version: 66.13
glider: 198
mission: 12
dive: 8
start: 8 7 117 11 36 56
data:
$ID,198
$MISSION,12
$DIVE,8
$N_DIVES,10
$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,2200
$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,2500
$C_ROLL_CLIMB,2320
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$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,79.0
$CP_NDIVE,1.0
$GPS1,070817,112706,7111.7168,-14736.6895,21,1.4,33,21.2,0.2,59.1,6,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.3
$GPS2,070817,113621,7111.7715,-14736.6221,18,1.1,21,21.2,0.3,8.6,7,9.9
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7122.570,-14736.622
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.59,-145.9,199,2509,503,498,0.0,0.0,0,129,0.00,0.00,-104.28,0.000,16386,0.000,0.000,198,2508,2042,2008,2077,0,0,0,0,0,0,14.25,28.83,14.26
$GC,132,-0.59,-145.9,199,2509,2003,2079,3.1,-6.9,18,193,10.32,2.58,-42.22,0.000,18724,0.481,2.179,1991,3780,3964,3915,4014,0,0,0,0,0,0,13.66,13.02,14.07
$GC,418,-0.50,-145.9,1992,3781,3918,4015,68.8,-18.7,73,424,0.20,2.17,0.00,0.000,3206,0.291,0.057,2033,2485,3965,3917,4014,0,0,0,0,0,0,13.78,13.93,14.04
$GC,604,-0.52,-145.9,2033,2485,3917,4014,94.4,-12.5,110,610,0.00,2.38,0.00,0.000,388,0.000,0.116,2030,3777,3965,3917,4014,0,0,0,0,0,0,14.34,13.96,14.35
$GC,700,-0.58,-145.9,2030,3778,3917,4015,106.4,-12.4,129,706,0.00,2.15,0.00,0.000,1158,0.000,0.058,2030,2500,3965,3917,4014,0,0,0,0,0,0,14.17,14.10,14.20
$GC,886,-0.65,-145.9,2030,2500,3918,4015,127.4,-10.9,166,893,0.12,2.40,0.00,0.000,4740,0.131,0.073,1978,1093,3965,3917,4014,0,0,0,0,0,0,14.18,14.02,14.25
$GC,987,-0.65,-145.9,1972,1092,3917,4014,141.6,-13.9,186,994,0.00,2.50,0.00,0.000,1030,0.000,0.094,1969,2494,3965,3918,4013,0,0,0,0,0,0,14.16,14.02,14.19
$GC,1174,-0.65,-145.9,1969,2495,3917,4014,166.6,-12.8,223,1181,0.00,2.40,0.00,0.000,516,0.000,0.073,1969,1095,3965,3917,4013,0,0,0,0,0,0,14.40,14.09,14.42
$GC,1240,-0.65,-145.9,1969,1095,3917,4014,174.7,-11.7,236,1247,0.00,2.53,0.00,0.000,1030,0.000,0.094,1968,2503,3965,3917,4013,0,0,0,0,0,0,14.21,14.05,14.23
$GC,1443,-0.65,-145.9,1970,2505,3919,4014,197.0,-10.9,273,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2503,3964,3917,4012,0,0,0,0,0,0,14.32,14.34,14.33
$GC,1629,-0.68,-145.9,1969,2504,3918,4013,217.7,-10.9,310,1635,0.00,2.38,0.00,0.000,388,0.000,0.122,1971,3789,3965,3917,4013,0,0,0,0,0,0,14.29,13.90,14.31
$GC,1680,-0.75,-145.9,1970,3789,3918,4013,223.3,-10.8,320,1686,0.00,2.17,0.00,0.000,1158,0.000,0.059,1969,2499,3962,3917,4008,0,0,0,0,0,0,14.12,14.04,14.15
$GC,1866,-0.79,-145.9,1968,2499,3918,4013,242.0,-9.8,357,1871,0.00,0.00,0.00,0.000,166,0.000,0.000,1969,2498,3964,3916,4012,0,0,0,0,0,0,14.28,14.30,14.29
$GC,2051,-0.85,-145.9,1969,2503,3917,4013,260.7,-10.1,394,2057,0.15,0.00,0.00,0.000,4230,0.125,0.000,1908,2503,3963,3915,4012,0,0,0,0,0,0,14.04,14.15,14.12
$GC,2237,-0.81,-145.9,1909,2500,3917,4012,285.9,-14.1,431,2243,0.00,0.00,0.00,0.000,134,0.000,0.000,1908,2498,3963,3916,4011,0,0,0,0,0,0,14.26,14.27,14.28
$GC,2423,-0.77,-145.9,1908,2499,3915,4012,311.4,-13.2,468,2429,0.17,0.00,0.00,0.000,2182,0.292,0.000,1944,2498,3963,3915,4011,0,0,0,0,0,0,13.73,14.04,14.00
$GC,2609,-0.80,-145.9,1944,2499,3915,4012,331.3,-10.5,505,2614,0.00,0.00,0.00,0.000,134,0.000,0.000,1944,2502,3963,3915,4011,0,0,0,0,0,0,14.24,14.28,14.28
$GC,2819,-0.83,-145.9,1944,2499,3914,4012,353.1,-10.3,542,2820,0.00,0.00,0.00,0.000,134,0.000,0.000,1945,2498,3962,3913,4011,0,0,0,0,0,0,14.26,14.28,14.28
$STATE,2907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2907,begin apogee
$GC,2912,-0.14,0.0,1945,2321,3913,4010,362.5,-10.4,545,3157,0.80,0.00,241.07,1.183,10246,0.246,0.000,2150,2321,3365,3316,3414,0,0,0,0,0,0,13.79,13.47,12.97
$STATE,3160,end apogee,CONTROL_FINISHED_OK
$STATE,3160,begin climb
$GC,3163,0.59,145.9,2150,2322,3308,3407,374.2,0.0,553,3345,0.75,2.75,172.35,1.213,10500,0.098,0.107,2384,3737,2758,2699,2818,0,0,0,0,0,0,13.50,13.20,12.79
$GC,3571,0.36,145.9,2387,3737,2689,2794,344.2,13.5,634,3577,0.32,2.47,0.00,0.000,5254,0.297,0.057,2324,2321,2739,2686,2793,0,0,0,0,0,0,13.49,13.71,13.74
$MODEM_MSG,CACST,6,1,20170807120624.191751,3,42,-1,0247,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*27
$MODEM_MSG,CACST,6,1,20170807121511.250153,3,63,-6,0103,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*21
$GC,3758,0.34,181.0,2325,2321,2681,2794,327.8,8.4,671,3802,0.00,2.70,38.00,1.222,8612,0.000,0.112,2324,3734,2620,2562,2679,0,0,0,0,0,0,14.03,13.63,13.14
$GC,4027,0.26,181.0,2324,3735,2553,2660,299.1,11.0,723,4034,0.17,2.45,0.00,0.000,5254,0.278,0.058,2291,2319,2604,2549,2659,0,0,0,0,0,0,13.67,13.83,13.87
$GC,4214,0.34,235.5,2291,2318,2544,2659,284.8,7.5,760,4309,0.00,2.72,85.07,1.122,8612,0.000,0.112,2290,3730,2398,2340,2457,0,0,0,0,0,0,14.21,13.67,13.20
$GC,4399,0.39,249.7,2292,3730,2334,2440,269.2,9.3,794,4419,0.12,2.45,15.48,1.238,11430,0.142,0.058,2349,2316,2348,2294,2402,0,0,0,0,0,0,13.88,13.86,13.27
$GC,4599,0.39,249.7,2350,2317,2266,2385,248.0,10.6,833,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2316,2324,2266,2383,0,0,0,0,0,0,14.17,14.19,14.19
$GC,4784,0.39,249.7,2350,2317,2264,2384,228.1,11.2,870,4790,0.00,2.60,0.00,0.000,260,0.000,0.112,2349,3731,2322,2262,2383,0,0,0,0,0,0,14.26,13.93,14.28
$GC,4840,0.35,249.7,2348,3731,2263,2383,220.9,12.9,881,4847,0.17,2.42,0.00,0.000,5254,0.269,0.059,2317,2315,2322,2263,2382,0,0,0,0,0,0,13.81,14.04,14.07
$GC,5027,0.42,286.0,2317,2315,2259,2382,204.7,8.3,918,5092,0.00,2.47,57.12,1.106,8868,0.000,0.080,2325,911,2191,2127,2256,0,0,0,0,0,0,14.36,13.85,13.36
$GC,5119,0.52,320.6,2325,912,2118,2249,197.2,8.4,934,5179,0.15,2.50,53.90,1.078,11430,0.127,0.082,2392,2324,2059,1990,2129,0,0,0,0,0,0,13.94,13.89,13.26
$GC,5359,0.50,320.6,2393,2324,1971,2110,165.4,13.0,980,5366,0.00,2.60,0.00,0.000,388,0.000,0.112,2392,3729,2039,1969,2109,0,0,0,0,0,0,14.16,13.87,14.18
$GC,5381,0.46,320.6,2392,3729,1969,2108,162.4,14.1,984,5389,0.20,2.45,0.00,0.000,5254,0.269,0.060,2351,2306,2038,1969,2107,0,0,0,0,0,0,13.77,13.93,14.01
$GC,5569,0.54,351.3,2351,2305,1966,2107,144.6,8.6,1021,5622,0.00,2.53,48.25,1.070,8868,0.000,0.082,2353,915,1927,1854,2001,0,0,0,0,0,0,14.26,13.84,13.35
$GC,5669,0.67,391.5,2353,916,1847,1988,136.5,8.2,1039,5735,0.17,2.50,57.67,1.058,11430,0.111,0.082,2432,2326,1761,1695,1828,0,0,0,0,0,0,13.93,13.89,13.25
$GC,5915,0.67,391.5,2427,2328,1674,1812,106.1,12.4,1086,5921,0.00,2.50,0.00,0.000,516,0.000,0.081,2432,911,1742,1672,1812,0,0,0,0,0,0,14.17,13.89,14.18
$GC,5956,0.69,391.5,2433,912,1672,1812,101.2,11.8,1094,5962,0.00,2.50,0.00,0.000,1158,0.000,0.082,2432,2326,1739,1670,1808,0,0,0,0,0,0,13.99,13.89,14.01
$GC,6142,0.69,391.5,2432,2322,1668,1811,80.5,10.4,1131,6148,0.00,2.58,0.00,0.000,260,0.000,0.112,2432,3722,1739,1668,1810,0,0,0,0,0,0,14.27,13.52,14.28
$GC,6238,0.67,391.5,2433,3723,1671,1808,69.2,11.7,1150,6244,0.00,2.40,0.00,0.000,1158,0.000,0.060,2438,2320,1738,1669,1807,0,0,0,0,0,0,14.13,14.04,14.16
$GC,6424,0.70,436.0,2437,2320,1667,1811,51.9,8.0,1187,6454,0.00,2.60,23.23,0.323,8484,0.000,0.112,2437,3732,1589,1522,1656,0,0,0,0,0,0,14.33,13.97,13.81
$GC,6560,0.74,457.5,2438,3733,1535,1674,39.7,9.0,1213,6584,0.00,2.42,16.17,0.288,9382,0.000,0.059,2443,2315,1499,1428,1570,0,0,0,0,0,0,14.13,14.02,13.81
$GC,6764,0.88,536.0,2443,2314,1440,1589,25.2,6.4,1253,6819,0.12,2.53,50.38,0.254,10916,0.134,0.084,2510,912,1179,1117,1241,0,0,0,0,0,0,14.07,14.00,13.85
$GC,6919,1.12,681.3,2510,913,1118,1265,14.3,3.3,1282,7016,0.15,2.47,89.68,0.228,11430,0.119,0.082,2577,2322,585,562,609,0,0,0,0,0,0,14.05,14.02,13.81
$STATE,7118,end climb,SURFACE_DEPTH_REACHED
$STATE,7118,begin surface coast
$FINISH,-0.0,1.019745
$STATE,7138,end surface coast,CONTROL_FINISHED_OK
$STATE,7139,begin surface
$SM_CCo,7157,9.60,0.207,0,0,538,692.97
$SM_GC,2.02,7.20,0.32,9.60,0.086,0.124,0.207,193,2499,538,-6.17,-0.71,692.97,0,0,0,0,0,0,14.12,14.05,13.93
$RAFOS_CLK,350
$MODEM,2,1502108111,73.18300,-149.96500,164.250,238151.9
$MODEM,0,1502107584,75.36600,-145.04601,330.192,478756.2
$RAFOS_FIX,7107.572754,-14749.040039,070817,121247,2,255,5.22
$IRIDIUM_FIX,7110.16,-14739.90,070817,091557
$TT8_MAMPS,0.041944,0.866593
$HUMID,49.64
$INTERNAL_PRESSURE,7.58742
$TCM_TEMP,13.20
$XPDR_PINGS,1
$PM_FREEKB_00,62028032
$CP_FREE,0.000000
$24V_AH,12.79,53.725
$10V_AH,12.72,0.000
$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,21.325,79.875,948.375,9.600,0.000,0.000,0.000,341.225,0.250,0.000,24.696,0.000,3518.492,1033.135,2898.310,291.462,0.000,2429.368,0.000,1893.424,2215.000,0.535,0.000
$DEVICE_MAMPS,481.185,2178.720,1237.770,207.315,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7154.000,7146.000,7129.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.453,16.385,111.000,0.000
$MEM,324716
$DATA_FILE_SIZE,43248,1323
$CAP_FILE_SIZE,129948,0
$CFSIZE,2097872896,2085945344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.0
$CURRENT,0.230,55.87,1
$GPS,070817,133739,7112.803,-14736.218,16,0.9,25,21.2,0.3,26.9,8,9.8