2493,635.4,12.5,407,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3052,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,0.70,145.9,2805,3052,2658,2492,598.6,12.2,417,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3052,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7952,0.70,145.9,2806,3052,2657,2493,562.0,12.1,427,7956,0.00,1.35,0.00,0.000,260,0.000,0.118,2804,3789,2574,2657,2492,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7991,0.66,145.9,2805,3789,2658,2492,556.8,13.6,435,7996,0.00,1.27,0.00,0.000,1030,0.000,0.072,2810,3047,2574,2657,2492,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8313,0.66,145.9,2811,3047,2658,2492,517.2,12.5,449,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8611,0.66,145.9,2812,3047,2658,2492,480.7,12.1,459,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8911,0.66,145.9,2810,3047,2658,2491,444.3,12.1,469,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9212,0.66,145.9,2811,3047,2658,2492,408.0,12.1,479,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9511,0.66,145.9,2810,3047,2658,2492,371.3,12.2,489,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2574,2657,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9811,0.67,151.1,2811,3047,2658,2492,336.5,11.4,499,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3047,2574,2656,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10111,0.67,157.0,2811,3048,2658,2489,302.4,11.3,509,10116,0.00,0.00,3.42,0.906,8710,0.000,0.000,2810,3047,2545,2629,2461,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10443,0.68,166.8,2811,3048,2661,2467,266.0,11.1,525,10460,0.00,0.00,15.73,1.173,8198,0.000,0.000,2810,3047,2506,2594,2419,0,0,0,0,0,0,28.83,28.83,14.01
$GC,10741,0.71,206.0,2811,3047,2578,2407,234.5,9.5,545,10777,0.00,0.00,34.00,1.105,8198,0.000,0.000,2810,3047,2345,2428,2262,0,0,0,0,0,0,28.83,28.83,13.91
$GC,11073,0.77,261.8,2811,3047,2406,2248,202.7,8.7,578,11127,0.00,2.42,48.05,1.055,8708,0.000,0.076,2820,1650,2109,2187,2032,0,0,0,0,0,0,28.83,14.31,13.80
$GC,11177,0.84,296.4,2821,1651,2175,2030,192.6,9.8,599,11214,0.12,2.53,29.48,1.033,11270,0.145,0.103,2877,3052,1971,2043,1899,0,0,0,0,0,0,14.35,14.29,13.74
$GC,11512,0.84,296.4,2878,3053,2029,1888,147.8,13.0,636,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,3051,1958,2028,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11812,0.84,296.4,2877,3052,2029,1885,110.5,12.4,666,11817,0.00,2.42,0.00,0.000,516,0.000,0.079,2885,1647,1956,2027,1885,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11862,0.88,319.0,2886,1647,2029,1885,104.9,10.4,676,11888,0.00,2.53,19.25,0.980,9222,0.000,0.104,2885,3056,1878,1951,1806,0,0,0,0,0,0,28.83,14.37,13.90
$GC,12193,0.88,319.0,2886,3057,1938,1797,68.4,11.8,712,12198,0.00,2.45,0.00,0.000,516,0.000,0.079,2891,1642,1865,1937,1793,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12243,0.97,385.4,2892,1642,1938,1797,63.5,8.1,722,12284,0.00,2.53,33.53,0.356,9222,0.000,0.103,2891,3050,1616,1680,1552,0,0,0,0,0,0,28.83,14.31,14.04
$GC,12583,1.10,496.9,2891,3050,1700,1552,40.2,5.7,760,12654,0.15,2.45,63.33,0.291,10756,0.126,0.080,2965,1650,1162,1209,1115,0,0,0,0,0,0,14.37,14.23,14.04
$GC,12716,1.19,559.2,2967,1650,1224,1116,29.1,8.3,786,12757,0.00,2.55,35.75,0.260,9222,0.000,0.105,2965,3058,905,922,888,0,0,0,0,0,0,28.83,14.23,14.07
$FREEZE,8.96,-1.392,-1.438,2,5,0
$STATE,12914,end climb,FINISH_DEPTH_REACHED
$STATE,12914,begin subsurface finish
$FINISH1,9.0,1.021124,356
$GC,12919,0.25,355.7,2966,3059,938,889,9.0,9.1,810,12945,1.02,1.35,-20.75,0.000,20740,0.208,0.161,2676,3794,1736,1772,1701,0,0,0,0,0,0,14.12,14.20,14.53
$FINISH2,8.7
$STATE,12946,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12946,begin surface
$RAFOS_CLK,535
$RAFOS_FIX,7345.218750,-14322.191406,140914,040438,3,255,0.08
$IRIDIUM_FIX,7257.42,-14347.65,130914,052906
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.64
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3879360
$24V_AH,12.77,103.124
$10V_AH,12.65,0.000
$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,4.300,47.000,541.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10664.061,567.909,1684.250,159.398,0.000,1215.774,0.000,1230.587,1483.000,0.535,0.000
$DEVICE_MAMPS,295.290,160.650,1705.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12996.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.407,0.000,0.000,0.000
$MEM,193964
$DATA_FILE_SIZE,26760,815
$CAP_FILE_SIZE,131879,0
$CFSIZE,2097872896,2024931328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12916.28,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,140914,040738,7345.219,-14322.191,0,3255.0,0,23.4