version: 66.13
glider: 198
mission: 12
dive: 159
start: 8 31 117 21 14 19
data:
$ID,198
$MISSION,12
$DIVE,159
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,310817,210514,7446.3516,-14629.2344,4,0.8,44,22.6,0.3,249.0,10,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.4
$GPS2,310817,211350,7446.3726,-14629.2725,41,0.9,41,22.6,0.0,0.0,9,9.2
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,T1
$TGT_LATLONG,7521.800,-14503.100
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,16.9,77014,-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,-145.9,187,2514,510,490,0.0,0.0,0,135,0.00,0.00,-120.35,0.000,16386,0.000,0.000,187,2513,2178,2143,2214,0,0,0,0,0,0,14.51,28.83,14.53
$GC,138,-0.65,-145.9,187,2514,2145,2214,3.4,-8.0,20,188,10.73,0.00,-35.97,0.000,18982,0.495,0.000,1981,2514,3703,3673,3734,0,0,0,0,0,0,13.59,12.59,14.13
$GC,368,-0.55,-145.9,1982,2515,3676,3737,68.4,-22.7,64,374,0.15,2.28,0.00,0.000,2436,0.346,0.108,2008,3779,3705,3674,3736,0,0,0,0,0,0,13.83,14.04,14.04
$GC,414,-0.53,-145.9,2007,3779,3674,3737,77.5,-18.1,73,420,0.00,2.12,0.00,0.000,1158,0.000,0.050,2004,2495,3706,3674,3738,0,0,0,0,0,0,14.26,14.20,14.29
$GC,600,-0.53,-145.9,2008,2494,3675,3737,106.4,-13.8,110,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2494,3705,3674,3737,0,0,0,0,0,0,14.57,14.59,14.59
$GC,786,-0.56,-145.9,2007,2494,3674,3737,131.0,-12.6,147,792,0.00,2.33,0.00,0.000,388,0.000,0.112,2001,3781,3707,3677,3737,0,0,0,0,0,0,14.62,14.14,14.64
$GC,837,-0.60,-145.9,2002,3782,3675,3737,137.7,-13.1,157,843,0.00,2.10,0.00,0.000,1158,0.000,0.049,2001,2496,3705,3674,3737,0,0,0,0,0,0,14.40,14.31,14.40
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,942,-0.14,0.0,2001,2296,3673,3739,150.2,-12.2,177,1143,0.55,0.00,192.12,1.124,10246,0.249,0.000,2145,2293,3101,3063,3139,0,0,0,0,0,0,13.91,13.71,13.02
$STATE,1145,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin loiter
$GC,1325,-0.09,71.5,2145,2295,3058,3137,165.3,-3.3,247,1421,0.00,0.00,94.35,1.106,8230,0.000,0.000,2144,2294,2815,2757,2874,0,0,0,0,0,0,14.38,13.76,13.05
$GC,1602,-0.27,94.8,2145,2295,2738,2866,170.3,-1.1,299,1633,0.00,0.00,27.45,1.211,8358,0.000,0.000,2144,2294,2718,2659,2777,0,0,0,0,0,0,14.40,13.95,13.22
$GC,1813,-0.46,94.8,2145,2295,2652,2771,167.6,1.9,340,1818,0.28,0.00,0.00,0.000,4230,0.081,0.000,2023,2293,2709,2650,2769,0,0,0,0,0,0,14.23,14.30,14.27
$GC,1999,-0.41,94.8,2023,2294,2650,2767,163.9,1.8,377,2004,0.17,0.00,0.00,0.000,2182,0.305,0.000,2060,2294,2708,2650,2767,0,0,0,0,0,0,13.97,14.32,14.26
$GC,2184,-0.41,94.8,2059,2295,2650,2767,161.3,1.2,414,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2294,2708,2650,2766,0,0,0,0,0,0,14.73,14.73,14.75
$GC,2370,-0.41,94.8,2059,2294,2650,2767,159.2,1.2,451,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2294,2708,2650,2766,0,0,0,0,0,0,14.77,14.79,14.79
$GC,2555,-0.41,94.8,2060,2295,2651,2767,157.1,0.9,488,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2294,2708,2650,2766,0,0,0,0,0,0,14.80,14.83,14.82
$GC,2741,-0.41,94.8,2059,2294,2650,2766,156.0,0.3,525,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2294,2708,2650,2766,0,0,0,0,0,0,14.81,14.84,14.84
$GC,2927,-0.41,99.9,2060,2294,2650,2766,155.9,-0.2,562,2932,0.00,0.00,0.00,0.000,38,0.000,0.000,2060,2293,2708,2650,2766,0,0,0,0,0,0,14.84,14.86,14.85
$GC,3112,-0.40,105.6,2059,2295,2651,2766,156.5,-0.3,599,3127,0.00,0.00,11.23,1.510,8230,0.000,0.000,2060,2293,2673,2616,2730,0,0,0,0,0,0,14.85,14.34,13.48
$GC,3307,-0.40,105.6,2060,2294,2613,2727,153.5,2.0,637,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2294,2669,2612,2726,0,0,0,0,0,0,14.80,14.82,14.81
$GC,3492,-0.40,105.6,2059,2294,2612,2727,150.4,1.5,674,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2294,2669,2612,2726,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3677,-0.40,105.6,2059,2294,2611,2727,148.0,1.2,711,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2294,2669,2612,2726,0,0,0,0,0,0,14.85,14.87,14.87
$GC,3863,-0.40,105.6,2060,2295,2613,2727,146.2,0.8,748,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2294,2668,2611,2726,0,0,0,0,0,0,14.87,14.88,14.88
$GC,4048,-0.40,105.6,2060,2294,2613,2727,145.3,0.4,785,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2294,2668,2611,2726,0,0,0,0,0,0,14.87,14.89,14.88
$GC,4234,-0.40,105.6,2060,2295,2613,2726,144.7,0.3,822,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2294,2668,2611,2725,0,0,0,0,0,0,14.88,14.90,14.90
$GC,4420,-0.40,106.7,2059,2294,2611,2726,144.5,-0.0,859,4426,0.00,0.00,0.00,0.000,38,0.000,0.000,2059,2294,2668,2611,2726,0,0,0,0,0,0,14.87,14.90,14.89
$GC,4606,-0.40,110.5,2060,2294,2613,2726,144.8,-0.2,896,4614,0.00,0.00,1.55,0.287,8230,0.000,0.000,2059,2294,2662,2604,2720,0,0,0,0,0,0,14.88,14.11,13.83
$STATE,4739,end loiter,LOITER_COMPLETE
$STATE,4739,begin climb
$GC,4741,0.65,145.9,2059,2294,2608,2726,145.0,0.0,922,4805,1.25,2.58,56.60,1.207,10500,0.256,0.106,2395,3721,2505,2447,2564,0,0,0,0,0,0,14.02,14.02,13.44
$GC,4901,0.68,242.3,2395,3722,2444,2557,138.9,5.6,950,5044,0.00,2.28,137.00,1.101,9382,0.000,0.048,2396,2333,2118,2048,2189,0,0,0,0,0,0,14.28,14.20,13.09
$GC,5228,0.80,304.8,2396,2334,2031,2175,117.2,7.1,1010,5323,0.17,0.00,88.68,1.073,10406,0.110,0.000,2479,2334,1857,1784,1930,0,0,0,0,0,0,13.97,13.74,13.10
$GC,5503,0.80,304.8,2480,2334,1773,1921,86.0,10.3,1062,5509,0.00,2.45,0.00,0.000,516,0.000,0.074,2484,923,1845,1771,1919,0,0,0,0,0,0,14.30,13.98,14.31
$GC,5534,0.80,304.8,2485,924,1772,1918,82.8,10.3,1068,5540,0.00,2.42,0.00,0.000,1030,0.000,0.073,2484,2315,1843,1770,1917,0,0,0,0,0,0,14.14,14.02,14.17
$GC,5720,0.83,347.6,2484,2316,1769,1915,65.5,8.0,1105,5751,0.00,2.60,21.23,0.385,8484,0.000,0.105,2484,3724,1694,1621,1767,0,0,0,0,0,0,14.45,14.03,13.70
$GC,5848,0.86,380.6,2484,3724,1626,1769,54.9,8.5,1129,5872,0.00,2.33,20.62,0.353,9254,0.000,0.050,2485,2328,1554,1489,1620,0,0,0,0,0,0,14.30,14.21,13.73
$GC,6053,1.01,481.4,2484,2329,1491,1634,42.2,5.4,1169,6119,0.12,2.42,59.17,0.315,10916,0.129,0.074,2552,921,1141,1087,1196,0,0,0,0,0,0,14.18,13.95,13.72
$GC,6151,1.06,483.6,2552,921,1087,1202,34.0,9.9,1186,6157,0.00,2.40,0.00,0.000,1190,0.000,0.072,2552,2320,1144,1087,1202,0,0,0,0,0,0,14.19,14.07,14.23
$GC,6337,1.19,561.1,2549,2321,1088,1203,17.2,6.4,1223,6385,0.00,0.00,46.08,0.245,8358,0.000,0.000,2552,2320,817,767,867,0,0,0,0,0,0,14.52,14.13,13.85
$STATE,6538,end climb,SURFACE_DEPTH_REACHED
$STATE,6538,begin surface coast
$FINISH,0.1,1.020979
$STATE,6558,end surface coast,CONTROL_FINISHED_OK
$STATE,6558,begin surface
$SM_CCo,6575,44.12,0.201,0,0,499,639.50
$SM_CCo,6622,-0.08,0.000,0,0,499,639.25
$SM_CCo,6625,-0.05,0.000,0,0,499,639.50
$SM_GC,1.04,6.95,0.32,-0.05,0.076,0.104,0.000,180,2510,499,-6.19,-0.59,639.50,0,0,0,0,0,0,14.34,14.26,13.74
$RAFOS_CLK,412
$RAFOS_FIX,7445.924316,-14631.064453,310817,202010,4,255,0.21
$IRIDIUM_FIX,7445.61,-14639.02,310817,190620
$TT8_MAMPS,0.041944,0.517559
$HUMID,46.53
$INTERNAL_PRESSURE,7.52882
$TCM_TEMP,12.90
$XPDR_PINGS,13
$PM_FREEKB_00,47388672
$24V_AH,12.59,124.581
$10V_AH,12.82,0.000
$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,20.375,28.900,756.075,44.125,0.000,0.000,0.000,284.600,3.250,0.000,42.460,0.000,3320.515,867.075,2686.715,280.894,0.000,2145.739,0.000,1805.224,0.000,0.536,0.000
$DEVICE_MAMPS,494.955,112.455,1510.110,201.195,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2979.000,2972.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.372,16.243,0.000,0.000
$MEM,323420
$DATA_FILE_SIZE,39926,1266
$CAP_FILE_SIZE,108741,0
$CFSIZE,2097872896,2041380864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1441.5
$CURRENT,0.026,192.44,1
$GPS,310817,230544,7446.548,-14628.501,3,0.8,12,22.6,0.0,0.0,10,6.6