version: 66.13
glider: 198
mission: 12
dive: 9
start: 8 7 117 13 47 41
data:
$ID,198
$MISSION,12
$DIVE,9
$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,24
$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,81.0
$CP_NDIVE,1.0
$GPS1,070817,133739,7112.8032,-14736.2178,16,0.9,25,21.2,0.3,26.9,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.4
$GPS2,070817,134704,7112.8618,-14736.0420,18,1.2,40,21.2,0.3,42.1,7,9.4
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7123.661,-14736.042
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.59,-145.9,193,2502,535,554,0.0,0.0,0,125,0.00,0.00,-104.05,0.000,16386,0.000,0.000,192,2501,2089,2051,2127,0,0,0,0,0,0,14.26,28.83,14.28
$GC,128,-0.59,-145.9,193,2502,2051,2128,3.5,-8.5,18,183,10.35,2.62,-38.80,0.000,18724,0.481,2.179,1990,3780,3961,3909,4014,0,0,0,0,0,0,13.67,12.81,14.07
$GC,408,-0.49,-145.9,1990,3781,3914,4014,69.4,-18.9,72,415,0.20,2.20,0.00,0.000,3206,0.292,0.058,2035,2478,3964,3913,4015,0,0,0,0,0,0,13.78,14.05,14.04
$GC,595,-0.49,-145.9,2034,2479,3914,4015,95.0,-11.8,109,601,0.00,2.40,0.00,0.000,260,0.000,0.116,2030,3782,3965,3917,4013,0,0,0,0,0,0,14.33,13.97,14.35
$GC,712,-0.54,-145.9,2030,3783,3914,4015,108.3,-11.4,132,719,0.00,2.15,0.00,0.000,1158,0.000,0.058,2030,2498,3963,3913,4013,0,0,0,0,0,0,14.21,14.12,14.24
$GC,899,-0.60,-145.9,2030,2499,3914,4015,127.7,-9.7,169,905,0.00,2.40,0.00,0.000,676,0.000,0.073,2034,1097,3963,3913,4013,0,0,0,0,0,0,14.39,14.08,14.40
$GC,1022,-0.70,-145.9,2029,1094,3913,4014,139.7,-9.7,193,1028,0.17,2.50,0.00,0.000,5286,0.111,0.095,1952,2500,3965,3918,4013,0,0,0,0,0,0,14.11,14.04,14.18
$GC,1209,-0.66,-145.9,1953,2502,3915,4014,165.7,-14.5,230,1215,0.12,2.40,0.00,0.000,2692,0.284,0.072,1976,1101,3962,3913,4012,0,0,0,0,0,0,13.88,14.09,14.15
$GC,1285,-0.69,-145.9,1975,1101,3912,4013,175.4,-11.8,245,1291,0.00,2.50,0.00,0.000,1158,0.000,0.094,1976,2506,3962,3913,4012,0,0,0,0,0,0,14.20,14.05,14.23
$GC,1471,-0.73,-145.9,1975,2507,3913,4012,195.7,-10.7,282,1477,0.00,0.00,0.00,0.000,134,0.000,0.000,1975,2506,3962,3912,4012,0,0,0,0,0,0,14.42,14.44,14.43
$GC,1657,-0.76,-145.9,1976,2507,3910,4013,215.4,-9.8,319,1663,0.00,2.42,0.00,0.000,676,0.000,0.073,1975,1093,3962,3913,4012,0,0,0,0,0,0,14.45,14.06,14.45
$GC,1708,-0.81,-145.9,1976,1094,3912,4012,220.6,-9.8,329,1715,0.12,2.50,0.00,0.000,5286,0.145,0.094,1922,2504,3962,3913,4011,0,0,0,0,0,0,14.12,14.04,14.22
$GC,1895,-0.78,-145.9,1923,2503,3914,4012,244.5,-12.8,366,1901,0.00,2.35,0.00,0.000,388,0.000,0.121,1918,3784,3962,3913,4011,0,0,0,0,0,0,14.42,14.02,14.45
$GC,1981,-0.74,-145.9,1917,3784,3913,4011,256.2,-13.6,383,1987,0.17,2.15,0.00,0.000,3206,0.279,0.059,1955,2499,3960,3910,4011,0,0,0,0,0,0,13.86,14.15,14.12
$GC,2167,-0.77,-145.9,1956,2498,3917,4012,276.2,-10.6,420,2173,0.00,0.00,0.00,0.000,134,0.000,0.000,1955,2497,3962,3913,4011,0,0,0,0,0,0,14.45,14.46,14.46
$GC,2353,-0.81,-145.9,1955,2497,3913,4010,295.7,-10.2,457,2359,0.00,0.00,0.00,0.000,134,0.000,0.000,1955,2497,3962,3913,4011,0,0,0,0,0,0,14.44,14.45,14.46
$GC,2539,-0.85,-145.9,1955,2497,3912,4011,315.1,-11.0,494,2545,0.00,2.38,0.00,0.000,644,0.000,0.073,1959,1103,3960,3912,4009,0,0,0,0,0,0,14.44,14.09,14.46
$GC,2580,-0.90,-145.9,1956,1108,3913,4011,319.5,-10.7,502,2586,0.15,2.47,0.00,0.000,5254,0.124,0.094,1889,2495,3959,3909,4010,0,0,0,0,0,0,14.16,14.06,14.23
$GC,2767,-0.83,-145.9,1890,2496,3913,4011,346.4,-14.6,539,2773,0.17,2.38,0.00,0.000,2436,0.295,0.117,1919,3793,3961,3912,4010,0,0,0,0,0,0,13.85,14.01,14.16
$GC,2818,-0.83,-145.9,1919,3794,3912,4010,353.4,-13.0,549,2823,0.00,2.17,0.00,0.000,1030,0.000,0.058,1918,2492,3960,3912,4009,0,0,0,0,0,0,14.25,14.18,14.29
$STATE,2886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2886,begin apogee
$GC,2891,-0.14,0.0,1920,2315,3913,4010,362.1,-12.4,553,3312,0.88,0.00,417.55,1.063,10246,0.260,0.000,2145,2314,3366,3317,3415,0,0,0,0,0,0,13.88,13.42,12.93
$STATE,3316,end apogee,CONTROL_FINISHED_OK
$STATE,3316,begin climb
$GC,3318,0.59,145.9,2145,2314,3316,3413,383.7,0.0,567,3505,0.80,2.55,176.50,1.197,11012,0.107,0.075,2398,924,2760,2701,2820,0,0,0,0,0,0,13.43,13.30,12.80
$GC,3581,0.44,145.9,2399,925,2692,2803,376.7,10.5,611,3586,0.22,2.55,0.00,0.000,5254,0.295,0.081,2351,2330,2746,2690,2802,0,0,0,0,0,0,13.45,13.57,13.66
$GC,3791,0.36,165.4,2350,2330,2686,2800,357.2,9.1,623,3813,0.15,0.00,20.33,1.265,12454,0.291,0.000,2318,2330,2689,2630,2748,0,0,0,0,0,0,13.66,13.78,13.21
$GC,3973,0.35,203.7,2318,2331,2610,2728,342.2,8.2,644,4027,0.00,2.67,45.62,1.222,8612,0.000,0.112,2318,3727,2526,2468,2585,0,0,0,0,0,0,14.12,13.69,13.19
$GC,4089,0.31,203.7,2318,3727,2461,2572,330.8,11.0,665,4095,0.00,2.45,0.00,0.000,1158,0.000,0.058,2321,2322,2516,2460,2572,0,0,0,0,0,0,13.91,13.84,13.93
$GC,4275,0.31,203.7,2324,2322,2453,2572,312.0,10.0,702,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2322,2510,2449,2571,0,0,0,0,0,0,14.18,14.22,14.20
$GC,4461,0.31,203.7,2325,2323,2453,2571,293.2,10.1,739,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2322,2510,2451,2570,0,0,0,0,0,0,14.27,14.29,14.31
$GC,4646,0.32,213.0,2324,2323,2450,2571,275.3,9.6,776,4653,0.00,0.00,2.00,0.222,8230,0.000,0.000,2325,2322,2496,2436,2557,0,0,0,0,0,0,14.33,14.04,12.30
$GC,4833,0.32,222.3,2325,2323,2445,2566,257.9,9.6,813,4858,0.00,2.65,18.85,1.269,8484,0.000,0.112,2325,3728,2451,2392,2510,0,0,0,0,0,0,14.37,14.01,13.46
$GC,4893,0.28,222.3,2324,3729,2392,2499,251.4,11.4,824,4900,0.17,2.40,0.00,0.000,5254,0.272,0.058,2292,2316,2443,2388,2498,0,0,0,0,0,0,13.90,14.07,14.12
$GC,5081,0.38,268.1,2293,2317,2384,2497,236.1,7.9,861,5145,0.00,0.00,60.53,1.170,8358,0.000,0.000,2292,2316,2269,2210,2328,0,0,0,0,0,0,14.34,13.86,13.32
$GC,5326,0.52,332.7,2293,2317,2186,2314,217.0,7.0,908,5421,0.20,2.70,86.72,1.119,10660,0.106,0.109,2386,3722,1997,1930,2064,0,0,0,0,0,0,14.04,13.67,13.22
$GC,5466,0.46,332.7,2386,3723,1923,2052,198.4,16.2,933,5473,0.17,2.45,0.00,0.000,5254,0.265,0.061,2351,2316,1986,1922,2051,0,0,0,0,0,0,13.68,13.85,13.84
$GC,5653,0.50,332.7,2351,2315,1914,2050,178.0,10.8,970,5659,0.00,2.47,0.00,0.000,644,0.000,0.083,2359,911,1982,1913,2052,0,0,0,0,0,0,14.19,13.92,14.21
$GC,5719,0.56,332.7,2358,911,1911,2048,171.0,10.7,983,5725,0.00,2.53,0.00,0.000,1158,0.000,0.083,2358,2326,1979,1911,2048,0,0,0,0,0,0,14.06,13.95,14.09
$GC,5906,0.61,344.2,2358,2326,1912,2048,152.3,9.5,1020,5914,0.12,2.55,3.30,0.861,10916,0.131,0.080,2423,905,1960,1892,2029,0,0,0,0,0,0,14.10,14.06,13.21
$GC,5929,0.61,344.2,2422,906,1894,2027,149.6,11.0,1024,5936,0.00,2.50,0.00,0.000,1030,0.000,0.081,2424,2330,1963,1894,2033,0,0,0,0,0,0,14.14,14.02,14.16
$GC,6116,0.55,344.2,2423,2330,1898,2039,124.1,13.0,1061,6122,0.17,0.00,0.00,0.000,4230,0.262,0.000,2379,2328,1968,1898,2038,0,0,0,0,0,0,13.93,14.14,14.07
$GC,6302,0.61,385.1,2380,2331,1900,2039,107.2,8.1,1098,6380,0.00,2.58,68.43,1.074,8868,0.000,0.082,2383,912,1792,1727,1857,0,0,0,0,0,0,14.38,13.82,13.38
$GC,6407,0.75,427.2,2383,913,1713,1850,98.8,8.1,1116,6438,0.17,2.50,22.65,0.445,11430,0.112,0.082,2456,2324,1624,1556,1693,0,0,0,0,0,0,13.92,13.86,13.62
$GC,6618,0.75,427.2,2456,2325,1568,1709,73.5,11.6,1157,6625,0.00,2.65,2.70,0.228,8452,0.000,0.110,2456,3732,1622,1551,1693,0,0,0,0,0,0,14.23,13.93,13.83
$GC,6680,0.69,427.2,2456,3733,1567,1705,65.4,13.2,1169,6687,0.15,2.42,2.33,0.226,13446,0.258,0.060,2430,2317,1622,1553,1691,0,0,0,0,0,0,13.86,14.02,13.83
$GC,6868,0.78,469.2,2431,2318,1561,1707,48.0,8.1,1206,6897,0.00,0.00,27.80,0.319,8358,0.000,0.000,2427,2317,1453,1384,1522,0,0,0,0,0,0,14.31,14.09,13.81
$GC,7078,0.94,561.1,2430,2321,1394,1544,34.8,5.8,1247,7144,0.20,2.50,58.78,0.277,10916,0.103,0.087,2518,908,1079,1020,1139,0,0,0,0,0,0,14.09,13.95,13.81
$GC,7164,0.94,561.1,2519,908,1021,1148,25.8,11.0,1262,7170,0.00,2.47,0.00,0.000,1030,0.000,0.080,2519,2320,1083,1019,1148,0,0,0,0,0,0,14.10,13.99,14.12
$GC,7351,1.13,707.7,2518,2321,1019,1156,13.2,3.3,1299,7447,0.15,2.65,89.95,0.221,10660,0.130,0.111,2593,3729,497,507,488,0,0,0,0,0,0,14.09,13.92,13.83
$STATE,7480,end climb,SURFACE_DEPTH_REACHED
$STATE,7480,begin surface coast
$FINISH,0.1,1.019693
$STATE,7495,end surface coast,CONTROL_FINISHED_OK
$STATE,7495,begin surface
$SM_CCo,7576,0.00,0.000,0,0,501,702.54
$SM_GC,0.95,7.25,2.17,0.00,0.086,0.059,0.000,195,2471,501,-6.18,0.51,702.54,0,0,0,0,0,0,14.11,14.09,14.17
$RAFOS_CLK,456
$RAFOS_FIX,7107.572754,-14749.040039,070817,121247,2,255,5.22
$IRIDIUM_FIX,7112.97,-14741.98,070817,113026
$TT8_MAMPS,0.041944,0.859852
$HUMID,49.48
$INTERNAL_PRESSURE,7.58742
$TCM_TEMP,13.10
$XPDR_PINGS,2
$PM_FREEKB_00,61974656
$CP_FREE,0.000000
$24V_AH,12.30,54.152
$10V_AH,12.88,0.000
$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,22.300,88.700,1104.025,0.000,0.000,0.000,0.000,332.475,0.500,0.000,43.673,0.000,3760.163,1204.496,2896.719,295.296,0.000,2590.370,0.000,1896.482,0.000,0.535,0.000
$DEVICE_MAMPS,481.185,2178.720,1269.135,0.000,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7496.000,7487.000,7468.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.216,16.355,111.000,0.000
$MEM,324688
$DATA_FILE_SIZE,43287,1325
$CAP_FILE_SIZE,130624,0
$CFSIZE,2097872896,2085650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.3
$CURRENT,0.159,46.17,1
$GPS,070817,155458,7114.087,-14736.560,12,0.8,16,21.2,0.2,0.0,9,9.5