version: 66.13
glider: 198
mission: 12
dive: 3
start: 8 7 117 0 23 34
data:
$ID,198
$MISSION,12
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,195
$D_ABORT,240
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,65
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$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,55522
$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,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,692.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$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,2250
$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,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,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,-160.33199
$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,10
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,83
$LOGGERDEVICE3,135
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004407478
$SEABIRD_T_H,0.00064096908
$SEABIRD_T_I,2.5637486e-05
$SEABIRD_T_J,3.1305062e-06
$SEABIRD_C_G,-9.8934832
$SEABIRD_C_H,1.0879974
$SEABIRD_C_I,-0.0021788499
$SEABIRD_C_J,0.00021905446
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,27.0
$CP_NDIVE,1.0
$GPS1,070817,001916,7108.0850,-14740.4707,7,0.7,14,21.2,0.0,0.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.9
$GPS2,070817,002306,7108.0845,-14740.4336,7,0.7,15,21.2,0.0,0.0,11,9.0
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7118.884,-14740.434
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,294.5,20000,-17.5,-10.000,-21.45,2245
$D_GRID,195
$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,52,end surface,CONTROL_FINISHED_OK
$STATE,52,begin dive
$GC,55,-0.59,-145.9,202,2612,520,553,0.0,0.0,0,148,0.00,0.00,-91.35,0.000,16386,0.000,0.000,202,2611,1959,1914,2005,0,0,0,0,0,0,14.33,28.83,14.35
$GC,151,-0.59,-145.9,202,2611,1916,2009,3.5,-8.1,16,216,10.43,2.33,-46.95,0.000,18724,0.478,2.181,2044,3775,3961,3907,4015,0,0,0,0,0,0,13.80,13.12,14.18
$GC,441,-0.59,-145.9,2044,3776,3912,4015,53.6,-14.5,72,447,0.00,1.98,0.00,0.000,1030,0.000,0.056,2044,2592,3962,3910,4014,0,0,0,0,0,0,14.19,14.09,14.19
$GC,627,-0.59,-145.9,2044,2592,3911,4014,79.2,-13.1,109,633,0.00,2.17,0.00,0.000,260,0.000,0.116,2044,3779,3962,3910,4014,0,0,0,0,0,0,14.31,13.97,14.33
$GC,723,-0.66,-145.9,2044,3780,3911,4014,90.7,-11.3,128,729,0.00,1.98,0.00,0.000,1158,0.000,0.056,2043,2598,3961,3910,4013,0,0,0,0,0,0,14.15,14.08,14.16
$MODEM_MSG,CACST,6,1,20170807000915.258091,3,17,-5,0130,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F
$MODEM_MSG,CACST,6,1,20170807000933.158000,3,17,-5,0130,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*29
$MODEM_MSG,CACST,6,1,20170807000949.032911,3,81,-4,0119,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2E
$MODEM_MSG,CACST,6,1,20170807001008.881553,3,71,-5,0139,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*27
$MODEM_MSG,CACST,6,1,20170807003100.642471,3,14,-6,0107,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*20
$GC,916,-0.73,-145.9,2044,2598,3912,4014,112.2,-10.8,165,922,0.00,2.38,0.00,0.000,644,0.000,0.069,2043,1204,3962,3911,4014,0,0,0,0,0,0,14.33,14.04,14.35
$GC,988,-0.83,-145.9,2043,1204,3912,4014,119.7,-10.1,179,995,0.20,2.50,0.00,0.000,5254,0.098,0.096,1959,2594,3962,3911,4013,0,0,0,0,0,0,14.14,13.98,14.20
$GC,1175,-0.79,-145.9,1958,2595,3913,4014,148.6,-15.4,216,1181,0.15,0.00,0.00,0.000,2182,0.291,0.000,1989,2595,3960,3911,4009,0,0,0,0,0,0,13.85,14.14,14.08
$GC,1361,-0.81,-145.9,1989,2596,3911,4014,172.1,-12.1,253,1367,0.00,2.38,0.00,0.000,644,0.000,0.070,1989,1202,3962,3911,4013,0,0,0,0,0,0,14.47,14.14,14.50
$GC,1447,-0.85,-145.9,1987,1202,3911,4013,181.9,-11.0,270,1454,0.00,2.50,0.00,0.000,1158,0.000,0.098,1989,2601,3961,3911,4012,0,0,0,0,0,0,14.17,14.03,14.22
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1574,begin apogee
$GC,1579,-0.14,0.0,1990,2401,3910,4013,195.6,-10.6,295,1755,0.77,0.00,170.15,1.138,10246,0.239,0.000,2195,2400,3364,3317,3412,0,0,0,0,0,0,13.90,13.78,13.26
$STATE,1757,end apogee,CONTROL_FINISHED_OK
$STATE,1757,begin climb
$GC,1759,0.59,145.9,2195,2401,3309,3405,204.0,0.0,325,1966,0.75,2.53,166.25,1.085,11012,0.099,0.068,2449,1002,2750,2696,2804,0,0,0,0,0,0,13.80,13.52,13.13
$GC,2055,0.42,267.3,2449,1004,2692,2799,199.0,4.4,331,2252,0.25,2.50,144.73,0.956,13478,0.293,0.083,2394,2401,2256,2190,2323,0,0,0,0,0,0,13.65,13.81,13.20
$GC,2999,0.45,329.5,2394,2402,2182,2313,107.8,7.2,371,3088,0.00,0.00,81.50,1.066,8358,0.000,0.000,2395,2401,2013,1944,2082,0,0,0,0,0,0,14.40,13.88,13.38
$GC,3268,0.49,358.5,2393,2401,1930,2072,85.8,8.7,422,3287,0.00,2.53,14.15,0.407,8868,0.000,0.081,2395,1000,1909,1834,1985,0,0,0,0,0,0,14.24,14.00,13.71
$GC,3307,0.57,389.3,2395,1000,1839,1985,82.5,8.6,429,3332,0.12,2.50,19.23,0.423,11430,0.140,0.086,2450,2401,1778,1707,1849,0,0,0,0,0,0,14.04,14.00,13.73
$GC,3512,0.54,389.3,2451,2402,1717,1860,58.6,11.5,469,3519,0.00,2.60,1.77,0.245,8580,0.000,0.114,2450,3786,1776,1706,1847,0,0,0,0,0,0,14.32,13.98,13.91
$GC,3544,0.47,389.3,2451,3787,1717,1852,54.5,13.7,475,3550,0.22,2.35,0.00,0.000,5254,0.250,0.060,2402,2404,1783,1715,1852,0,0,0,0,0,0,13.88,14.06,14.12
$GC,3730,0.59,459.5,2402,2401,1721,1854,39.1,6.8,512,3778,0.12,0.00,42.45,0.300,10406,0.135,0.000,2458,2400,1490,1418,1562,0,0,0,0,0,0,14.15,14.02,13.87
$GC,3959,0.68,520.5,2458,2401,1425,1573,20.0,7.2,556,4001,0.00,0.00,36.80,0.244,8358,0.000,0.000,2457,2400,1242,1175,1310,0,0,0,0,0,0,14.37,14.13,13.94
$GC,4181,1.01,709.8,2457,2403,1175,1327,9.4,1.3,599,4294,0.32,2.62,106.50,0.210,10660,0.094,0.112,2581,3794,499,503,496,0,0,0,0,0,0,14.07,13.96,13.95
$GC,4309,1.07,742.3,2579,3795,504,499,2.3,8.5,621,4315,0.00,2.40,0.00,0.000,1190,0.000,0.060,2586,2389,501,503,499,0,0,0,0,0,0,14.12,14.04,14.14
$STATE,4318,end climb,SURFACE_DEPTH_REACHED
$STATE,4318,begin surface coast
$FINISH,0.2,1.018670
$STATE,4339,end surface coast,CONTROL_FINISHED_OK
$STATE,4339,begin surface
$SM_CCo,4417,0.00,0.000,0,0,501,702.54
$SM_GC,1.06,7.18,0.40,0.00,0.086,0.107,0.000,196,2606,501,-6.32,-0.59,702.54,0,0,0,0,0,0,14.17,14.11,14.23
$RAFOS_CLK,254
$MODEM,5,1502065860,74.50000,-149.00000,33.642,49286.2
$MODEM,1,1502064555,73.78700,-144.83000,134.508,197054.3
$RAFOS_FIX,7435.218750,-15037.742188,070817,000007,2,255,0.00
$IRIDIUM_FIX,7102.39,-14935.09,070817,001503
$TT8_MAMPS,0.042693,0.798434
$HUMID,49.09
$INTERNAL_PRESSURE,7.60695
$TCM_TEMP,13.30
$XPDR_PINGS,0
$PM_FREEKB_00,62262016
$CP_FREE,0.000000
$24V_AH,13.12,51.663
$10V_AH,13.13,0.000
$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,20.525,38.950,783.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.296,0.000,1496.382,604.562,2305.757,104.971,0.000,1466.275,0.000,904.718,0.000,0.537,0.000
$DEVICE_MAMPS,478.125,2181.015,1138.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4328.000,4334.000,2428.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.972,16.502,111.000,0.000
$MEM,324704
$DATA_FILE_SIZE,20101,627
$CAP_FILE_SIZE,84777,0
$CFSIZE,2097872896,2087452672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1820.82,0x2341e8,1,24
$SOUNDSPEED,1447.6
$CURRENT,0.202,83.90,1
$GPS,070817,013852,7108.505,-14739.969,32,0.9,54,21.2,0.0,169.9,8,9.7