version: 66.13
glider: 198
mission: 12
dive: 4
start: 8 7 117 2 31 33
data:
$ID,198
$MISSION,12
$DIVE,4
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,420
$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,120
$T_MISSION,160
$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,2220
$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,29
$R_STBD_OVSHOOT,21
$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,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,54.0
$CP_NDIVE,1.0
$GPS1,070817,022708,7108.5356,-14739.2695,5,0.9,13,21.2,0.0,0.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.6
$GPS2,070817,023101,7108.5381,-14739.2197,7,0.9,14,21.2,0.0,0.0,9,9.9
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7119.337,-14739.220
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,293.8,20000,-17.5,-10.000,-21.45,2245
$D_GRID,360
$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,53,end surface,CONTROL_FINISHED_OK
$STATE,53,begin dive
$GC,56,-0.59,-145.9,196,2607,497,500,0.0,0.0,0,151,0.00,0.00,-92.53,0.000,16386,0.000,0.000,196,2606,2009,1968,2050,0,0,0,0,0,0,14.50,28.83,14.52
$GC,153,-0.59,-145.9,196,2607,1968,2051,3.7,-8.4,16,213,10.10,2.40,-44.22,0.000,19236,0.474,2.192,2014,3780,3962,3909,4015,0,0,0,0,0,0,13.89,12.96,14.30
$GC,439,-0.50,-145.9,2014,3781,3911,4015,60.3,-17.3,71,445,0.17,1.98,0.00,0.000,3206,0.283,0.056,2050,2587,3961,3910,4013,0,0,0,0,0,0,13.86,14.17,14.13
$GC,625,-0.54,-145.9,2049,2586,3910,4014,85.0,-12.0,108,631,0.00,2.17,0.00,0.000,388,0.000,0.115,2044,3783,3961,3910,4013,0,0,0,0,0,0,14.47,14.07,14.49
$GC,786,-0.63,-145.9,2044,3788,3910,4013,103.8,-11.0,140,792,0.00,1.98,0.00,0.000,1158,0.000,0.056,2044,2590,3961,3910,4013,0,0,0,0,0,0,14.31,14.23,14.33
$GC,972,-0.71,-145.9,2043,2589,3910,4014,123.6,-10.1,177,978,0.17,2.33,0.00,0.000,4740,0.108,0.067,1967,1204,3961,3910,4012,0,0,0,0,0,0,14.25,14.18,14.32
$GC,1028,-0.68,-145.9,1968,1203,3911,4013,131.6,-14.9,188,1035,0.15,2.47,0.00,0.000,3206,0.311,0.095,1992,2597,3961,3909,4013,0,0,0,0,0,0,13.90,14.12,14.20
$GC,1215,-0.68,-145.9,1992,2597,3909,4013,156.5,-12.0,225,1221,0.00,2.38,0.00,0.000,516,0.000,0.068,1991,1201,3961,3910,4012,0,0,0,0,0,0,14.51,14.17,14.52
$GC,1271,-0.73,-145.9,1993,1201,3911,4013,163.2,-11.8,236,1277,0.00,2.50,0.00,0.000,1158,0.000,0.096,1989,2601,3961,3910,4012,0,0,0,0,0,0,14.27,14.11,14.31
$GC,1457,-0.76,-145.9,1990,2602,3911,4012,184.8,-11.2,273,1463,0.00,0.00,0.00,0.000,134,0.000,0.000,1989,2601,3964,3917,4011,0,0,0,0,0,0,14.53,14.55,14.55
$GC,1643,-0.81,-145.9,1989,2601,3910,4011,203.8,-9.8,310,1649,0.00,2.38,0.00,0.000,676,0.000,0.068,1989,1203,3959,3910,4009,0,0,0,0,0,0,14.52,14.09,14.54
$GC,1695,-0.88,-145.9,1990,1203,3912,4010,208.9,-9.6,320,1701,0.17,2.50,0.00,0.000,5286,0.111,0.098,1916,2598,3960,3911,4009,0,0,0,0,0,0,14.25,14.12,14.32
$GC,1881,-0.81,-145.9,1916,2599,3910,4008,234.2,-13.9,357,1888,0.17,2.38,0.00,0.000,2692,0.282,0.069,1954,1199,3959,3910,4008,0,0,0,0,0,0,13.88,14.17,14.18
$GC,1908,-0.81,-145.9,1954,1199,3912,4009,237.4,-11.6,362,1915,0.00,2.50,0.00,0.000,1030,0.000,0.098,1952,2598,3958,3910,4007,0,0,0,0,0,0,14.23,14.08,14.28
$GC,2095,-0.81,-145.9,1953,2599,3911,4008,258.2,-10.9,399,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2598,3958,3910,4007,0,0,0,0,0,0,14.52,14.54,14.54
$GC,2280,-0.81,-145.9,1953,2598,3910,4007,278.2,-10.8,436,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2598,3958,3910,4007,0,0,0,0,0,0,14.54,14.57,14.57
$GC,2466,-0.84,-145.9,1954,2599,3910,4008,297.4,-9.9,473,2472,0.00,2.38,0.00,0.000,676,0.000,0.070,1953,1203,3957,3908,4007,0,0,0,0,0,0,14.54,14.17,14.56
$GC,2512,-0.88,-145.9,1953,1203,3910,4007,302.1,-10.0,482,2519,0.00,2.53,0.00,0.000,1158,0.000,0.100,1953,2610,3957,3908,4006,0,0,0,0,0,0,14.28,14.11,14.32
$GC,2699,-0.92,-145.9,1953,2610,3908,4007,320.9,-10.0,519,2704,0.00,0.00,0.00,0.000,134,0.000,0.000,1952,2610,3957,3908,4006,0,0,0,0,0,0,14.53,14.55,14.55
$GC,2885,-0.95,-145.9,1953,2611,3908,4006,339.4,-9.7,556,2891,0.12,2.40,0.00,0.000,4772,0.138,0.067,1894,1203,3956,3906,4006,0,0,0,0,0,0,14.23,14.16,14.28
$GC,2931,-0.91,-145.9,1895,1203,3907,4006,345.4,-13.3,565,2937,0.15,2.53,0.00,0.000,3206,0.316,0.100,1920,2606,3955,3906,4005,0,0,0,0,0,0,13.85,14.10,14.18
$STATE,3060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3060,begin apogee
$GC,3066,-0.14,0.0,1921,2406,3907,4006,361.3,-12.0,576,3304,0.95,0.00,230.98,1.194,10246,0.256,0.000,2165,2405,3362,3312,3412,0,0,0,0,0,0,13.93,13.55,13.12
$STATE,3305,end apogee,CONTROL_FINISHED_OK
$STATE,3305,begin climb
$GC,3308,0.59,145.9,2167,2406,3311,3410,371.9,0.0,584,3505,0.75,2.58,168.88,1.127,10756,0.086,0.073,2422,1000,2750,2691,2809,0,0,0,0,0,0,13.71,13.45,12.98
$GC,3765,0.40,145.9,2421,1001,2686,2797,342.6,12.1,594,3813,0.22,2.45,0.00,0.000,5254,0.309,0.084,2354,2403,2739,2682,2796,0,0,0,0,0,0,13.64,13.84,13.94
$GC,4204,0.30,167.1,2355,2403,2682,2797,295.2,9.0,631,4229,0.12,2.60,20.17,1.256,12708,0.308,0.116,2324,3786,2678,2620,2737,0,0,0,0,0,0,13.83,14.00,13.45
$GC,4301,0.21,167.1,2324,3786,2615,2724,286.2,10.0,649,4308,0.17,2.35,0.00,0.000,5254,0.284,0.060,2291,2400,2668,2613,2724,0,0,0,0,0,0,13.81,14.00,14.07
$GC,4488,0.29,242.9,2291,2401,2607,2724,273.3,6.5,686,4589,0.00,0.00,97.30,1.169,8358,0.000,0.000,2291,2400,2370,2307,2434,0,0,0,0,0,0,14.38,13.79,13.26
$GC,4769,0.39,293.9,2291,2401,2288,2416,251.7,7.7,739,4841,0.12,0.00,65.50,1.141,10406,0.135,0.000,2351,2401,2156,2085,2228,0,0,0,0,0,0,14.03,13.78,13.27
$GC,5021,0.39,293.9,2351,2401,2071,2216,224.1,11.4,787,5027,0.00,2.45,0.00,0.000,516,0.000,0.080,2357,998,2143,2072,2215,0,0,0,0,0,0,14.21,13.90,14.23
$GC,5062,0.42,293.9,2357,998,2070,2213,219.7,10.8,795,5068,0.00,2.50,0.00,0.000,1158,0.000,0.084,2357,2398,2141,2070,2213,0,0,0,0,0,0,14.06,13.93,14.09
$GC,5248,0.42,293.9,2358,2399,2070,2212,199.5,10.8,832,5272,0.00,2.45,0.00,0.000,516,0.000,0.079,2362,998,2140,2068,2212,0,0,0,0,0,0,14.31,14.01,14.35
$GC,5297,0.44,293.9,2362,998,2069,2212,194.2,10.9,838,5304,0.00,2.50,0.00,0.000,1158,0.000,0.085,2359,2405,2140,2069,2211,0,0,0,0,0,0,14.11,13.97,14.12
$GC,5484,0.45,309.2,2361,2406,2067,2211,175.6,9.3,875,5502,0.00,0.00,13.18,1.213,8230,0.000,0.000,2362,2405,2102,2032,2173,0,0,0,0,0,0,14.26,14.05,13.45
$GC,5682,0.50,339.3,2361,2406,2021,2163,157.9,8.6,914,5729,0.00,2.50,41.40,1.129,8868,0.000,0.077,2366,994,1972,1897,2047,0,0,0,0,0,0,14.26,13.78,13.36
$GC,5796,0.62,382.7,2361,1000,1895,2035,148.5,8.0,935,5861,0.17,2.53,59.67,1.090,11430,0.111,0.086,2432,2401,1804,1732,1877,0,0,0,0,0,0,13.95,13.90,13.26
$GC,6041,0.59,382.7,2436,2401,1712,1857,118.2,12.6,982,6047,0.00,2.47,0.00,0.000,644,0.000,0.080,2435,998,1784,1710,1859,0,0,0,0,0,0,14.13,13.88,14.15
$GC,6067,0.59,382.7,2439,999,1711,1857,115.0,11.9,987,6073,0.00,2.53,0.00,0.000,1030,0.000,0.085,2438,2402,1782,1709,1855,0,0,0,0,0,0,13.97,13.85,14.00
$GC,6253,0.55,382.7,2438,2403,1703,1856,93.1,11.5,1024,6260,0.15,2.47,0.00,0.000,4740,0.258,0.082,2411,999,1781,1707,1855,0,0,0,0,0,0,13.76,13.92,13.98
$GC,6290,0.61,395.4,2412,999,1709,1855,89.4,9.4,1031,6302,0.00,2.53,4.62,0.299,9382,0.000,0.086,2411,2402,1755,1683,1827,0,0,0,0,0,0,14.04,13.92,13.64
$GC,6482,0.65,413.8,2411,2406,1698,1842,71.4,9.2,1069,6500,0.00,0.00,13.80,0.375,8358,0.000,0.000,2411,2403,1679,1607,1751,0,0,0,0,0,0,14.22,14.02,13.70
$GC,6680,0.72,429.0,2411,2403,1618,1761,52.5,9.3,1108,6699,0.12,0.00,11.62,0.322,10406,0.137,0.000,2466,2402,1620,1550,1690,0,0,0,0,0,0,14.01,13.92,13.72
$GC,6879,0.75,467.4,2467,2403,1557,1698,31.8,8.2,1147,6909,0.00,2.62,25.65,0.280,8484,0.000,0.117,2467,3787,1457,1387,1527,0,0,0,0,0,0,14.26,13.90,13.77
$GC,6996,0.75,479.1,2466,3788,1400,1540,21.1,9.5,1169,7009,0.00,2.38,9.12,0.247,9254,0.000,0.063,2471,2403,1411,1341,1482,0,0,0,0,0,0,14.07,13.97,13.80
$GC,7189,1.07,744.0,2471,2403,1348,1498,13.0,-2.1,1207,7331,0.25,2.67,135.65,0.222,10660,0.092,0.118,2575,3794,500,501,499,0,0,0,0,0,0,13.95,13.80,13.78
$GC,7388,1.08,756.2,2576,3795,503,505,2.0,9.4,1242,7395,0.00,2.42,0.05,1.675,9254,0.000,0.063,2580,2399,501,500,502,0,0,0,0,0,0,14.00,13.92,13.15
$STATE,7398,end climb,SURFACE_DEPTH_REACHED
$STATE,7398,begin surface coast
$FINISH,-0.0,1.009185
$STATE,7418,end surface coast,CONTROL_FINISHED_OK
$STATE,7418,begin surface
$SM_CCo,7496,0.00,0.000,0,0,502,703.28
$SM_GC,1.29,7.12,0.40,0.00,0.071,0.105,0.000,203,2613,502,-6.24,-0.40,703.28,0,0,0,0,0,0,14.02,13.97,14.08
$RAFOS_CLK,136
$RAFOS_FIX,7435.218750,-15037.742188,070817,000007,2,255,0.00
$IRIDIUM_FIX,7107.35,-14737.84,070817,022222
$TT8_MAMPS,0.096621,0.859103
$HUMID,45.27
$INTERNAL_PRESSURE,7.60695
$TCM_TEMP,13.30
$XPDR_PINGS,0
$PM_FREEKB_00,62219264
$CP_FREE,0.000000
$24V_AH,12.96,52.115
$10V_AH,13.00,0.000
$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,21.400,83.500,897.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,15.231,0.000,3410.056,897.763,3116.534,166.361,0.000,2081.861,0.000,1786.384,2215.000,0.536,0.000
$DEVICE_MAMPS,474.300,2191.725,1675.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7408.000,7414.000,4027.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.589,16.367,111.000,0.000
$MEM,324708
$DATA_FILE_SIZE,43253,1248
$CAP_FILE_SIZE,150908,0
$CFSIZE,2097872896,2087092224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.7
$CURRENT,0.174,93.52,1
$GPS,070817,043756,7109.195,-14738.789,17,1.0,42,21.2,0.2,124.9,9,9.7