version: 66.13
glider: 198
mission: 12
dive: 12
start: 8 7 117 20 47 5
data:
$ID,198
$MISSION,12
$DIVE,12
$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,43
$R_STBD_OVSHOOT,20
$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,88.0
$CP_NDIVE,1.0
$GPS1,070817,202441,7116.3989,-14738.0654,15,0.8,19,21.2,0.0,0.0,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.2
$GPS2,070817,204631,7116.4434,-14738.2422,7,0.8,17,21.2,0.0,189.5,10,9.9
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7127.243,-14738.242
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,342.0,20000,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$MODEM_MSG,CACST,6,1,20170807201507.114753,3,486,08,0373,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$GC,44,-0.59,-145.9,194,2481,499,489,0.0,0.0,0,153,0.00,0.00,-106.93,0.000,16386,0.000,0.000,192,2481,2220,2191,2250,0,0,0,0,0,0,14.09,28.83,14.12
$GC,158,-0.59,-145.9,195,2487,2193,2252,3.7,-9.4,18,207,10.20,2.67,-33.40,0.000,18724,0.471,2.157,1994,3782,3961,3908,4014,0,0,0,0,0,0,13.62,12.81,14.01
$GC,432,-0.49,-145.9,1989,3782,3911,4015,69.8,-19.3,71,438,0.20,2.15,0.00,0.000,3206,0.288,0.054,2032,2498,3962,3911,4014,0,0,0,0,0,0,13.81,14.05,14.06
$GC,618,-0.49,-145.9,2033,2499,3913,4015,97.2,-13.4,108,625,0.00,2.35,0.00,0.000,260,0.000,0.111,2026,3789,3962,3911,4014,0,0,0,0,0,0,14.33,13.97,14.35
$GC,720,-0.56,-145.9,2027,3790,3912,4015,110.2,-11.6,128,727,0.00,2.15,0.00,0.000,1158,0.000,0.053,2026,2501,3962,3911,4014,0,0,0,0,0,0,14.16,14.09,14.18
$GC,907,-0.63,-145.9,2027,2502,3912,4015,129.1,-9.7,165,913,0.00,0.00,0.00,0.000,166,0.000,0.000,2027,2501,3962,3911,4014,0,0,0,0,0,0,14.38,14.40,14.39
$GC,1093,-0.73,-145.9,2028,2502,3912,4014,145.9,-8.9,202,1098,0.17,0.00,0.00,0.000,4262,0.103,0.000,1943,2501,3965,3918,4013,0,0,0,0,0,0,14.18,14.23,14.21
$GC,1278,-0.69,-145.9,1942,2501,3911,4012,172.0,-13.1,239,1284,0.12,0.00,0.00,0.000,2182,0.300,0.000,1964,2500,3962,3911,4013,0,0,0,0,0,0,13.95,14.26,14.20
$GC,1464,-0.72,-145.9,1967,2500,3911,4012,192.2,-11.0,276,1471,0.00,2.35,0.00,0.000,388,0.000,0.115,1961,3790,3961,3911,4011,0,0,0,0,0,0,14.44,14.05,14.46
$GC,1631,-0.75,-145.9,1961,3791,3912,4011,211.1,-10.9,309,1637,0.00,2.15,0.00,0.000,1158,0.000,0.055,1959,2494,3960,3911,4009,0,0,0,0,0,0,14.24,14.18,14.24
$GC,1817,-0.79,-145.9,1961,2494,3912,4010,230.7,-10.4,346,1823,0.00,0.00,0.00,0.000,134,0.000,0.000,1960,2493,3960,3911,4009,0,0,0,0,0,0,14.44,14.45,14.46
$GC,2003,-0.83,-145.9,1961,2494,3910,4010,249.4,-9.9,383,2008,0.00,0.00,0.00,0.000,166,0.000,0.000,1960,2493,3959,3909,4009,0,0,0,0,0,0,14.45,14.47,14.46
$GC,2188,-0.88,-145.9,1961,2494,3908,4010,267.1,-9.5,420,2196,0.15,2.35,0.00,0.000,4516,0.119,0.112,1888,3784,3957,3907,4008,0,0,0,0,0,0,13.97,13.96,13.96
$GC,2226,-0.79,-145.9,1888,3785,3907,4008,272.1,-14.7,427,2232,0.22,2.15,0.00,0.000,3206,0.284,0.054,1937,2489,3957,3907,4008,0,0,0,0,0,0,13.88,14.22,14.17
$GC,2412,-0.79,-145.9,1938,2489,3908,4008,293.6,-11.4,464,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2489,3957,3907,4008,0,0,0,0,0,0,14.45,14.47,14.47
$GC,2598,-0.79,-145.9,1937,2487,3906,4008,314.3,-11.2,501,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2489,3956,3906,4007,0,0,0,0,0,0,14.47,14.50,14.49
$GC,2783,-0.79,-145.9,1938,2490,3906,4008,334.5,-10.7,538,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2489,3956,3905,4007,0,0,0,0,0,0,14.47,14.50,14.49
$GC,2994,-0.79,-145.9,1937,2489,3904,4007,356.7,-10.6,570,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2489,3955,3905,4006,0,0,0,0,0,0,14.48,14.50,14.50
$STATE,3051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3052,begin apogee
$GC,3057,-0.14,0.0,1936,2321,3904,4007,363.1,-10.6,572,3295,0.80,0.00,232.88,1.187,10246,0.243,0.000,2148,2321,3362,3313,3412,0,0,0,0,0,0,13.96,13.60,13.07
$STATE,3299,end apogee,CONTROL_FINISHED_OK
$STATE,3299,begin climb
$GC,3301,0.59,145.9,2149,2321,3308,3408,374.2,0.0,580,3509,0.77,2.58,172.50,1.214,10756,0.098,0.070,2404,926,2745,2685,2806,0,0,0,0,0,0,13.62,13.26,12.85
$GC,3736,0.43,145.9,2404,927,2686,2797,344.7,11.4,626,3742,0.25,2.50,0.00,0.000,5254,0.301,0.078,2347,2329,2740,2684,2796,0,0,0,0,0,0,13.60,13.78,13.88
$GC,3922,0.35,156.2,2347,2329,2677,2797,326.5,9.5,663,3929,0.15,2.50,2.08,0.302,12964,0.292,0.073,2317,923,2727,2669,2786,0,0,0,0,0,0,13.74,13.93,12.84
$GC,4000,0.38,202.2,2318,923,2677,2794,320.2,7.9,678,4071,0.00,2.45,64.60,1.206,9254,0.000,0.080,2317,2322,2534,2473,2596,0,0,0,0,0,0,14.07,13.95,13.21
$GC,4251,0.39,218.3,2318,2321,2452,2578,297.5,9.3,726,4276,0.00,2.62,15.48,1.272,8484,0.000,0.109,2317,3721,2466,2407,2525,0,0,0,0,0,0,14.17,13.84,13.32
$GC,4311,0.37,218.3,2318,3722,2407,2517,291.5,11.0,737,4318,0.00,2.38,0.00,0.000,1158,0.000,0.055,2324,2332,2457,2399,2516,0,0,0,0,0,0,14.00,13.93,14.03
$GC,4498,0.38,234.2,2324,2332,2394,2514,273.7,9.3,774,4516,0.00,0.00,16.58,1.264,8230,0.000,0.000,2324,2332,2408,2347,2469,0,0,0,0,0,0,14.26,13.97,13.37
$GC,4696,0.40,260.1,2325,2333,2332,2452,255.6,8.8,813,4732,0.00,0.00,31.52,1.209,8230,0.000,0.000,2324,2332,2298,2238,2359,0,0,0,0,0,0,14.28,13.94,13.35
$GC,4912,0.43,269.0,2325,2333,2222,2348,235.5,9.6,855,4918,0.00,0.00,2.15,0.392,8358,0.000,0.000,2324,2332,2268,2205,2331,0,0,0,0,0,0,14.24,14.03,13.05
$GC,5098,0.48,274.9,2325,2334,2214,2339,216.7,9.7,892,5117,0.00,2.60,13.93,1.251,8612,0.000,0.108,2324,3725,2237,2176,2299,0,0,0,0,0,0,14.33,14.01,13.49
$GC,5142,0.50,274.9,2324,3726,2168,2291,212.1,11.3,900,5149,0.00,2.40,0.00,0.000,1158,0.000,0.057,2328,2315,2232,2170,2294,0,0,0,0,0,0,14.14,14.05,14.16
$GC,5329,0.56,291.2,2328,2315,2165,2292,194.3,9.3,937,5353,0.15,0.00,20.55,1.203,10406,0.117,0.000,2410,2313,2172,2108,2237,0,0,0,0,0,0,14.15,14.02,13.46
$GC,5533,0.48,291.2,2409,2314,2091,2224,166.8,14.2,977,5541,0.22,2.58,0.00,0.000,4484,0.256,0.104,2352,3734,2156,2089,2223,0,0,0,0,0,0,13.90,14.02,14.06
$GC,5647,0.48,291.2,2352,3735,2089,2223,154.3,10.5,999,5653,0.00,2.40,0.00,0.000,1030,0.000,0.056,2357,2316,2155,2089,2222,0,0,0,0,0,0,14.23,14.14,14.25
$GC,5833,0.53,331.2,2356,2316,2086,2223,138.1,8.2,1036,5893,0.00,0.00,54.20,1.112,8358,0.000,0.000,2357,2315,2006,1938,2074,0,0,0,0,0,0,14.38,13.92,13.41
$GC,6073,0.63,388.5,2357,2316,1920,2062,117.6,7.4,1082,6160,0.12,2.70,80.88,1.057,10660,0.133,0.106,2421,3727,1772,1707,1838,0,0,0,0,0,0,14.09,13.73,13.31
$GC,6192,0.60,388.5,2425,3728,1699,1827,103.6,14.4,1102,6198,0.15,2.42,0.00,0.000,5254,0.271,0.057,2394,2322,1761,1696,1827,0,0,0,0,0,0,13.74,13.85,13.91
$GC,6378,0.69,431.5,2394,2322,1689,1823,86.4,8.0,1139,6408,0.00,2.53,21.92,0.411,8868,0.000,0.081,2397,913,1609,1539,1679,0,0,0,0,0,0,14.19,13.90,13.66
$GC,6470,0.82,473.2,2397,913,1550,1691,79.2,8.1,1156,6507,0.22,2.47,27.30,0.403,11430,0.097,0.079,2491,2320,1442,1370,1515,0,0,0,0,0,0,14.00,13.90,13.66
$GC,6687,0.79,473.2,2492,2320,1377,1529,49.8,12.5,1198,6693,0.15,0.00,2.72,0.215,12422,0.259,0.000,2458,2320,1434,1362,1507,0,0,0,0,0,0,13.85,14.07,13.86
$GC,6873,0.89,525.5,2459,2321,1372,1528,33.7,7.6,1235,6915,0.00,2.45,34.33,0.278,8868,0.000,0.078,2465,914,1225,1158,1293,0,0,0,0,0,0,14.31,14.04,13.81
$GC,6977,1.03,571.7,2465,915,1158,1312,25.8,7.9,1254,7013,0.20,2.47,30.40,0.259,11430,0.102,0.077,2546,2325,1034,978,1090,0,0,0,0,0,0,14.07,14.01,13.85
$GC,7193,1.16,704.7,2547,2326,978,1116,10.4,3.9,1296,7282,0.00,0.00,83.00,0.213,8358,0.000,0.000,2546,2325,496,503,490,0,0,0,0,0,0,14.32,13.95,13.82
$STATE,7325,end climb,SURFACE_DEPTH_REACHED
$STATE,7325,begin surface coast
$FINISH,-0.0,1.019668
$STATE,7350,end surface coast,CONTROL_FINISHED_OK
$STATE,7350,begin surface
$SM_CCo,7429,0.00,0.000,0,0,500,702.78
$SM_GC,1.04,7.03,0.32,0.00,0.081,0.115,0.000,200,2508,500,-6.16,-0.51,702.78,0,0,0,0,0,0,14.13,14.09,14.19
$RAFOS_CLK,437
$MODEM,2,1502136907,73.18300,-149.96500,160.115,232235.0
$RAFOS_FIX,7113.728027,-14712.622070,070817,161608,2,255,17.97
$IRIDIUM_FIX,7116.48,-14744.06,070817,202900
$TT8_MAMPS,0.041944,0.811916
$HUMID,48.97
$INTERNAL_PRESSURE,7.58742
$TCM_TEMP,13.20
$XPDR_PINGS,3
$PM_FREEKB_00,61821696
$CP_FREE,16016474112.000000
$24V_AH,12.81,55.378
$10V_AH,12.69,0.000
$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,21.300,58.950,907.000,0.000,0.000,0.000,0.000,980.250,0.750,0.000,19.305,0.000,3798.861,866.750,3684.143,403.613,0.000,3048.553,0.000,1897.212,0.000,0.538,0.000
$DEVICE_MAMPS,471.240,2157.300,1272.195,0.000,0.000,0.000,0.000,213.435,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7367.000,7357.000,7362.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.258,16.327,111.000,0.000
$MEM,324684
$DATA_FILE_SIZE,43282,1325
$CAP_FILE_SIZE,136433,0
$CFSIZE,2097872896,2084700160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6084.76,0x2341ea,1,24
$SOUNDSPEED,1450.5
$CURRENT,0.082,295.71,1
$GPS,070817,225209,7117.449,-14738.474,25,0.9,28,21.2,0.0,0.0,10,8.8