version: 66.13
glider: 198
mission: 12
dive: 296
start: 9 23 117 15 17 6
data:
$ID,198
$MISSION,12
$DIVE,296
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,85
$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,0.0022
$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,32
$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,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,774.0
$CP_NDIVE,1.0
$GPS1,230917,150719,7418.8979,-15346.6367,7,0.8,39,19.2,0.0,0.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.7
$GPS2,230917,151631,7418.9233,-15346.3877,9,0.7,11,19.2,0.0,0.0,12,9.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,204.5,1556,-19.7,-10.000,-27.15,2241
$D_GRID,180
$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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.65,-145.9,183,2519,516,485,0.0,0.0,0,163,0.00,0.00,-111.40,0.000,16386,0.000,0.000,182,2519,2140,2097,2183,0,0,0,0,0,0,14.47,28.83,14.46
$GC,166,-0.65,-145.9,180,2519,2101,2184,3.6,-8.5,19,221,10.80,2.58,-35.53,0.000,18724,0.489,2.149,1970,3764,3706,3679,3734,0,0,0,0,0,0,13.51,12.66,14.08
$GC,347,-0.56,-145.9,1973,3765,3674,3735,53.7,-24.2,53,354,0.17,2.12,0.00,0.000,3206,0.276,0.048,2008,2494,3704,3674,3735,0,0,0,0,0,0,13.78,14.10,14.11
$GC,534,-0.56,-145.9,2011,2495,3675,3737,84.2,-14.8,90,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2494,3705,3675,3736,0,0,0,0,0,0,14.56,14.57,14.57
$GC,721,-0.61,-145.9,2010,2495,3673,3737,109.2,-12.5,127,726,0.00,0.00,0.00,0.000,134,0.000,0.000,2010,2493,3703,3670,3736,0,0,0,0,0,0,14.57,14.58,14.59
$GC,906,-0.67,-145.9,2011,2494,3675,3737,131.1,-11.2,164,912,0.00,0.00,0.00,0.000,134,0.000,0.000,2011,2494,3704,3673,3736,0,0,0,0,0,0,14.58,14.60,14.62
$GC,1092,-0.76,-145.9,2011,2495,3676,3737,151.2,-10.5,201,1098,0.15,0.00,0.00,0.000,4230,0.118,0.000,1938,2491,3703,3670,3736,0,0,0,0,0,0,14.23,14.28,14.26
$GC,1279,-0.76,-145.9,1938,2494,3675,3737,178.6,-14.6,238,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2494,3706,3676,3736,0,0,0,0,0,0,14.59,14.63,14.62
$STATE,1286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1286,begin apogee
$GC,1292,-0.14,0.0,1938,2295,3674,3737,180.1,-14.7,240,1538,0.80,0.00,236.32,1.133,10246,0.248,0.000,2144,2291,3106,3066,3146,0,0,0,0,0,0,13.71,13.47,12.95
$STATE,1542,end apogee,CONTROL_FINISHED_OK
$STATE,1542,begin climb
$GC,1544,0.65,145.9,2144,2294,3065,3145,190.9,0.0,282,1757,0.85,2.47,186.18,1.099,10756,0.149,0.066,2402,942,2497,2435,2560,0,0,0,0,0,0,13.69,13.20,12.67
$GC,1767,0.65,145.9,2402,943,2434,2558,190.8,0.3,284,1773,0.00,2.47,0.00,0.000,1030,0.000,0.073,2403,2312,2494,2432,2557,0,0,0,0,0,0,13.64,13.51,13.66
$GC,1953,0.70,221.3,2402,2313,2426,2555,178.2,6.5,321,2059,0.00,2.42,97.53,1.108,8740,0.000,0.070,2401,935,2194,2128,2260,0,0,0,0,0,0,14.28,13.78,13.03
$GC,2286,0.83,272.5,2403,936,2118,2253,153.3,7.7,384,2359,0.20,2.40,66.62,1.108,11430,0.098,0.076,2502,2321,1995,1925,2066,0,0,0,0,0,0,14.18,14.08,13.26
$GC,2557,0.77,272.5,2503,2321,1906,2051,117.8,13.8,432,2563,0.20,2.38,0.00,0.000,4740,0.253,0.070,2458,945,1977,1905,2050,0,0,0,0,0,0,13.75,14.01,13.91
$GC,2718,0.82,287.2,2457,944,1904,2047,101.2,9.3,464,2742,0.00,2.40,15.68,1.193,9382,0.000,0.075,2458,2326,1931,1860,2002,0,0,0,0,0,0,14.16,14.02,13.29
$GC,2922,0.87,316.1,2458,2327,1851,1998,82.3,8.7,504,2946,0.00,2.60,14.80,0.411,8612,0.000,0.106,2458,3730,1825,1751,1899,0,0,0,0,0,0,14.41,13.99,13.59
$GC,3011,0.87,316.1,2458,3730,1756,1902,73.0,11.0,521,3018,0.00,2.35,1.73,0.249,9222,0.000,0.050,2458,2345,1818,1746,1891,0,0,0,0,0,0,14.16,14.07,13.80
$GC,3199,1.00,391.1,2457,2346,1753,1902,58.5,6.6,558,3253,0.15,2.53,44.75,0.356,10916,0.111,0.074,2548,919,1516,1445,1588,0,0,0,0,0,0,14.19,13.97,13.70
$GC,3315,1.02,414.2,2548,920,1446,1595,47.8,8.9,579,3339,0.00,2.45,15.62,0.321,9254,0.000,0.073,2548,2324,1419,1348,1491,0,0,0,0,0,0,14.05,13.93,13.65
$GC,3519,1.03,430.2,2547,2325,1350,1501,28.4,9.3,619,3538,0.00,2.60,10.60,0.269,8484,0.000,0.103,2548,3726,1355,1285,1425,0,0,0,0,0,0,14.39,13.95,13.75
$GC,3573,1.08,498.2,2546,3727,1288,1436,23.8,6.9,629,3621,0.00,2.38,41.90,0.258,9254,0.000,0.049,2554,2314,1073,1015,1132,0,0,0,0,0,0,14.17,14.05,13.76
$GC,3801,1.23,576.2,2555,2315,1022,1143,8.0,6.4,673,3855,0.12,2.47,45.40,0.209,10916,0.126,0.076,2641,922,755,709,802,0,0,0,0,0,0,14.05,13.96,13.74
$STATE,3858,end climb,SURFACE_DEPTH_REACHED
$STATE,3858,begin surface coast
$FINISH,0.0,1.020576
$STATE,3875,end surface coast,CONTROL_FINISHED_OK
$STATE,3875,begin surface
$SM_CCo,3897,37.53,0.197,0,0,500,639.74
$SM_CCo,3937,-0.05,0.000,0,0,499,639.50
$SM_CCo,3941,0.03,2.595,0,0,499,639.99
$SM_GC,0.89,7.20,2.83,0.03,0.067,0.083,2.595,182,2500,499,-6.18,-0.76,639.99,0,0,0,0,0,0,14.21,14.04,12.90
$RAFOS_CLK,91
$RAFOS_FIX,7445.924316,-14631.064453,310817,202010,4,255,0.21
$IRIDIUM_FIX,7418.45,-15347.43,230917,142624
$TT8_MAMPS,0.087633,0.886067
$HUMID,41.92
$INTERNAL_PRESSURE,7.55812
$TCM_TEMP,12.90
$XPDR_PINGS,8
$PM_FREEKB_00,33627840
$CP_FREE,15938682880.000000
$24V_AH,12.55,189.449
$10V_AH,12.43,0.000
$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,20.650,39.725,777.125,37.550,0.000,0.000,0.000,308.550,2.000,0.000,11.612,0.000,1618.239,702.882,1915.289,291.125,0.000,1808.640,0.000,993.824,2218.000,0.535,0.000
$DEVICE_MAMPS,488.835,2148.885,1192.635,2594.880,0.000,0.000,0.000,169.830,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3893.000,3880.000,3848.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.770,16.300,30.000,0.000
$MEM,323608
$DATA_FILE_SIZE,23375,686
$CAP_FILE_SIZE,77056,0
$CFSIZE,2097872896,2001436672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1442.9
$CURRENT,0.091,79.84,1
$GPS,230917,162354,7418.823,-15346.982,4,0.9,10,19.2,0.0,0.0,9,8.6