version: 66.13
glider: 198
mission: 12
dive: 158
start: 8 31 117 19 7 17
data:
$ID,198
$MISSION,12
$DIVE,158
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,820
$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,50
$T_MISSION,140
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$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,0.0022
$HD_B,0.0185
$HD_C,1.91e-06
$HEADING,-1
$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,34
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3107
$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,1.4
$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,3
$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,448.0
$CP_NDIVE,1.0
$GPS1,310817,185603,7446.1675,-14629.4795,36,0.8,36,22.6,0.0,0.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.0
$GPS2,310817,190650,7446.1860,-14629.5781,3,0.8,9,22.6,0.0,184.7,10,8.4
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,T1
$TGT_LATLONG,7521.800,-14503.100
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,10.9,77382,-19.7,-10.000,-27.15,2241
$D_GRID,150
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.65,-145.9,186,2516,511,488,0.0,0.0,0,137,0.00,0.00,-122.43,0.000,16386,0.000,0.000,184,2516,2222,2190,2255,0,0,0,0,0,0,14.46,28.83,14.48
$GC,140,-0.65,-145.9,186,2517,2192,2256,3.7,-8.9,21,190,10.65,2.60,-33.92,0.000,18724,0.492,2.170,1971,3769,3703,3672,3735,0,0,0,0,0,0,13.54,12.63,14.07
$GC,295,-0.54,-145.9,1972,3774,3675,3735,51.5,-26.8,50,302,0.22,2.12,0.00,0.000,3206,0.301,0.050,2018,2497,3703,3673,3734,0,0,0,0,0,0,13.84,14.18,14.16
$GC,481,-0.54,-145.9,2018,2497,3673,3735,86.3,-15.7,87,488,0.00,2.38,0.00,0.000,516,0.000,0.068,2018,1087,3704,3673,3735,0,0,0,0,0,0,14.51,14.19,14.55
$GC,508,-0.54,-145.9,2019,1088,3674,3735,90.4,-15.1,92,515,0.00,2.47,0.00,0.000,1030,0.000,0.087,2018,2493,3706,3673,3739,0,0,0,0,0,0,14.20,14.05,14.23
$GC,695,-0.57,-145.9,2017,2494,3672,3735,115.7,-12.7,129,701,0.00,2.35,0.00,0.000,388,0.000,0.115,2016,3792,3704,3673,3735,0,0,0,0,0,0,14.62,14.09,14.60
$GC,751,-0.62,-145.9,2016,3791,3674,3736,122.9,-12.7,140,757,0.00,2.15,0.00,0.000,1158,0.000,0.048,2015,2484,3704,3673,3735,0,0,0,0,0,0,14.39,14.30,14.41
$GC,937,-0.69,-145.9,2015,2484,3673,3735,145.4,-11.8,177,943,0.12,0.00,0.00,0.000,4230,0.133,0.000,1961,2483,3703,3672,3735,0,0,0,0,0,0,14.29,14.38,14.35
$STATE,970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,970,begin apogee
$GC,976,-0.14,0.0,1962,2299,3674,3736,150.4,-14.8,184,1419,0.73,0.00,430.20,0.995,10246,0.266,0.000,2144,2298,3104,3066,3142,0,0,0,0,0,0,13.88,13.23,12.77
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin loiter
$GC,1601,-0.07,92.5,2145,2299,3061,3140,179.9,-4.2,296,1728,0.00,0.00,120.80,1.074,8230,0.000,0.000,2144,2298,2721,2663,2780,0,0,0,0,0,0,14.16,13.35,12.84
$GC,1908,-0.28,92.5,2145,2299,2653,2772,179.8,2.3,353,1914,0.12,0.00,0.00,0.000,4230,0.126,0.000,2082,2298,2711,2652,2770,0,0,0,0,0,0,14.00,14.06,14.04
$GC,2094,-0.36,92.5,2081,2298,2652,2770,175.6,2.1,390,2100,0.00,0.00,0.00,0.000,134,0.000,0.000,2082,2298,2710,2652,2769,0,0,0,0,0,0,14.50,14.52,14.52
$GC,2280,-0.43,92.5,2081,2299,2652,2769,172.2,1.8,427,2286,0.00,0.00,0.00,0.000,134,0.000,0.000,2082,2298,2710,2652,2768,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2466,-0.50,92.5,2082,2299,2653,2769,169.2,1.5,464,2472,0.12,0.00,0.00,0.000,4230,0.130,0.000,2023,2298,2709,2651,2768,0,0,0,0,0,0,14.42,14.48,14.47
$GC,2652,-0.44,92.5,2024,2299,2653,2768,166.2,1.5,501,2657,0.12,0.00,0.00,0.000,2182,0.313,0.000,2048,2298,2709,2651,2767,0,0,0,0,0,0,14.07,14.43,14.36
$GC,2837,-0.44,92.5,2049,2299,2653,2768,163.6,1.2,538,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2709,2651,2767,0,0,0,0,0,0,14.80,14.82,14.82
$GC,3023,-0.44,92.5,2049,2299,2653,2767,161.7,0.9,575,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2708,2651,2766,0,0,0,0,0,0,14.82,14.84,14.83
$GC,3224,-0.44,92.5,2047,2299,2652,2766,160.2,0.5,612,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2708,2651,2766,0,0,0,0,0,0,14.66,14.68,14.68
$GC,3410,-0.44,92.5,2049,2304,2652,2767,159.6,0.1,649,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2709,2652,2766,0,0,0,0,0,0,14.64,14.66,14.64
$GC,3595,-0.44,96.5,2048,2299,2651,2766,159.9,-0.2,686,3600,0.00,0.00,0.00,0.000,38,0.000,0.000,2048,2298,2709,2652,2766,0,0,0,0,0,0,14.62,14.63,14.62
$GC,3780,-0.44,96.5,2049,2299,2653,2767,160.0,0.0,723,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2708,2651,2766,0,0,0,0,0,0,14.62,14.63,14.65
$GC,3966,-0.44,100.2,2048,2298,2651,2766,160.2,-0.2,760,3972,0.00,0.00,1.33,0.267,8230,0.000,0.000,2048,2298,2699,2640,2758,0,0,0,0,0,0,14.61,14.07,13.90
$GC,4152,-0.43,108.9,2046,2298,2648,2767,160.8,-0.4,797,4181,0.00,0.00,27.30,1.274,8230,0.000,0.000,2048,2298,2662,2606,2719,0,0,0,0,0,0,14.59,14.20,13.46
$GC,4361,-0.43,108.9,2049,2299,2602,2718,157.9,1.8,838,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2658,2600,2716,0,0,0,0,0,0,14.52,14.54,14.52
$GC,4547,-0.43,108.9,2048,2299,2602,2717,154.8,1.7,875,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2658,2601,2716,0,0,0,0,0,0,14.55,14.57,14.57
$GC,4732,-0.43,108.9,2048,2299,2601,2716,151.8,1.5,912,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2657,2600,2715,0,0,0,0,0,0,14.57,14.59,14.59
$GC,4918,-0.43,108.9,2049,2299,2602,2717,149.7,0.9,949,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2298,2658,2601,2715,0,0,0,0,0,0,14.57,14.59,14.59
$STATE,5016,end loiter,LOITER_COMPLETE
$STATE,5016,begin climb
$GC,5018,0.65,145.9,2048,2299,2601,2716,148.8,0.0,969,5080,1.35,2.33,53.67,1.216,10756,0.262,0.063,2402,934,2505,2448,2562,0,0,0,0,0,0,13.88,13.88,13.33
$MODEM_MSG,CACST,6,1,20170831200148.198074,3,2869,22,0856,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$MODEM_MSG,CACST,6,1,20170831201450.301719,3,289,18,0270,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$MODEM_MSG,CACST,6,1,20170831202104.780098,3,982,23,0542,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170831202658.529421,3,246,17,0319,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$GC,5307,0.76,263.6,2402,935,2448,2556,137.9,4.6,1023,5485,0.12,2.42,167.45,1.088,11430,0.133,0.076,2453,2331,2030,1959,2101,0,0,0,0,0,0,14.07,14.06,12.98
$GC,5667,0.77,274.2,2453,2332,1943,2087,104.9,9.5,1087,5679,0.00,2.60,4.25,1.263,8484,0.000,0.106,2453,3724,1992,1920,2065,0,0,0,0,0,0,14.12,13.81,12.86
$GC,5731,0.73,274.2,2453,3724,1927,2070,97.8,11.5,1099,5738,0.00,2.35,0.00,0.000,1158,0.000,0.050,2456,2338,1997,1925,2069,0,0,0,0,0,0,14.03,13.94,14.04
$GC,5918,0.75,308.0,2457,2339,1926,2070,80.7,8.4,1136,5942,0.00,0.00,20.42,0.428,8230,0.000,0.000,2456,2338,1853,1780,1926,0,0,0,0,0,0,14.40,14.04,13.59
$GC,6122,0.86,390.8,2457,2338,1783,1934,65.3,6.2,1176,6175,0.00,0.00,47.08,0.387,8614,0.000,0.000,2456,2337,1514,1446,1582,0,0,0,0,0,0,14.47,13.93,13.68
$GC,6355,1.05,481.9,2456,2338,1446,1589,50.2,5.8,1221,6416,0.22,2.47,52.38,0.340,10916,0.088,0.077,2566,913,1143,1090,1196,0,0,0,0,0,0,14.16,14.03,13.78
$GC,6436,1.05,481.9,2566,914,1091,1201,42.1,11.0,1235,6442,0.00,2.42,0.00,0.000,1030,0.000,0.072,2565,2322,1145,1090,1201,0,0,0,0,0,0,14.21,14.09,14.24
$GC,6623,1.07,481.9,2566,2323,1091,1202,21.4,10.4,1272,6628,0.00,0.00,0.00,0.000,134,0.000,0.000,2565,2322,1145,1089,1201,0,0,0,0,0,0,14.51,14.53,14.54
$GC,6808,1.17,537.6,2566,2323,1090,1205,7.9,7.4,1309,6844,0.00,0.00,31.95,0.220,8614,0.000,0.000,2566,2324,913,868,958,0,0,0,0,0,0,14.55,14.15,13.90
$STATE,6882,end climb,SURFACE_DEPTH_REACHED
$STATE,6882,begin surface coast
$FINISH,0.0,1.020997
$STATE,6902,end surface coast,CONTROL_FINISHED_OK
$STATE,6902,begin surface
$SM_CCo,6921,56.85,0.199,0,0,499,639.50
$SM_CCo,6981,-0.30,0.000,0,0,501,639.50
$SM_CCo,6984,0.08,1.180,0,0,500,639.50
$SM_GC,0.88,6.75,0.32,0.08,0.048,0.106,1.180,187,2512,500,-6.18,-0.54,639.50,0,0,0,0,0,0,14.33,14.27,13.77
$RAFOS_CLK,241
$MODEM,4,1504211218,75.71700,-151.21500,117.779,170544.4
$MODEM,3,1504210864,74.30400,-153.94400,157.780,228465.3
$MODEM,2,1504210490,73.18300,-149.96500,143.302,207500.6
$MODEM,0,1504209708,75.36600,-145.04601,54.198,78478.7
$RAFOS_FIX,7445.924316,-14631.064453,310817,202010,4,255,0.21
$IRIDIUM_FIX,7444.47,-14632.19,310817,145612
$TT8_MAMPS,0.041195,0.548268
$HUMID,44.21
$INTERNAL_PRESSURE,7.53859
$TCM_TEMP,13.00
$XPDR_PINGS,17
$PM_FREEKB_00,47411456
$24V_AH,12.63,124.286
$10V_AH,12.84,0.000
$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,20.550,29.250,956.825,56.925,0.000,0.000,0.000,412.100,4.250,0.000,10.759,0.000,3375.620,1029.976,2914.455,313.151,0.000,2521.388,0.000,1890.616,2217.000,0.535,0.000
$DEVICE_MAMPS,491.895,2170.305,1274.490,1179.630,0.000,0.000,0.000,203.490,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3339.000,3320.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.702,16.317,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,43319,1327
$CAP_FILE_SIZE,119786,0
$CFSIZE,2097872896,2041643008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1441.7
$CURRENT,0.040,253.69,1
$GPS,310817,210514,7446.352,-14629.234,4,0.8,44,22.6,0.3,249.0,10,14.8