version: 66.13
glider: 198
mission: 12
dive: 10
start: 8 7 117 16 6 27
data:
$ID,198
$MISSION,12
$DIVE,10
$N_DIVES,12
$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,44
$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,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,83.0
$CP_NDIVE,1.0
$GPS1,070817,155458,7114.0869,-14736.5596,12,0.8,16,21.2,0.2,0.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.2
$GPS2,070817,160556,7114.1055,-14736.3828,15,0.9,23,21.2,0.3,40.7,8,10.0
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7124.905,-14736.383
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,312.1,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.59,-145.9,197,2471,503,492,0.0,0.0,0,125,0.00,0.00,-103.53,0.000,16386,0.000,0.000,195,2471,2031,1994,2069,0,0,0,0,0,0,14.24,28.83,14.26
$GC,129,-0.59,-145.9,196,2470,1995,2070,3.6,-9.3,21,188,10.35,2.62,-41.17,0.000,18724,0.479,2.162,1992,3782,3961,3909,4013,0,0,0,0,0,0,13.62,12.78,14.02
$GC,413,-0.50,-145.9,1991,3782,3911,4015,70.3,-19.1,76,419,0.20,2.15,0.00,0.000,3206,0.291,0.057,2033,2509,3962,3910,4014,0,0,0,0,0,0,13.75,13.97,14.00
$GC,599,-0.50,-145.9,2033,2509,3912,4014,97.3,-13.3,113,605,0.00,2.35,0.00,0.000,260,0.000,0.116,2030,3782,3962,3911,4014,0,0,0,0,0,0,14.21,13.87,14.23
$GC,645,-0.54,-145.9,2029,3782,3912,4014,103.2,-12.3,122,651,0.00,2.17,0.00,0.000,1158,0.000,0.057,2030,2501,3963,3911,4015,0,0,0,0,0,0,14.08,14.00,14.10
$GC,831,-0.62,-145.9,2029,2501,3911,4014,123.4,-10.2,159,838,0.00,0.00,0.00,0.000,134,0.000,0.000,2029,2500,3962,3911,4014,0,0,0,0,0,0,14.23,14.25,14.25
$GC,1018,-0.71,-145.9,2030,2501,3913,4017,140.8,-9.0,196,1024,0.17,2.42,0.00,0.000,4772,0.107,0.070,1949,1096,3962,3911,4013,0,0,0,0,0,0,14.04,13.93,14.07
$GC,1136,-0.71,-145.9,1952,1096,3911,4013,156.0,-13.5,219,1143,0.00,2.53,0.00,0.000,1030,0.000,0.093,1948,2497,3962,3911,4013,0,0,0,0,0,0,14.08,13.95,14.10
$GC,1323,-0.71,-145.9,1948,2497,3911,4013,182.6,-13.9,256,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2497,3961,3911,4012,0,0,0,0,0,0,14.26,14.28,14.27
$GC,1508,-0.71,-145.9,1948,2495,3912,4012,205.0,-11.1,293,1514,0.00,2.42,0.00,0.000,516,0.000,0.072,1948,1090,3962,3913,4011,0,0,0,0,0,0,14.25,13.97,14.29
$GC,1544,-0.71,-145.9,1949,1090,3913,4012,209.1,-11.3,300,1550,0.00,2.53,0.00,0.000,1030,0.000,0.093,1942,2498,3961,3911,4011,0,0,0,0,0,0,14.07,13.93,14.10
$GC,1730,-0.71,-145.9,1942,2498,3911,4017,230.7,-11.5,337,1736,0.00,2.38,0.00,0.000,260,0.000,0.121,1942,3785,3962,3911,4013,0,0,0,0,0,0,14.26,13.90,14.28
$GC,1776,-0.71,-145.9,1943,3788,3910,4012,236.3,-11.8,346,1782,0.00,2.20,0.00,0.000,1030,0.000,0.057,1942,2485,3959,3911,4007,0,0,0,0,0,0,14.10,14.02,14.12
$MODEM_MSG,CACST,6,1,20170807161509.549328,3,86,13,0209,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$MODEM_MSG,CACST,6,1,20170807162307.530077,3,55,05,0100,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$GC,1964,-0.71,-145.9,1947,2486,3911,4011,257.1,-11.2,383,1971,0.00,2.40,0.00,0.000,516,0.000,0.073,1941,1092,3960,3911,4010,0,0,0,0,0,0,14.26,13.97,14.26
$GC,2006,-0.74,-145.9,1941,1092,3911,4010,261.9,-11.2,391,2013,0.00,2.55,0.00,0.000,1158,0.000,0.094,1941,2507,3960,3911,4009,0,0,0,0,0,0,14.07,13.93,14.09
$GC,2195,-0.74,-145.9,1941,2508,3911,4010,282.0,-10.5,428,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2507,3963,3916,4010,0,0,0,0,0,0,14.33,14.35,14.35
$GC,2380,-0.74,-145.9,1942,2508,3912,4011,301.3,-10.3,465,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2507,3959,3910,4009,0,0,0,0,0,0,14.38,14.40,14.40
$GC,2566,-0.76,-145.9,1937,2508,3910,4010,321.8,-11.5,502,2572,0.00,0.00,0.00,0.000,134,0.000,0.000,1942,2510,3960,3910,4010,0,0,0,0,0,0,14.40,14.42,14.42
$GC,2752,-0.78,-145.9,1942,2508,3910,4010,342.9,-11.1,539,2758,0.00,0.00,0.00,0.000,134,0.000,0.000,1941,2507,3959,3909,4009,0,0,0,0,0,0,14.40,14.42,14.42
$STATE,2906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2906,begin apogee
$GC,2911,-0.14,0.0,1942,2315,3910,4010,360.0,-10.9,555,3150,0.80,0.00,235.52,1.183,10246,0.239,0.000,2149,2314,3364,3316,3412,0,0,0,0,0,0,13.90,13.57,13.05
$STATE,3154,end apogee,CONTROL_FINISHED_OK
$STATE,3154,begin climb
$GC,3156,0.59,145.9,2150,2315,3311,3408,371.3,0.0,563,3340,0.75,2.58,171.02,1.209,11012,0.099,0.071,2396,921,2754,2695,2814,0,0,0,0,0,0,13.59,13.31,12.83
$GC,3565,0.45,145.9,2395,921,2685,2796,346.0,10.8,644,3572,0.22,2.50,0.00,0.000,5254,0.284,0.079,2347,2324,2739,2683,2795,0,0,0,0,0,0,13.60,13.76,13.84
$GC,3753,0.36,156.3,2347,2324,2681,2796,328.0,9.5,681,3759,0.00,2.53,1.67,0.220,8868,0.000,0.073,2356,921,2728,2671,2785,0,0,0,0,0,0,14.15,13.88,13.78
$GC,3835,0.30,170.9,2357,922,2678,2791,320.3,9.3,697,3865,0.25,2.47,25.10,1.252,13478,0.248,0.080,2297,2321,2665,2609,2722,0,0,0,0,0,0,13.74,13.91,13.30
$GC,4045,0.34,229.1,2297,2323,2587,2706,304.2,7.3,738,4128,0.00,2.67,73.88,1.180,8484,0.000,0.111,2293,3725,2424,2369,2479,0,0,0,0,0,0,14.28,13.66,13.19
$GC,4155,0.38,244.4,2297,3726,2357,2472,295.7,9.3,757,4179,0.00,2.40,15.95,1.237,9382,0.000,0.055,2300,2328,2362,2305,2419,0,0,0,0,0,0,13.88,13.81,13.19
$GC,4359,0.48,305.3,2300,2329,2285,2407,280.3,7.2,797,4443,0.12,2.60,78.68,1.156,10916,0.136,0.078,2368,915,2113,2042,2184,0,0,0,0,0,0,13.97,13.65,13.17
$GC,4474,0.48,305.3,2369,915,2034,2168,267.6,12.1,817,4480,0.00,2.50,0.00,0.000,1030,0.000,0.078,2369,2319,2099,2032,2167,0,0,0,0,0,0,13.83,13.73,13.85
$GC,4660,0.48,305.3,2367,2320,2024,2165,244.5,12.2,854,4667,0.00,2.60,0.00,0.000,260,0.000,0.109,2369,3734,2094,2024,2165,0,0,0,0,0,0,14.15,13.85,14.16
$GC,4687,0.44,305.3,2369,3734,2024,2164,240.9,14.1,859,4693,0.00,2.42,0.00,0.000,1158,0.000,0.057,2370,2318,2093,2024,2163,0,0,0,0,0,0,14.02,13.95,14.05
$GC,4873,0.44,305.3,2370,2317,2024,2164,215.8,13.2,896,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2316,2091,2021,2162,0,0,0,0,0,0,14.26,14.31,14.28
$GC,5059,0.44,305.3,2370,2317,2021,2162,192.5,12.4,933,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2316,2091,2021,2162,0,0,0,0,0,0,14.33,14.35,14.34
$GC,5244,0.44,305.3,2370,2317,2020,2162,171.0,10.7,970,5251,0.00,2.45,0.00,0.000,516,0.000,0.081,2375,905,2090,2020,2160,0,0,0,0,0,0,14.36,14.04,14.39
$GC,5276,0.46,305.3,2369,905,2019,2160,167.8,10.1,976,5283,0.00,2.47,0.00,0.000,1158,0.000,0.079,2371,2327,2090,2020,2160,0,0,0,0,0,0,14.19,14.08,14.23
$GC,5463,0.47,315.1,2370,2328,2020,2160,147.9,9.6,1013,5469,0.00,0.00,1.73,0.228,8230,0.000,0.000,2370,2327,2078,2009,2148,0,0,0,0,0,0,14.38,14.19,14.00
$GC,5649,0.47,315.1,2370,2327,2013,2157,130.1,10.8,1050,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2327,2085,2013,2157,0,0,0,0,0,0,14.42,14.44,14.43
$GC,5834,0.53,366.2,2371,2328,2013,2158,113.0,7.7,1087,5924,0.00,0.00,84.88,1.079,8358,0.000,0.000,2370,2327,1868,1797,1940,0,0,0,0,0,0,14.43,13.87,13.35
$GC,6104,0.65,417.2,2370,2328,1779,1921,92.3,7.7,1138,6134,0.12,0.00,26.23,0.434,10406,0.141,0.000,2423,2327,1664,1596,1732,0,0,0,0,0,0,14.01,14.01,13.66
$GC,6314,0.70,446.0,2423,2328,1608,1750,72.2,8.7,1179,6339,0.00,2.62,20.00,0.376,8612,0.000,0.109,2423,3728,1548,1474,1622,0,0,0,0,0,0,14.26,13.94,13.74
$GC,6379,0.74,446.0,2424,3729,1490,1634,65.4,11.4,1191,6386,0.00,2.42,3.10,0.241,9350,0.000,0.059,2424,2310,1546,1476,1616,0,0,0,0,0,0,14.12,14.04,13.78
$GC,6566,0.85,485.6,2425,2311,1490,1638,49.7,8.2,1228,6598,0.15,2.50,27.08,0.318,10916,0.119,0.080,2505,915,1388,1317,1459,0,0,0,0,0,0,14.07,14.00,13.78
$GC,6638,0.85,485.6,2506,915,1326,1475,41.4,11.7,1241,6645,0.00,2.45,2.78,0.233,9222,0.000,0.078,2505,2320,1383,1312,1454,0,0,0,0,0,0,14.12,14.00,13.88
$GC,6825,0.86,493.1,2505,2321,1321,1479,22.2,9.7,1278,6837,0.00,2.58,6.90,0.246,8484,0.000,0.106,2505,3733,1358,1285,1431,0,0,0,0,0,0,14.32,14.00,13.81
$GC,7062,0.99,683.2,2506,3734,1290,1453,14.8,1.3,1325,7190,0.00,2.40,118.15,0.230,9254,0.000,0.055,2512,2303,578,560,596,0,0,0,0,0,0,14.20,14.12,13.85
$STATE,7318,end climb,SURFACE_DEPTH_REACHED
$STATE,7318,begin surface coast
$FINISH,-0.1,1.019745
$STATE,7343,end surface coast,CONTROL_FINISHED_OK
$STATE,7343,begin surface
$SM_CCo,7363,8.00,0.205,0,0,539,692.97
$SM_GC,1.88,6.97,0.38,8.00,0.088,0.111,0.205,193,2510,539,-6.19,-0.48,692.97,0,0,0,0,0,0,14.15,14.08,13.95
$RAFOS_CLK,439
$MODEM,3,1502122987,74.30400,-153.94400,280.530,406843.7
$MODEM,2,1502122509,73.18300,-149.96500,162.549,235740.0
$RAFOS_FIX,7113.728027,-14712.622070,070817,161608,2,255,17.97
$IRIDIUM_FIX,7131.19,-15252.72,070817,134106
$TT8_MAMPS,0.041944,0.889063
$HUMID,48.34
$INTERNAL_PRESSURE,7.58742
$TCM_TEMP,13.40
$XPDR_PINGS,0
$PM_FREEKB_00,61915008
$CP_FREE,0.000000
$24V_AH,12.78,54.554
$10V_AH,12.74,0.000
$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,20.125,74.575,892.650,8.000,0.000,0.000,0.000,429.800,0.000,0.000,25.035,0.000,3680.329,920.520,3130.142,309.482,0.000,2502.836,0.000,1975.061,1748.000,0.535,0.000
$DEVICE_MAMPS,478.890,2161.890,1252.305,205.020,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7365.000,7350.000,7330.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.802,16.365,111.000,0.000
$MEM,324652
$DATA_FILE_SIZE,46493,1377
$CAP_FILE_SIZE,131238,0
$CFSIZE,2097872896,2085322752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.9
$CURRENT,0.105,34.36,1
$GPS,070817,181036,7115.343,-14736.978,28,0.7,29,21.2,0.0,0.0,11,9.8