version: 66.13
glider: 198
mission: 8
dive: 63
start: 9 5 116 3 25 43
data:
$ID,198
$MISSION,8
$DIVE,63
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,330
$D_ABORT,350
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,110
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$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,53552
$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,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,692.78448
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$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,212
$PITCH_MAX,3894
$C_PITCH,2510
$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,50
$C_ROLL_DIVE,3100
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$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,3135
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,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,-160.38615
$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,5
$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
$LOGGERDEVICE2,87
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043050982
$SEABIRD_T_H,0.00061941822
$SEABIRD_T_I,2.1629137e-05
$SEABIRD_T_J,2.164825e-06
$SEABIRD_C_G,-9.9284992
$SEABIRD_C_H,1.1529615
$SEABIRD_C_I,-0.0017988096
$SEABIRD_C_J,0.00021813816
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,050916,031503,7518.6953,-15009.9033,42,0.9,42,21.2,0.0,0.0,9,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-65.8
$GPS2,050916,032515,7518.6475,-15009.9316,8,0.7,10,21.2,0.0,0.0,11,9.8
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,T6
$TGT_LATLONG,7430.000,-14900.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,133.4,96514,-17.5,-10.000,-21.45,2245
$D_GRID,1000
$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,-0.59,-145.9,187,3108,499,521,0.0,0.0,0,136,0.00,0.00,-121.12,0.000,16386,0.000,0.000,186,3107,2429,2387,2472,0,0,0,0,0,0,14.36,28.83,14.38
$GC,139,-0.59,-145.9,187,3108,2387,2473,3.5,-5.1,12,186,11.10,3.22,-30.38,0.000,18980,0.457,2.188,2309,1356,3733,3638,3829,0,0,0,0,0,0,14.00,13.34,14.26
$GC,412,-0.62,-145.9,2309,1356,3635,3837,55.5,-12.7,66,417,0.00,3.08,0.00,0.000,1158,0.000,0.086,2300,3097,3735,3634,3836,0,0,0,0,0,0,14.33,14.23,14.35
$GC,602,-0.67,-145.9,2301,3098,3633,3839,78.5,-11.8,86,607,0.00,2.90,0.00,0.000,644,0.000,0.048,2300,1354,3735,3632,3839,0,0,0,0,0,0,14.47,14.35,14.50
$GC,832,-0.76,-145.9,2301,1355,3632,3840,102.2,-9.9,132,837,0.00,3.08,0.00,0.000,1190,0.000,0.087,2297,3100,3736,3633,3839,0,0,0,0,0,0,14.40,14.30,14.42
$GC,1022,-0.85,-145.9,2297,3101,3631,3841,119.4,-8.6,143,1027,0.15,2.90,0.00,0.000,4772,0.109,0.045,2214,1349,3735,3630,3841,0,0,0,0,0,0,14.38,14.38,14.42
$GC,1102,-0.85,-145.9,2214,1349,3630,3842,129.3,-12.8,159,1108,0.12,3.08,0.00,0.000,3078,0.299,0.086,2230,3101,3735,3629,3842,0,0,0,0,0,0,14.26,14.34,14.42
$GC,1303,-0.85,-145.9,2230,3102,3631,3845,153.8,-12.2,172,1308,0.00,2.90,0.00,0.000,516,0.000,0.048,2230,1346,3736,3628,3845,0,0,0,0,0,0,14.57,14.42,14.59
$GC,1338,-0.87,-145.9,2231,1346,3628,3845,158.1,-12.0,179,1344,0.00,3.10,0.00,0.000,1158,0.000,0.088,2230,3105,3736,3628,3845,0,0,0,0,0,0,14.45,14.36,14.47
$GC,1523,-0.87,-145.9,2230,3106,3630,3846,180.5,-12.1,189,1529,0.00,2.90,0.00,0.000,516,0.000,0.048,2230,1348,3736,3627,3845,0,0,0,0,0,0,14.59,14.44,14.62
$GC,1554,-0.89,-145.9,2231,1348,3627,3846,184.2,-12.3,195,1559,0.00,3.08,0.00,0.000,1158,0.000,0.086,2221,3102,3735,3626,3845,0,0,0,0,0,0,14.50,14.40,14.51
$GC,1744,-0.89,-145.9,2220,3102,3628,3846,207.3,-12.0,206,1749,0.00,2.90,0.00,0.000,516,0.000,0.048,2221,1341,3736,3626,3846,0,0,0,0,0,0,14.62,14.43,14.64
$GC,1778,-0.89,-145.9,2220,1341,3628,3847,211.5,-11.7,213,1786,0.00,3.08,0.00,0.000,1030,0.000,0.086,2214,3101,3736,3626,3846,0,0,0,0,0,0,14.49,14.39,14.51
$GC,1964,-0.89,-145.9,2215,3102,3626,3846,233.3,-11.7,223,1969,0.00,2.88,0.00,0.000,516,0.000,0.048,2210,1356,3736,3626,3846,0,0,0,0,0,0,14.62,14.47,14.64
$GC,2024,-0.89,-145.9,2214,1356,3627,3847,240.4,-11.8,232,2029,0.00,3.05,0.00,0.000,1030,0.000,0.086,2206,3101,3736,3626,3846,0,0,0,0,0,0,14.49,14.40,14.51
$GC,2219,-0.89,-145.9,2207,3103,3626,3846,263.6,-12.0,244,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,3102,3736,3626,3846,0,0,0,0,0,0,14.57,14.59,14.59
$GC,2399,-0.89,-145.9,2207,3103,3626,3847,285.6,-12.2,253,2405,0.00,2.90,0.00,0.000,516,0.000,0.047,2206,1349,3735,3625,3846,0,0,0,0,0,0,14.56,14.40,14.57
$GC,2430,-0.89,-145.9,2205,1349,3626,3847,289.2,-11.6,259,2435,0.00,3.08,0.00,0.000,1030,0.000,0.086,2200,3100,3735,3625,3846,0,0,0,0,0,0,14.45,14.35,14.47
$GC,2620,-0.89,-145.9,2201,3107,3625,3842,310.0,-10.3,270,2625,0.00,2.90,0.00,0.000,516,0.000,0.047,2199,1346,3735,3624,3846,0,0,0,0,0,0,14.54,14.38,14.56
$GC,2660,-0.89,-145.9,2199,1347,3625,3847,313.9,-9.4,278,2665,0.00,3.10,0.00,0.000,1062,0.000,0.086,2190,3107,3734,3623,3846,0,0,0,0,0,0,14.44,14.34,14.45
$STATE,2838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2838,begin apogee
$GC,2844,-0.14,0.0,2193,2381,3625,3847,331.2,-9.7,290,2988,0.98,0.00,135.32,2.116,10246,0.229,0.000,2462,2380,3134,3050,3219,0,0,0,0,1,0,14.27,13.54,12.74
$STATE,2990,end apogee,CONTROL_FINISHED_OK
$STATE,2990,begin climb
$GC,2992,0.59,145.9,2469,2381,3062,3227,334.4,0.0,297,3242,0.73,0.00,244.35,0.993,10758,0.097,0.000,2696,2380,2538,2463,2613,0,0,0,0,0,0,13.56,13.34,12.94
$GC,3422,0.52,145.9,2696,2385,2442,2592,297.3,12.3,355,3427,0.00,2.65,0.00,0.000,388,0.000,0.100,2695,3786,2516,2442,2591,0,0,0,0,0,0,13.83,13.66,13.85
$GC,3652,0.40,145.9,2696,3787,2442,2586,271.7,10.6,401,3657,0.25,2.30,0.00,0.000,5254,0.264,0.041,2644,2410,2515,2442,2589,0,0,0,0,0,0,13.78,13.90,13.93
$GC,3843,0.48,227.7,2645,2411,2443,2589,259.2,6.3,412,3994,0.00,2.70,140.20,1.055,8612,0.000,0.100,2644,3787,2201,2128,2274,0,0,0,0,0,0,14.14,13.47,13.11
$GC,4219,0.52,238.1,2645,3788,2114,2261,225.6,9.5,487,4240,0.00,2.33,13.15,1.090,9382,0.000,0.041,2648,2404,2161,2086,2236,0,0,0,0,0,0,13.88,13.83,13.32
$MODEM_MSG,CACST,6,1,20160905040235.319315,3,43,10,0226,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$GC,4425,0.63,285.2,2648,2405,2072,2224,208.8,7.8,501,4510,0.17,0.00,76.32,1.053,10406,0.101,0.000,2732,2403,1969,1895,2044,0,0,0,0,1,0,13.93,13.62,13.06
$GC,4687,0.60,285.2,2733,2404,1895,2044,178.8,11.7,514,4693,0.00,2.58,0.00,0.000,388,0.000,0.099,2732,3787,1969,1895,2043,0,0,0,0,0,0,13.97,13.77,13.98
$GC,4733,0.54,285.2,2732,3787,1896,2044,172.5,14.2,523,4738,0.22,2.33,0.00,0.000,5254,0.246,0.041,2688,2403,1969,1894,2044,0,0,0,0,0,0,13.77,13.89,13.91
$GC,4929,0.61,309.2,2688,2403,1894,2043,154.3,8.9,535,4970,0.00,0.00,33.05,1.089,8358,0.000,0.000,2688,2405,1871,1797,1946,0,0,0,0,1,0,14.18,13.88,13.33
$GC,5149,0.68,328.3,2688,2404,1799,1947,134.3,9.1,546,5190,0.15,0.00,30.17,1.060,10406,0.110,0.000,2752,2402,1793,1723,1864,0,0,0,0,1,0,14.04,13.81,13.35
$GC,5368,0.68,328.3,2752,2403,1724,1865,106.8,12.7,557,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2403,1793,1723,1864,0,0,0,0,0,0,14.21,14.23,14.23
$GC,5548,0.68,328.3,2752,2403,1724,1864,84.9,11.7,572,5553,0.00,2.50,0.00,0.000,260,0.000,0.099,2753,3787,1793,1723,1864,0,0,0,0,0,0,14.29,14.10,14.31
$GC,5593,0.64,328.3,2753,3788,1724,1864,79.2,12.9,581,5600,0.17,2.30,0.00,0.000,5254,0.251,0.042,2718,2392,1793,1723,1863,0,0,0,0,0,0,14.04,14.16,14.19
$GC,5780,0.73,373.9,2718,2391,1724,1864,62.8,7.9,600,5812,0.00,0.00,30.30,0.364,8358,0.000,0.000,2718,2391,1609,1539,1679,0,0,0,0,0,0,14.36,14.20,13.98
$GC,5990,0.90,463.8,2718,2392,1557,1695,48.0,5.9,621,6058,0.22,2.60,62.97,0.330,10660,0.088,0.099,2821,3789,1241,1183,1300,0,0,0,0,0,0,14.23,14.09,13.95
$GC,6178,0.90,463.8,2825,3789,1183,1320,26.3,12.4,658,6185,0.00,2.28,0.00,0.000,1030,0.000,0.041,2831,2400,1251,1183,1320,0,0,0,0,0,0,14.26,14.21,14.27
$GC,6364,0.98,530.3,2831,2401,1185,1321,13.9,7.0,677,6418,0.00,2.97,46.60,0.238,8868,0.000,0.066,2833,670,974,918,1030,0,0,0,0,0,0,14.40,14.14,14.07
$FREEZE,8.97,0.152,-1.447,2,1,0
$FREEZE,8.71,0.152,-1.447,2,1,0
$FREEZE,8.34,0.152,-1.447,2,1,0
$FREEZE,8.05,0.152,-1.446,2,1,0
$FREEZE,7.55,0.152,-1.446,2,1,0
$FREEZE,6.98,0.151,-1.446,2,1,0
$FREEZE,6.32,0.151,-1.445,2,1,0
$FREEZE,5.76,0.152,-1.445,2,1,0
$FREEZE,4.59,0.152,-1.444,2,1,0
$FREEZE,3.98,0.153,-1.443,2,1,0
$FREEZE,3.03,0.153,-1.442,2,1,0
$FREEZE,2.28,0.154,-1.442,2,1,0
$GC,6465,1.11,596.3,2834,671,918,1038,7.6,7.0,696,6520,0.10,2.97,47.45,0.213,11430,0.151,0.062,2890,2409,699,662,737,0,0,0,0,0,0,14.20,14.16,14.06
$FREEZE,0.47,0.152,-1.441,2,1,0
$STATE,6523,end climb,SURFACE_DEPTH_REACHED
$STATE,6525,begin surface coast
$FREEZE,-0.06,0.104,-0.122,2,1,0
$FINISH,-0.1,1.001647
$STATE,6533,end surface coast,CONTROL_FINISHED_OK
$STATE,6533,begin surface
$SM_CCo,6552,36.20,0.202,0,0,499,646.37
$SM_CCo,6590,-0.45,0.000,0,0,501,646.37
$SM_CCo,6594,0.08,1.248,0,0,501,646.37
$SM_GC,0.82,8.02,1.25,0.08,0.077,0.096,1.248,188,3096,501,-7.14,-0.68,646.37,0,0,0,0,0,0,14.21,14.15,14.07
$RAFOS_CLK,290
$MODEM,0,1473048155,75.36600,-145.04601,101.319,146756.7
$RAFOS_FIX,7517.822754,-15010.940430,050916,000051,2,255,4.13
$IRIDIUM_FIX,7429.78,-15004.78,050916,000701
$TT8_MAMPS,0.040446,0.881573
$HUMID,55.82
$INTERNAL_PRESSURE,8.29057
$TCM_TEMP,12.90
$XPDR_PINGS,5
$SC_FREEKB,3988768
$PM_FREEKB,55595456
$24V_AH,12.74,33.469
$10V_AH,12.51,0.000
$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,22.400,87.000,859.900,36.275,0.000,0.000,0.000,397.000,1.250,0.000,11.588,0.000,4176.655,983.536,1789.965,255.514,0.000,2032.679,0.000,1012.807,2216.000,0.535,0.000
$DEVICE_MAMPS,457.470,2187.900,2115.990,1248.480,0.000,0.000,0.000,188.955,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6564.000,6533.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.289,18.597,0.000,0.000
$MEM,311120
$DATA_FILE_SIZE,23419,706
$CAP_FILE_SIZE,94363,0
$CFSIZE,2097872896,2075557888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$SOUNDSPEED,1442.9
$CURRENT,0.196,324.06,1
$GPS,050916,051632,7518.600,-15009.396,6,0.8,15,21.2,0.0,0.0,11,7.3