version: 66.13
glider: 198
mission: 13
dive: 18
start: 9 23 118 6 0 59
data:
$ID,198
$MISSION,13
$DIVE,18
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$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,330
$T_MISSION,400
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53670
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3980
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,35
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,160
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.32826
$PRESSURE_SLOPE,0.00010704
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$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,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044050296
$SEABIRD_T_H,0.00064172043
$SEABIRD_T_I,2.6501684e-05
$SEABIRD_T_J,3.2658481e-06
$SEABIRD_C_G,-9.7956734
$SEABIRD_C_H,1.1257488
$SEABIRD_C_I,-0.0015621729
$SEABIRD_C_J,0.00020328934
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,230918,054902,7425.1636,-14640.2471,35,0.8,35,22.4,0.0,0.0,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-63.8
$GPS2,230918,060024,7425.1929,-14640.3525,7,0.8,8,22.4,0.0,0.0,9,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,60.5,64055,-18.3,-10.000,-21.02,2236
$D_GRID,990
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.96,-146.0,228,2255,420,570,0.0,0.0,0,134,0.00,0.00,-123.18,0.004,16386,0.000,0.000,225,2255,2266,2272,2261,0,0,0,0,0,0,14.19,28.83,14.22
$PING,11.5,13.5,9000.0,0.00,0.00
$GC,135,-0.96,-146.0,228,2256,2274,2263,4.9,-8.7,12,186,10.57,2.50,-34.08,0.006,18948,0.474,0.119,2165,842,3765,3759,3771,0,0,0,0,0,0,13.87,13.54,14.09
$PING,21.6,9.6,9000.0,0.00,0.00
$PING,32.0,35.8,9000.0,1.10,0.63
$PING,42.2,45.2,9000.0,1.73,0.93
$GC,350,-0.96,-146.0,2170,843,3760,3772,59.4,-22.7,54,356,0.00,2.53,0.00,0.000,1030,0.000,0.098,2161,2246,3766,3760,3772,0,0,0,0,0,0,14.16,14.09,14.19
$PING,63.6,67.9,67.7,1.02,1.00
$PING,75.1,79.9,79.9,1.06,1.00
$GC,540,-0.96,-146.0,2161,2247,3760,3772,93.4,-15.7,74,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2247,3765,3759,3772,0,0,0,0,0,0,14.37,14.40,14.40
$PING,96.5,102.0,102.0,1.04,1.00
$GC,720,-0.96,-146.0,2161,2247,3760,3772,119.7,-14.0,92,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2246,3765,3759,3772,0,0,0,0,0,0,14.42,14.45,14.44
$GC,900,-0.96,-146.0,2161,2247,3760,3772,143.9,-13.2,110,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2246,3768,3765,3772,0,0,0,0,0,0,14.46,14.49,14.49
$GC,1080,-0.96,-146.0,2160,2247,3760,3773,167.1,-12.6,128,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2246,3765,3760,3771,0,0,0,0,0,0,14.49,14.52,14.51
$GC,1260,-0.96,-146.0,2161,2247,3759,3772,189.4,-12.2,146,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2246,3769,3760,3778,0,0,0,0,0,0,14.51,14.54,14.54
$GC,1440,-0.96,-146.0,2161,2247,3760,3772,211.1,-11.9,164,1446,0.00,2.47,0.00,0.000,516,0.000,0.106,2160,848,3765,3759,3771,0,0,0,0,0,0,14.54,14.32,14.56
$GC,1490,-0.96,-146.0,2161,848,3761,3772,217.2,-12.2,174,1496,0.00,2.47,0.00,0.000,1030,0.000,0.097,2159,2252,3765,3759,3772,0,0,0,0,0,0,14.39,14.33,14.42
$GC,1680,-0.96,-146.0,2159,2253,3760,3772,239.3,-11.5,194,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2252,3765,3760,3771,0,0,0,0,0,0,14.55,14.58,14.58
$GC,1870,-0.96,-146.0,2159,2252,3760,3772,260.4,-11.0,207,1876,0.00,2.60,0.00,0.000,260,0.000,0.143,2152,3660,3765,3759,3772,0,0,0,0,0,0,14.58,14.35,14.61
$GC,1900,-0.96,-146.0,2153,3661,3760,3772,263.8,-11.5,213,1907,0.00,2.35,0.00,0.000,1030,0.000,0.058,2152,2242,3765,3759,3771,0,0,0,0,0,0,14.43,14.40,14.45
$GC,2231,-0.96,-146.0,2149,2242,3760,3772,297.5,-9.9,229,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2242,3765,3759,3772,0,0,0,0,0,0,14.62,14.66,14.65
$GC,2531,-0.96,-146.0,2152,2242,3760,3772,325.9,-9.3,239,2537,0.00,2.38,0.00,0.000,516,0.000,0.091,2152,860,3765,3759,3771,0,0,0,0,0,0,14.66,14.45,14.68
$GC,2575,-0.96,-146.0,2151,861,3760,3771,330.2,-9.7,248,2582,0.00,2.42,0.00,0.000,1030,0.000,0.096,2152,2252,3765,3759,3772,0,0,0,0,0,0,14.51,14.45,14.54
$GC,2891,-0.96,-146.0,2152,2252,3759,3772,358.4,-8.7,261,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3771,0,0,0,0,0,0,14.68,14.71,14.70
$GC,3191,-0.96,-146.0,2152,2252,3759,3772,383.9,-8.5,271,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3769,3766,3772,0,0,0,0,0,0,14.69,14.73,14.72
$GC,3491,-0.96,-146.0,2152,2253,3760,3772,409.7,-8.6,281,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2252,3765,3759,3771,0,0,0,0,0,0,14.71,14.73,14.73
$GC,3791,-0.96,-146.0,2152,2252,3760,3772,435.5,-8.7,291,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3772,0,0,0,0,0,0,14.72,14.75,14.74
$GC,4090,-0.96,-146.0,2153,2252,3760,3772,461.8,-8.8,301,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3771,0,0,0,0,0,0,14.73,14.76,14.76
$GC,4391,-0.96,-146.0,2153,2253,3760,3772,488.2,-8.8,311,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3772,0,0,0,0,0,0,14.73,14.77,14.76
$GC,4690,-0.96,-146.0,2152,2252,3760,3773,514.7,-8.9,321,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2251,3765,3759,3771,0,0,0,0,0,0,14.73,14.78,14.77
$GC,4990,-0.96,-146.0,2152,2252,3760,3768,541.1,-8.7,331,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3771,0,0,0,0,0,0,14.78,14.78,14.78
$GC,5291,-0.96,-146.0,2152,2252,3760,3772,567.1,-8.6,341,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3772,0,0,0,0,0,0,14.76,14.79,14.79
$GC,5590,-0.96,-146.0,2153,2252,3760,3772,592.6,-8.5,351,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3772,0,0,0,0,0,0,14.77,14.80,14.80
$GC,5890,-0.96,-146.0,2153,2252,3760,3772,618.0,-8.5,361,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2252,3765,3759,3772,0,0,0,0,0,0,14.77,14.81,14.80
$GC,6192,-0.96,-146.0,2152,2252,3758,3772,643.0,-8.3,371,6197,0.00,2.35,0.00,0.000,516,0.000,0.091,2152,847,3765,3759,3772,0,0,0,0,0,0,14.76,14.57,14.77
$GC,6235,-0.96,-146.0,2152,848,3760,3772,646.9,-8.7,380,6242,0.00,2.42,0.00,0.000,1030,0.000,0.093,2152,2258,3765,3759,3772,0,0,0,0,0,0,14.63,14.59,14.65
$GC,6551,-0.96,-146.0,2152,2259,3760,3772,672.8,-8.2,393,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2258,3766,3760,3772,0,0,0,0,0,0,14.77,14.81,14.80
$GC,6851,-0.96,-146.0,2152,2258,3760,3772,697.0,-8.0,403,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2258,3765,3759,3772,0,0,0,0,0,0,14.78,14.81,14.81
$GC,7151,-0.96,-146.0,2153,2258,3760,3772,721.0,-8.0,413,7152,0.00,0.00,0.00,0.000,38,0.000,0.000,2152,2258,3765,3760,3771,0,0,0,0,0,0,14.74,14.77,14.77
$GC,7451,-0.96,-146.0,2152,2258,3761,3772,745.1,-8.0,423,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2258,3764,3757,3772,0,0,0,0,0,0,14.69,14.73,14.72
$GC,7750,-0.96,-146.0,2152,2258,3761,3772,769.3,-8.1,433,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2258,3766,3760,3772,0,0,0,0,0,0,14.65,14.69,14.69
$GC,8051,-0.96,-146.0,2153,2259,3761,3772,793.5,-8.1,443,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3766,3760,3772,0,0,0,0,0,0,14.64,14.66,14.66
$GC,8351,-0.96,-146.0,2152,2259,3761,3772,817.7,-8.1,453,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3766,3760,3772,0,0,0,0,0,0,14.62,14.65,14.64
$GC,8650,-0.96,-146.0,2152,2259,3761,3772,842.0,-8.1,463,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2259,3766,3760,3773,0,0,0,0,0,0,14.60,14.64,14.63
$GC,8951,-0.96,-146.0,2152,2259,3762,3772,866.0,-8.0,473,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3765,3760,3771,0,0,0,0,0,0,14.58,14.62,14.62
$GC,9251,-0.96,-146.0,2152,2259,3763,3772,889.7,-7.9,483,9252,0.00,0.00,0.00,0.000,38,0.000,0.000,2152,2259,3766,3761,3772,0,0,0,0,0,0,14.59,14.62,14.62
$GC,9551,-0.96,-146.0,2152,2259,3761,3772,913.0,-7.7,493,9552,0.00,0.00,0.00,0.000,38,0.000,0.000,2152,2259,3766,3760,3772,0,0,0,0,0,0,14.65,14.68,14.67
$GC,9851,-0.96,-146.0,2153,2259,3762,3772,936.1,-7.7,503,9852,0.00,0.00,0.00,0.000,38,0.000,0.000,2152,2259,3766,3761,3772,0,0,0,0,0,0,14.69,14.71,14.71
$GC,10151,-0.96,-146.0,2152,2260,3761,3772,959.1,-7.6,513,10151,0.00,0.00,0.00,0.000,38,0.000,0.000,2152,2260,3766,3761,3771,0,0,0,0,0,0,14.71,14.74,14.73
$GC,10451,-0.96,-146.0,2152,2259,3761,3772,981.7,-7.6,523,10452,0.00,0.00,0.00,0.000,38,0.000,0.000,2152,2258,3766,3760,3772,0,0,0,0,0,0,14.72,14.76,14.75
$STATE,10570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10570,begin apogee
$GC,10572,-0.25,0.0,2153,2511,3762,3772,990.7,-7.5,527,10712,0.68,0.00,136.68,2.401,10246,0.230,0.000,2342,2511,3163,3020,3307,0,0,0,0,0,0,14.47,13.50,12.69
$STATE,10713,end apogee,CONTROL_FINISHED_OK
$STATE,10713,begin climb
$GC,10714,0.96,146.0,2342,2511,3020,3307,994.1,0.0,531,10865,0.95,2.58,141.43,2.327,10500,0.148,0.148,2624,3790,2567,2376,2758,0,0,0,0,0,0,13.47,13.27,12.56
$GC,11009,0.96,146.0,2625,3791,2366,2759,975.2,9.7,589,11015,0.00,2.30,0.00,0.000,1030,0.000,0.073,2633,2509,2562,2365,2759,0,0,0,0,0,0,13.85,13.79,13.88
$GC,11320,0.98,146.0,2633,2510,2361,2758,947.3,8.9,601,11326,0.00,2.53,0.00,0.000,324,0.000,0.174,2633,3800,2559,2360,2758,0,0,0,0,0,0,14.26,14.04,14.28
$GC,11370,0.98,146.0,2634,3801,2361,2759,942.2,10.4,611,11376,0.00,2.33,0.00,0.000,1030,0.000,0.083,2639,2491,2559,2360,2758,0,0,0,0,0,0,14.16,14.11,14.19
$GC,11681,0.99,146.0,2639,2491,2359,2759,913.6,9.2,623,11686,0.00,2.50,0.00,0.000,324,0.000,0.174,2639,3790,2558,2358,2758,0,0,0,0,0,0,14.40,14.19,14.43
$GC,11745,0.99,146.0,2640,3790,2359,2759,906.8,10.7,636,11751,0.00,2.28,0.00,0.000,1030,0.000,0.082,2647,2491,2557,2357,2758,0,0,0,0,0,0,14.31,14.25,14.33
$GC,12071,0.99,146.0,2647,2491,2357,2759,875.7,9.5,651,12076,0.00,2.47,0.00,0.000,260,0.000,0.166,2647,3798,2557,2357,2758,0,0,0,0,0,0,14.52,14.28,14.55
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$STATE,21966,end climb,SURFACE_DEPTH_REACHED
$STATE,21966,begin surface coast
$FINISH,0.1,1.021211
$STATE,21996,end surface coast,CONTROL_FINISHED_OK
$STATE,21996,begin surface
$SM_CCo,22069,0.00,0.000,0,0,496,655.20
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$RAFOS_CLK,37
$RAFOS_FIX,7425.752930,-14644.536133,230918,121202,0,1,0.11
$IRIDIUM_FIX,7424.35,-14623.03,220918,232330
$TT8_MAMPS,0.076398,0.546021
$HUMID,50.86
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,21.2
$SC_FREEKB,4007968
$24V_AH,12.56,9.393
$10V_AH,12.96,0.000
$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,20.700,152.700,682.600,0.000,0.000,0.000,0.000,518.950,45.250,0.000,16.500,0.000,17960.307,986.933,3628.999,154.723,0.000,2700.517,0.000,2149.492,4430.000,319.260,0.000
$DEVICE_MAMPS,474.300,173.655,2400.570,0.000,0.000,0.000,0.000,208.845,420.000,0.000,18.720,0.000,2.310,10.720,28.700,35.440,0.000,11.000,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.180,0.000,0.000,0.000
$MEM,326048
$DATA_FILE_SIZE,53279,1505
$CAP_FILE_SIZE,209975,0
$CFSIZE,260157440,256212992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10826.94,0x2355a8,1,24
$SOUNDSPEED,1453.0
$CURRENT,0.057,325.89,1
$GPS,230918,120957,7426.319,-14630.793,36,0.9,37,22.5,0.0,0.0,8,8.1