version: 66.13
glider: 198
mission: 8
dive: 60
start: 9 4 116 18 28 17
data:
$ID,198
$MISSION,8
$DIVE,60
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,330
$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,100
$T_MISSION,130
$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,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,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,53552
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281
$HD_B,0.0107
$HD_C,1.91e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,692.78448
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2510
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,50
$C_ROLL_DIVE,3100
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3135
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.38615
$PRESSURE_SLOPE,0.00010704049
$AD7714Ch0Gain,1
$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
$LOGGERDEVICE2,87
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043050982
$SEABIRD_T_H,0.00061941822
$SEABIRD_T_I,2.1629137e-05
$SEABIRD_T_J,2.164825e-06
$SEABIRD_C_G,-9.9284992
$SEABIRD_C_H,1.1529615
$SEABIRD_C_I,-0.0017988096
$SEABIRD_C_J,0.00021813816
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,040916,181704,7520.3052,-15009.7510,40,0.8,40,21.2,0.0,0.0,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.7
$GPS2,040916,182749,7520.2788,-15009.7842,8,0.8,12,21.2,0.0,0.0,10,9.4
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,T6
$TGT_LATLONG,7430.000,-14900.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,146.2,99316,-17.5,-10.000,-21.45,2245
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.59,-145.9,186,3096,496,522,0.0,0.0,0,136,0.00,0.00,-121.20,0.000,16386,0.000,0.000,184,3095,2431,2390,2473,0,0,0,0,0,0,14.35,28.83,14.38
$GC,139,-0.59,-145.9,184,3097,2392,2474,3.4,-4.7,12,187,11.10,1.40,-30.20,0.000,18724,0.457,2.257,2306,3790,3733,3647,3820,0,0,0,0,0,0,14.00,13.33,14.25
$GC,412,-0.59,-145.9,2306,3791,3635,3838,59.0,-14.9,66,417,0.00,1.12,0.00,0.000,1030,0.000,0.055,2306,3121,3735,3634,3837,0,0,0,0,0,0,14.30,14.27,14.32
$GC,602,-0.65,-145.9,2306,3118,3634,3839,80.6,-10.3,86,607,0.00,1.23,0.00,0.000,388,0.000,0.114,2303,3783,3736,3633,3839,0,0,0,0,0,0,14.47,14.27,14.50
$GC,832,-0.74,-145.9,2304,3785,3633,3840,103.6,-9.4,132,836,0.00,1.15,0.00,0.000,1190,0.000,0.055,2303,3092,3736,3632,3841,0,0,0,0,0,0,14.40,14.37,14.42
$GC,1022,-0.84,-145.9,2303,3092,3633,3843,119.9,-8.3,143,1027,0.17,1.27,0.00,0.000,4516,0.096,0.107,2215,3788,3736,3631,3841,0,0,0,0,0,0,14.40,14.33,14.45
$GC,1252,-0.84,-145.9,2215,3788,3632,3842,150.3,-13.3,189,1258,0.00,1.15,0.00,0.000,1030,0.000,0.055,2215,3095,3735,3630,3841,0,0,0,0,0,0,14.46,14.43,14.47
$GC,1443,-0.84,-145.9,2216,3096,3632,3843,174.8,-12.8,200,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,3095,3736,3631,3842,0,0,0,0,0,0,14.59,14.62,14.62
$GC,1623,-0.84,-145.9,2214,3095,3632,3843,197.8,-12.7,209,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,3095,3736,3631,3842,0,0,0,0,0,0,14.61,14.63,14.63
$GC,1803,-0.84,-145.9,2214,3095,3632,3843,220.0,-12.2,218,1808,0.00,2.90,0.00,0.000,516,0.000,0.050,2215,1336,3736,3630,3843,0,0,0,0,0,0,14.62,14.46,14.64
$GC,1823,-0.84,-145.9,2215,1336,3630,3845,222.5,-12.0,222,1828,0.00,3.10,0.00,0.000,1030,0.000,0.088,2210,3107,3737,3629,3845,0,0,0,0,0,0,14.52,14.42,14.54
$GC,2023,-0.84,-145.9,2211,3108,3629,3847,246.3,-11.8,235,2028,0.00,2.92,0.00,0.000,516,0.000,0.050,2210,1331,3737,3628,3846,0,0,0,0,0,0,14.63,14.47,14.66
$GC,2053,-0.84,-145.9,2211,1332,3624,3846,249.8,-11.4,241,2060,0.15,3.10,0.00,0.000,3078,0.296,0.087,2233,3106,3736,3628,3844,0,0,0,0,0,0,14.35,14.42,14.51
$GC,2245,-0.88,-145.9,2233,3107,3629,3847,269.3,-10.0,252,2250,0.00,2.92,0.00,0.000,676,0.000,0.050,2233,1328,3736,3627,3846,0,0,0,0,0,0,14.69,14.49,14.67
$GC,2285,-0.93,-145.9,2233,1328,3628,3847,273.4,-10.2,260,2290,0.00,3.10,0.00,0.000,1158,0.000,0.089,2229,3102,3736,3627,3846,0,0,0,0,0,0,14.54,14.45,14.56
$GC,2486,-0.97,-145.9,2229,3103,3628,3847,293.0,-9.5,273,2486,0.00,0.00,0.00,0.000,166,0.000,0.000,2229,3103,3740,3634,3846,0,0,0,0,0,0,14.68,14.69,14.69
$STATE,2563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2563,begin apogee
$GC,2569,-0.14,0.0,2230,2372,3626,3847,300.3,-9.2,277,2727,0.82,0.03,145.90,1.945,10246,0.218,0.179,2461,2393,3137,3055,3220,0,0,0,0,1,0,14.40,13.47,12.80
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin climb
$GC,2731,0.59,145.9,2462,2393,3061,3222,304.9,0.0,285,2981,0.73,2.67,241.15,0.977,10500,0.103,0.100,2695,3790,2537,2460,2614,0,0,0,0,0,0,13.66,13.43,13.11
$GC,3207,0.49,145.9,2694,3791,2449,2596,269.0,10.3,379,3213,0.15,2.30,0.00,0.000,5254,0.288,0.042,2670,2409,2520,2446,2595,0,0,0,0,0,0,13.77,13.90,13.93
$GC,3398,0.53,204.4,2670,2410,2445,2595,254.1,7.3,390,3500,0.00,2.67,96.68,1.060,8484,0.000,0.102,2670,3790,2293,2220,2367,0,0,0,0,0,0,14.19,13.62,13.25
$GC,3660,0.53,204.4,2670,3789,2207,2356,229.4,10.5,442,3666,0.00,2.33,0.00,0.000,1030,0.000,0.043,2676,2403,2280,2205,2355,0,0,0,0,0,0,13.97,13.91,13.98
$GC,3861,0.57,229.5,2676,2403,2204,2348,211.2,8.9,455,3908,0.00,2.62,38.80,1.075,8612,0.000,0.103,2676,3790,2192,2117,2267,0,0,0,0,0,0,14.22,13.83,13.45
$GC,3948,0.57,229.5,2676,3797,2108,2257,202.7,10.8,472,3953,0.00,2.35,0.00,0.000,1030,0.000,0.043,2683,2391,2181,2106,2257,0,0,0,0,0,0,14.00,13.95,14.02
$GC,4143,0.61,243.8,2680,2392,2101,2254,184.2,9.3,484,4164,0.00,0.00,19.17,1.110,8358,0.000,0.000,2682,2391,2140,2063,2218,0,0,0,0,0,0,14.27,14.00,13.55
$GC,4343,0.66,262.9,2683,2392,2043,2200,165.8,9.1,494,4375,0.12,0.00,30.70,1.080,10406,0.126,0.000,2743,2391,2063,1986,2140,0,0,0,0,0,0,14.14,14.01,13.55
$GC,4543,0.63,262.9,2743,2391,1964,2118,142.0,12.1,504,4548,0.00,2.55,0.00,0.000,388,0.000,0.102,2743,3789,2040,1963,2118,0,0,0,0,0,0,14.27,14.07,14.30
$GC,4608,0.55,262.9,2744,3789,1963,2119,133.1,13.8,517,4613,0.25,2.30,0.00,0.000,5254,0.248,0.044,2693,2392,2040,1963,2117,0,0,0,0,0,0,14.04,14.16,14.20
$GC,4804,0.62,295.9,2692,2392,1961,2117,115.5,8.5,529,4864,0.00,0.00,57.12,1.034,8358,0.000,0.000,2692,2392,1926,1848,2004,0,0,0,0,0,0,14.38,13.98,13.55
$GC,5044,0.70,321.0,2694,2393,1826,1982,94.6,8.9,544,5066,0.12,2.60,13.98,0.406,10660,0.128,0.101,2754,3787,1829,1754,1904,0,0,0,0,0,0,14.15,14.05,13.85
$GC,5123,0.65,321.0,2754,3788,1766,1913,84.5,14.2,559,5130,0.17,2.30,2.65,0.236,13446,0.249,0.043,2721,2394,1826,1752,1900,0,0,0,0,0,0,14.04,14.16,14.00
$GC,5308,0.72,348.0,2721,2399,1762,1911,66.9,8.8,578,5329,0.00,0.00,19.65,0.374,8358,0.000,0.000,2721,2394,1715,1642,1789,0,0,0,0,0,0,14.36,14.20,13.95
$GC,5518,0.85,434.9,2721,2392,1656,1799,50.7,6.0,598,5582,0.20,0.00,60.83,0.342,10406,0.095,0.000,2814,2393,1358,1294,1423,0,0,0,0,0,0,14.21,14.14,13.94
$GC,5760,0.85,434.9,2815,2394,1295,1436,27.6,10.1,622,5766,0.00,2.53,0.00,0.000,260,0.000,0.102,2814,3789,1365,1295,1435,0,0,0,0,0,0,14.31,14.09,14.33
$GC,5811,0.86,445.9,2815,3789,1295,1436,22.2,9.5,632,5828,0.15,2.30,9.05,0.259,13350,0.250,0.042,2788,2387,1314,1249,1380,0,0,0,0,0,0,14.06,14.16,14.00
$FREEZE,8.80,0.243,-1.445,2,1,0
$FREEZE,8.11,0.243,-1.445,2,1,0
$FREEZE,7.56,0.250,-1.444,2,1,0
$FREEZE,6.74,0.250,-1.443,2,1,0
$FREEZE,6.21,0.248,-1.443,2,1,0
$FREEZE,5.75,0.248,-1.443,2,1,0
$GC,6013,1.05,569.5,2789,2388,1250,1398,12.6,4.3,654,6106,0.15,0.00,85.75,0.226,10918,0.111,0.000,2869,2387,809,765,854,0,0,0,0,0,0,14.19,14.14,14.00
$FREEZE,4.86,0.247,-1.442,2,1,0
$FREEZE,3.78,0.249,-1.441,2,1,0
$FREEZE,2.73,0.248,-1.441,2,1,0
$FREEZE,1.60,0.248,-1.440,2,1,0
$STATE,6139,end climb,SURFACE_DEPTH_REACHED
$STATE,6139,begin surface coast
$FREEZE,0.55,0.245,-1.439,2,1,0
$FINISH,0.6,1.021196
$STATE,6149,end surface coast,CONTROL_FINISHED_OK
$STATE,6150,begin surface
$SM_CCo,6168,54.70,0.202,0,0,499,646.61
$SM_CCo,6225,-0.35,0.000,0,0,500,646.37
$SM_CCo,6229,0.00,0.000,0,0,500,646.37
$SM_GC,0.87,7.72,1.33,0.00,0.046,0.097,0.000,187,3105,500,-7.15,-0.42,646.37,0,0,0,0,0,0,14.15,14.10,14.26
$RAFOS_CLK,54
$RAFOS_FIX,7521.668945,-15009.570312,040916,161622,3,255,0.10
$IRIDIUM_FIX,7437.89,-15015.31,040916,133953
$TT8_MAMPS,0.087633,0.639646
$HUMID,54.25
$INTERNAL_PRESSURE,8.2808
$TCM_TEMP,12.90
$XPDR_PINGS,4
$SC_FREEKB,3990272
$PM_FREEKB,55853312
$24V_AH,12.80,32.189
$10V_AH,13.04,0.000
$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,22.025,57.400,821.425,54.700,0.000,0.000,0.000,422.125,1.000,0.000,13.582,0.000,3922.908,940.934,1756.372,252.334,0.000,1979.308,0.000,969.092,2219.000,0.537,0.000
$DEVICE_MAMPS,457.470,2256.750,1944.630,201.960,0.000,0.000,0.000,194.310,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6184.000,6149.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.142,18.536,0.000,0.000
$MEM,311200
$DATA_FILE_SIZE,23451,675
$CAP_FILE_SIZE,88406,0
$CFSIZE,2097872896,2076311552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$SOUNDSPEED,1442.2
$CURRENT,0.190,5.55,1
$GPS,040916,201304,7520.308,-15009.262,5,0.7,13,21.2,0.0,0.0,11,10.0