version: 66.13
glider: 198
mission: 12
dive: 5
start: 8 7 117 4 48 2
data:
$ID,198
$MISSION,12
$DIVE,5
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,420
$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,120
$T_MISSION,160
$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,0.00281
$HD_B,0.0107
$HD_C,1.91e-06
$HEADING,0
$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,2220
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$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
$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,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,72.0
$CP_NDIVE,1.0
$GPS1,070817,043756,7109.1948,-14738.7891,17,1.0,42,21.2,0.2,124.9,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.2
$GPS2,070817,044730,7109.1479,-14738.5918,18,0.9,23,21.2,0.4,116.7,10,9.8
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7119.947,-14738.592
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,295.7,20000,-17.5,-10.000,-21.45,2245
$D_GRID,360
$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,53,end surface,CONTROL_FINISHED_OK
$STATE,53,begin dive
$MODEM_MSG,CACST,6,1,20170807041515.737075,3,265,18,0294,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$GC,56,-0.59,-145.9,205,2615,496,504,0.0,0.0,0,167,0.00,0.00,-109.25,0.000,16386,0.000,0.000,203,2613,2105,2068,2142,0,0,0,0,0,0,14.17,28.83,14.19
$GC,171,-0.59,-145.9,204,2616,2072,2144,3.1,-6.4,18,231,10.45,2.78,-40.12,0.000,18980,0.483,2.140,2019,1197,3961,3912,4010,0,0,0,0,0,0,13.68,12.77,14.09
$GC,361,-0.53,-145.9,2020,1197,3916,4009,46.3,-17.0,54,368,0.15,2.55,0.00,0.000,3206,0.337,0.101,2045,2600,3961,3914,4008,0,0,0,0,0,0,13.81,14.00,14.08
$GC,548,-0.53,-145.9,2051,2600,3915,4010,73.5,-13.1,91,554,0.00,2.17,0.00,0.000,260,0.000,0.122,2040,3789,3962,3915,4009,0,0,0,0,0,0,14.35,13.97,14.36
$GC,584,-0.55,-145.9,2039,3789,3915,4009,78.4,-13.5,98,590,0.00,2.03,0.00,0.000,1158,0.000,0.059,2040,2587,3961,3914,4009,0,0,0,0,0,0,14.16,14.09,14.18
$GC,770,-0.59,-145.9,2041,2584,3916,4010,101.8,-12.0,135,776,0.00,2.38,0.00,0.000,644,0.000,0.073,2040,1192,3962,3915,4009,0,0,0,0,0,0,14.40,14.11,14.42
$GC,836,-0.66,-145.9,2046,1192,3916,4010,109.4,-11.5,148,843,0.00,2.53,0.00,0.000,1158,0.000,0.098,2037,2601,3962,3915,4009,0,0,0,0,0,0,14.22,14.07,14.26
$GC,1023,-0.73,-145.9,2038,2602,3916,4010,130.5,-10.6,185,1029,0.17,2.40,0.00,0.000,4740,0.109,0.068,1963,1195,3962,3915,4009,0,0,0,0,0,0,14.18,14.14,14.23
$GC,1074,-0.70,-145.9,1962,1195,3915,4006,137.9,-15.3,195,1081,0.12,2.53,0.00,0.000,3206,0.331,0.099,1985,2603,3959,3915,4004,0,0,0,0,0,0,13.88,14.07,14.16
$GC,1261,-0.70,-145.9,1986,2603,3914,4009,163.9,-13.4,232,1268,0.00,2.40,0.00,0.000,516,0.000,0.073,1986,1196,3961,3915,4008,0,0,0,0,0,0,14.45,14.12,14.49
$GC,1298,-0.73,-145.9,1986,1196,3916,4009,168.6,-12.4,239,1304,0.00,2.53,0.00,0.000,1158,0.000,0.099,1983,2601,3961,3914,4008,0,0,0,0,0,0,14.20,14.04,14.23
$GC,1484,-0.76,-145.9,1983,2601,3915,4009,190.7,-11.3,276,1490,0.00,0.00,0.00,0.000,134,0.000,0.000,1983,2600,3961,3915,4008,0,0,0,0,0,0,14.47,14.49,14.49
$GC,1670,-0.80,-145.9,1983,2601,3917,4009,210.6,-10.3,313,1676,0.00,2.40,0.00,0.000,644,0.000,0.073,1982,1195,3961,3914,4008,0,0,0,0,0,0,14.47,14.12,14.49
$GC,1778,-0.86,-145.9,1983,1196,3915,4009,221.3,-9.8,334,1784,0.12,2.53,0.00,0.000,5286,0.139,0.101,1924,2602,3960,3914,4007,0,0,0,0,0,0,14.14,14.04,14.23
$GC,1964,-0.81,-145.9,1924,2602,3913,4008,245.7,-13.4,371,1970,0.12,0.00,0.00,0.000,2182,0.289,0.000,1948,2602,3959,3911,4007,0,0,0,0,0,0,13.91,14.26,14.19
$GC,2150,-0.81,-145.9,1949,2602,3914,4007,267.7,-11.5,408,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2602,3960,3914,4007,0,0,0,0,0,0,14.51,14.53,14.53
$GC,2336,-0.81,-145.9,1949,2603,3914,4008,288.2,-10.6,445,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2602,3959,3912,4007,0,0,0,0,0,0,14.51,14.52,14.53
$GC,2522,-0.83,-145.9,1949,2604,3913,4008,307.5,-10.3,482,2528,0.00,2.42,0.00,0.000,644,0.000,0.074,1948,1188,3959,3912,4006,0,0,0,0,0,0,14.52,14.16,14.54
$GC,2598,-0.87,-145.9,1948,1187,3912,4007,315.2,-10.2,497,2604,0.00,2.55,0.00,0.000,1158,0.000,0.102,1948,2603,3959,3912,4006,0,0,0,0,0,0,14.21,14.04,14.25
$GC,2784,-0.89,-145.9,1949,2604,3912,4007,334.7,-10.8,534,2790,0.00,0.00,0.00,0.000,134,0.000,0.000,1948,2603,3959,3912,4006,0,0,0,0,0,0,14.50,14.52,14.52
$GC,2995,-0.92,-145.9,1948,2604,3912,4007,356.5,-10.3,566,3000,0.00,2.42,0.00,0.000,644,0.000,0.073,1948,1189,3958,3911,4006,0,0,0,0,0,0,14.53,14.11,14.54
$STATE,3032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3032,begin apogee
$GC,3039,-0.14,0.0,1949,2405,3912,4006,360.5,-10.0,574,3277,0.85,0.00,235.25,1.190,10246,0.249,0.000,2169,2403,3367,3318,3417,0,0,0,0,0,0,13.95,13.63,13.09
$STATE,3279,end apogee,CONTROL_FINISHED_OK
$STATE,3279,begin climb
$GC,3281,0.59,145.9,2170,2404,3313,3411,370.5,0.0,582,3466,0.75,2.58,175.38,1.206,10756,0.088,0.073,2423,993,2761,2699,2824,0,0,0,0,0,0,13.65,13.32,12.87
$GC,3632,0.40,145.9,2423,994,2687,2800,348.1,12.7,644,3638,0.32,2.58,0.00,0.000,5254,0.291,0.086,2351,2409,2741,2684,2799,0,0,0,0,0,0,13.53,13.70,13.79
$GC,3818,0.29,149.3,2352,2409,2682,2798,329.2,9.8,681,3825,0.15,2.58,0.00,0.000,4516,0.291,0.116,2314,3789,2738,2680,2797,0,0,0,0,0,0,13.66,13.79,13.83
$GC,3876,0.20,149.3,2314,3790,2681,2797,323.4,10.0,692,3882,0.12,2.40,0.00,0.000,5254,0.301,0.060,2293,2391,2738,2680,2796,0,0,0,0,0,0,13.67,13.91,13.94
$GC,4062,0.24,207.1,2293,2391,2674,2797,310.0,7.4,729,4140,0.00,0.00,73.00,1.199,8230,0.000,0.000,2296,2390,2513,2450,2577,0,0,0,0,0,0,14.26,13.77,13.23
$GC,4320,0.31,251.4,2293,2391,2431,2558,290.1,8.0,778,4379,0.00,0.00,54.03,1.180,8358,0.000,0.000,2293,2390,2332,2266,2398,0,0,0,0,0,0,14.19,13.77,13.24
$GC,4559,0.41,293.4,2293,2391,2251,2382,270.9,8.1,824,4620,0.15,2.47,53.70,1.168,10916,0.125,0.080,2369,1000,2157,2086,2228,0,0,0,0,0,0,13.99,13.67,13.25
$GC,4645,0.41,293.4,2370,1000,2080,2218,260.9,12.5,839,4651,0.00,2.53,0.00,0.000,1030,0.000,0.086,2369,2403,2146,2077,2216,0,0,0,0,0,0,13.91,13.81,13.93
$GC,4831,0.38,293.4,2370,2399,2072,2214,237.1,12.6,876,4837,0.00,0.00,0.00,0.000,134,0.000,0.000,2369,2398,2145,2077,2213,0,0,0,0,0,0,14.21,14.21,14.22
$GC,5017,0.36,293.4,2369,2398,2069,2212,214.2,12.3,913,5023,0.00,0.00,0.00,0.000,134,0.000,0.000,2370,2398,2140,2068,2212,0,0,0,0,0,0,14.28,14.31,14.31
$GC,5203,0.34,293.4,2370,2399,2069,2211,192.4,11.3,950,5210,0.15,2.45,0.00,0.000,4740,0.261,0.080,2343,996,2138,2066,2210,0,0,0,0,0,0,13.90,13.97,13.97
$GC,5285,0.42,320.7,2344,997,2069,2209,184.7,8.7,966,5321,0.00,2.50,31.95,1.158,9382,0.000,0.087,2343,2403,2058,1987,2130,0,0,0,0,0,0,14.14,14.01,13.46
$GC,5501,0.50,347.1,2344,2401,1964,2108,166.2,8.8,1008,5538,0.12,0.00,33.67,1.135,10918,0.135,0.000,2399,2400,1947,1875,2020,0,0,0,0,0,0,14.09,13.95,13.41
$GC,5718,0.50,348.8,2399,2400,1856,1998,142.4,9.9,1050,5724,0.00,2.45,0.00,0.000,548,0.000,0.082,2403,1001,1928,1855,2002,0,0,0,0,0,0,14.26,14.00,14.30
$GC,5769,0.50,348.8,2404,1002,1852,2001,137.3,10.1,1060,5775,0.00,2.50,0.00,0.000,1030,0.000,0.087,2404,2404,1927,1854,2000,0,0,0,0,0,0,14.09,13.98,14.12
$GC,5955,0.50,349.4,2404,2404,1853,2000,117.8,10.0,1097,5962,0.00,2.47,0.00,0.000,548,0.000,0.083,2406,993,1926,1853,1999,0,0,0,0,0,0,14.36,14.04,14.38
$GC,5997,0.54,359.0,2405,993,1853,1999,113.8,9.6,1105,6010,0.00,2.50,4.43,1.074,9382,0.000,0.088,2406,2401,1903,1830,1977,0,0,0,0,0,0,14.19,14.06,13.38
$GC,6190,0.55,382.4,2406,2401,1839,1984,95.7,8.9,1143,6209,0.00,0.00,15.62,0.428,8230,0.000,0.000,2406,2401,1806,1735,1878,0,0,0,0,0,0,14.35,14.12,13.72
$GC,6389,0.60,408.0,2407,2402,1752,1893,78.0,8.8,1182,6413,0.00,2.47,17.90,0.396,8868,0.000,0.080,2411,994,1704,1636,1773,0,0,0,0,0,0,14.35,13.95,13.74
$GC,6463,0.67,420.7,2411,995,1642,1784,71.1,9.4,1196,6482,0.00,2.50,10.60,0.363,9382,0.000,0.088,2412,2399,1653,1584,1723,0,0,0,0,0,0,14.16,14.04,13.71
$GC,6662,0.76,457.6,2411,2400,1594,1735,52.9,8.3,1235,6692,0.15,0.00,24.95,0.333,10406,0.126,0.000,2483,2399,1501,1431,1572,0,0,0,0,0,0,14.07,13.97,13.77
$GC,6872,0.76,457.6,2483,2400,1441,1588,28.9,10.2,1276,6879,0.00,2.62,2.33,0.233,8452,0.000,0.118,2483,3787,1499,1427,1572,0,0,0,0,0,0,14.33,13.99,13.88
$GC,7104,0.94,678.1,2484,3787,1442,1585,16.8,-0.1,1322,7250,0.12,2.35,132.43,0.233,11430,0.140,0.057,2537,2390,600,571,630,0,0,0,0,0,0,14.03,14.04,13.83
$STATE,7393,end climb,SURFACE_DEPTH_REACHED
$STATE,7393,begin surface coast
$FINISH,-0.0,1.010508
$STATE,7423,end surface coast,CONTROL_FINISHED_OK
$STATE,7423,begin surface
$SM_CCo,7442,11.50,0.203,0,0,538,692.97
$SM_GC,1.95,7.10,0.40,11.50,0.093,0.110,0.203,197,2604,538,-6.23,-0.62,692.97,0,0,0,0,0,0,14.16,14.07,13.94
$RAFOS_CLK,442
$MODEM,2,1502079315,73.18300,-149.96500,168.737,244609.9
$RAFOS_FIX,7435.218750,-15037.742188,070817,000007,2,255,0.00
$IRIDIUM_FIX,7111.88,-14736.33,070817,022751
$TT8_MAMPS,0.041944,0.814912
$HUMID,51.29
$INTERNAL_PRESSURE,7.62648
$TCM_TEMP,13.60
$XPDR_PINGS,0
$PM_FREEKB_00,62176832
$CP_FREE,0.000000
$24V_AH,12.77,52.484
$10V_AH,12.72,0.000
$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,21.150,79.175,865.225,11.500,0.000,0.000,0.000,336.875,0.000,0.000,24.822,0.000,3716.964,964.052,3075.347,285.744,0.000,2411.017,0.000,1976.412,0.000,0.536,0.000
$DEVICE_MAMPS,482.715,2139.705,1205.640,202.725,0.000,0.000,0.000,194.310,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7442.000,7433.000,4194.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.899,16.341,111.000,0.000
$MEM,324692
$DATA_FILE_SIZE,46602,1381
$CAP_FILE_SIZE,129713,0
$CFSIZE,2097872896,2086830080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.9
$CURRENT,0.196,84.85,1
$GPS,070817,065323,7109.881,-14738.324,12,0.8,17,21.2,0.0,0.0,11,9.3