version: 66.13
glider: 198
mission: 12
dive: 6
start: 8 7 117 7 5 8
data:
$ID,198
$MISSION,12
$DIVE,6
$N_DIVES,10
$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,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,47
$R_STBD_OVSHOOT,19
$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,74.0
$CP_NDIVE,1.0
$GPS1,070817,065323,7109.8809,-14738.3242,12,0.8,17,21.2,0.0,0.0,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.7
$GPS2,070817,070435,7109.8320,-14738.2275,15,1.0,37,21.2,0.0,0.0,9,8.3
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7120.631,-14738.228
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,293.8,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.59,-145.9,198,2495,534,553,0.0,0.0,0,129,0.00,0.00,-103.82,0.000,16386,0.000,0.000,197,2493,2146,2111,2181,0,0,0,0,0,0,14.24,28.83,14.26
$GC,132,-0.59,-145.9,199,2497,2115,2182,3.7,-9.0,18,186,10.32,2.60,-37.03,0.000,18724,0.479,2.171,1994,3784,3961,3909,4013,0,0,0,0,0,0,13.66,13.02,14.07
$GC,411,-0.48,-145.9,1994,3784,3912,4014,66.6,-18.3,72,418,0.20,2.15,0.00,0.000,3206,0.293,0.057,2035,2509,3961,3910,4013,0,0,0,0,0,0,13.76,14.07,14.05
$GC,598,-0.48,-145.9,2035,2510,3912,4014,92.9,-13.1,109,604,0.00,2.35,0.00,0.000,260,0.000,0.117,2030,3786,3961,3911,4012,0,0,0,0,0,0,14.33,13.93,14.35
$GC,674,-0.53,-145.9,2029,3786,3911,4012,102.6,-12.1,124,681,0.00,2.17,0.00,0.000,1158,0.000,0.057,2030,2491,3962,3911,4013,0,0,0,0,0,0,14.10,14.02,14.13
$GC,861,-0.59,-145.9,2029,2492,3911,4013,124.4,-11.2,161,867,0.00,2.38,0.00,0.000,644,0.000,0.073,2030,1099,3961,3911,4012,0,0,0,0,0,0,14.38,14.06,14.40
$GC,907,-0.67,-145.9,2030,1100,3911,4013,129.5,-10.8,170,913,0.15,2.50,0.00,0.000,5254,0.119,0.094,1963,2501,3963,3914,4013,0,0,0,0,0,0,14.14,14.04,14.21
$GC,1094,-0.63,-145.9,1964,2502,3912,4012,157.0,-14.3,207,1100,0.12,2.42,0.00,0.000,2692,0.296,0.073,1988,1099,3961,3910,4012,0,0,0,0,0,0,13.90,13.99,14.15
$GC,1110,-0.63,-145.9,1989,1099,3912,4013,159.3,-14.2,210,1116,0.00,2.50,0.00,0.000,1030,0.000,0.095,1983,2498,3961,3911,4012,0,0,0,0,0,0,14.15,14.02,14.19
$GC,1296,-0.65,-145.9,1984,2499,3912,4012,180.9,-12.0,247,1302,0.00,0.00,0.00,0.000,134,0.000,0.000,1984,2498,3960,3911,4009,0,0,0,0,0,0,14.41,14.43,14.43
$GC,1482,-0.69,-145.9,1985,2497,3912,4012,201.0,-10.0,284,1488,0.00,2.40,0.00,0.000,644,0.000,0.072,1984,1095,3961,3911,4011,0,0,0,0,0,0,14.42,14.09,14.44
$GC,1574,-0.75,-145.9,1984,1095,3911,4010,210.0,-9.9,302,1580,0.00,2.50,0.00,0.000,1190,0.000,0.096,1982,2497,3960,3911,4010,0,0,0,0,0,0,14.11,13.98,14.14
$GC,1760,-0.81,-145.9,1983,2499,3912,4011,228.3,-9.7,339,1766,0.15,2.38,0.00,0.000,4516,0.122,0.120,1907,3790,3961,3912,4010,0,0,0,0,0,0,14.16,14.00,14.19
$GC,1816,-0.74,-145.9,1909,3791,3911,4010,236.2,-15.2,350,1823,0.22,2.17,0.00,0.000,3206,0.287,0.060,1958,2497,3960,3911,4009,0,0,0,0,0,0,13.85,14.16,14.12
$GC,2003,-0.77,-145.9,1958,2497,3912,4010,256.9,-10.5,387,2008,0.00,0.00,0.00,0.000,134,0.000,0.000,1957,2496,3960,3911,4009,0,0,0,0,0,0,14.43,14.46,14.45
$GC,2188,-0.80,-145.9,1958,2496,3911,4010,276.3,-10.1,424,2195,0.00,2.38,0.00,0.000,644,0.000,0.074,1957,1105,3958,3908,4008,0,0,0,0,0,0,14.45,14.09,14.47
$GC,2225,-0.85,-145.9,1959,1110,3910,4009,280.1,-10.3,431,2231,0.00,2.50,0.00,0.000,1158,0.000,0.095,1955,2503,3960,3914,4007,0,0,0,0,0,0,14.19,14.04,14.23
$GC,2411,-0.88,-145.9,1956,2503,3909,4009,298.7,-10.2,468,2418,0.12,0.00,0.00,0.000,4230,0.135,0.000,1900,2504,3958,3908,4008,0,0,0,0,0,0,14.16,14.25,14.23
$GC,2598,-0.82,-145.9,1900,2504,3909,4008,323.2,-13.2,505,2604,0.15,0.00,0.00,0.000,2182,0.293,0.000,1930,2503,3957,3908,4007,0,0,0,0,0,0,13.82,14.15,14.09
$GC,2784,-0.82,-145.9,1930,2504,3908,4008,344.4,-11.4,542,2790,0.00,2.38,0.00,0.000,260,0.000,0.121,1922,3793,3957,3907,4007,0,0,0,0,0,0,14.45,13.95,14.47
$GC,2860,-0.82,-145.9,1922,3793,3907,4007,353.6,-12.1,557,2865,0.00,2.20,0.00,0.000,1030,0.000,0.060,1923,2496,3957,3907,4007,0,0,0,0,0,0,14.27,14.15,14.28
$STATE,2933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2933,begin apogee
$GC,2938,-0.14,0.0,1924,2325,3909,4008,362.6,-11.9,562,3353,0.90,0.00,410.12,1.058,10246,0.265,0.000,2150,2324,3369,3317,3422,0,0,0,0,0,0,13.89,13.31,12.95
$STATE,3374,end apogee,CONTROL_FINISHED_OK
$STATE,3374,begin climb
$GC,3376,0.59,145.9,2150,2324,3313,3413,382.7,0.0,576,3731,0.77,2.80,172.88,1.206,10500,0.104,0.110,2395,3738,2742,2690,2795,0,0,0,0,0,0,13.49,13.21,12.79
$GC,3960,0.35,145.9,2391,3737,2691,2793,325.0,13.7,622,3966,0.35,2.45,0.00,0.000,5254,0.301,0.059,2322,2321,2740,2689,2792,0,0,0,0,0,0,13.57,13.81,13.85
$GC,4147,0.34,185.7,2322,2321,2685,2793,308.9,8.2,659,4199,0.00,2.70,44.17,1.209,8612,0.000,0.113,2318,3728,2597,2539,2655,0,0,0,0,0,0,14.12,13.69,13.19
$GC,4425,0.27,185.7,2321,3729,2532,2644,279.9,11.1,713,4432,0.15,2.42,0.00,0.000,5254,0.283,0.058,2295,2322,2585,2531,2640,0,0,0,0,0,0,13.73,13.90,13.95
$GC,4612,0.34,245.3,2297,2323,2527,2640,265.5,7.3,750,4694,0.00,2.75,76.15,1.161,8612,0.000,0.113,2295,3735,2355,2298,2412,0,0,0,0,0,0,14.16,13.65,13.19
$GC,4746,0.40,261.2,2295,3743,2290,2399,254.8,9.3,774,4770,0.00,2.47,15.68,1.213,9382,0.000,0.060,2300,2312,2295,2236,2355,0,0,0,0,0,0,13.88,13.83,13.21
$GC,4950,0.51,311.3,2300,2313,2218,2345,238.6,7.7,814,5022,0.15,2.60,66.90,1.131,10916,0.122,0.083,2375,910,2089,2020,2158,0,0,0,0,0,0,13.90,13.64,13.18
$GC,5048,0.51,311.3,2376,911,2009,2144,227.6,11.7,831,5054,0.00,2.55,0.00,0.000,1030,0.000,0.081,2375,2328,2075,2006,2144,0,0,0,0,0,0,13.80,13.70,13.82
$GC,5234,0.51,311.3,2376,2330,2000,2142,204.2,12.7,868,5240,0.00,2.60,0.00,0.000,260,0.000,0.112,2376,3731,2069,1998,2140,0,0,0,0,0,0,14.07,13.78,14.09
$GC,5266,0.45,311.3,2374,3732,1999,2139,199.8,15.0,874,5272,0.12,2.45,0.00,0.000,5254,0.262,0.060,2352,2323,2068,1999,2138,0,0,0,0,0,0,13.71,13.86,13.93
$GC,5452,0.49,321.3,2353,2324,1998,2139,179.5,9.5,911,5459,0.00,2.55,2.00,0.221,8868,0.000,0.081,2363,911,2055,1984,2126,0,0,0,0,0,0,14.15,13.87,12.25
$MODEM_MSG,CACST,6,1,20170807080626.403019,3,29,-3,0161,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*27
$MODEM_MSG,CACST,6,1,20170807081514.762045,3,153,09,0225,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$MODEM_MSG,CACST,6,1,20170807082309.698189,3,21,-4,0131,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F
$MODEM_MSG,CACST,6,1,20170807083104.532426,3,96,-4,0177,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*26
$GC,5534,0.56,351.4,2361,912,1988,2133,172.2,8.6,926,5589,0.00,2.50,50.08,1.111,9382,0.000,0.083,2363,2322,1934,1862,2006,0,0,0,0,0,0,14.01,13.90,13.25
$GC,5769,0.64,377.5,2360,2324,1839,1986,150.6,8.8,971,5806,0.12,0.00,33.75,1.107,10406,0.135,0.000,2420,2323,1823,1752,1895,0,0,0,0,0,0,13.93,13.78,13.28
$GC,5986,0.64,377.5,2420,2324,1732,1875,125.0,11.7,1013,5993,0.00,2.50,0.00,0.000,516,0.000,0.082,2426,910,1803,1732,1874,0,0,0,0,0,0,14.18,13.90,14.19
$GC,6043,0.64,377.5,2425,910,1736,1874,118.5,11.2,1024,6049,0.00,2.50,0.00,0.000,1030,0.000,0.081,2426,2321,1803,1733,1874,0,0,0,0,0,0,14.05,13.93,14.08
$GC,6229,0.64,377.5,2425,2325,1727,1874,97.6,10.8,1061,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2327,1801,1728,1874,0,0,0,0,0,0,14.27,14.29,14.31
$GC,6415,0.64,377.5,2426,2325,1728,1874,78.4,10.1,1098,6422,0.00,2.47,0.00,0.000,516,0.000,0.082,2431,911,1799,1726,1873,0,0,0,0,0,0,14.33,13.99,14.35
$GC,6447,0.64,377.5,2431,912,1727,1872,75.2,10.2,1104,6453,0.00,2.47,0.00,0.000,1030,0.000,0.082,2434,2324,1798,1725,1872,0,0,0,0,0,0,14.16,14.02,14.17
$GC,6633,0.65,392.3,2431,2325,1725,1873,56.4,9.3,1141,6646,0.00,2.60,5.62,0.279,8484,0.000,0.113,2431,3719,1770,1700,1841,0,0,0,0,0,0,14.34,14.02,13.79
$GC,6752,0.66,404.7,2432,3720,1716,1853,44.7,9.4,1164,6771,0.00,2.40,10.90,0.297,9254,0.000,0.060,2437,2307,1716,1648,1784,0,0,0,0,0,0,14.17,14.09,13.82
$GC,6951,0.77,490.3,2437,2307,1661,1801,30.6,6.1,1203,7011,0.00,2.67,54.53,0.273,8612,0.000,0.112,2437,3725,1368,1296,1440,0,0,0,0,0,0,14.37,14.00,13.83
$GC,7086,0.88,536.0,2438,3733,1299,1458,21.2,7.9,1228,7124,0.15,2.40,30.00,0.247,11430,0.123,0.060,2500,2318,1181,1120,1243,0,0,0,0,0,0,13.97,14.06,13.84
$GC,7304,1.12,726.5,2500,2318,1120,1264,12.0,1.3,1270,7417,0.17,2.62,104.18,0.219,10660,0.119,0.115,2580,3732,501,508,494,0,0,0,0,0,0,14.07,13.90,13.85
$STATE,7455,end climb,SURFACE_DEPTH_REACHED
$STATE,7455,begin surface coast
$FINISH,0.4,1.019649
$STATE,7470,end surface coast,CONTROL_FINISHED_OK
$STATE,7470,begin surface
$SM_CCo,7550,0.00,0.000,0,0,504,701.80
$SM_GC,1.01,7.25,2.15,0.00,0.093,0.058,0.000,195,2486,504,-6.17,0.96,701.80,0,0,0,0,0,0,14.09,14.09,14.16
$RAFOS_CLK,258
$MODEM,5,1502094664,74.50000,-149.00000,37.532,54455.3
$MODEM,3,1502094189,74.30400,-153.94400,282.698,410163.2
$MODEM,2,1502093714,73.18300,-149.96500,167.762,243403.8
$MODEM,0,1502093186,75.36600,-145.04601,332.403,482279.3
$RAFOS_FIX,7212.363281,-14535.427734,070817,080858,4,255,30.28
$IRIDIUM_FIX,7111.25,-14745.54,070817,044135
$TT8_MAMPS,0.041195,0.880075
$HUMID,49.25
$INTERNAL_PRESSURE,7.59718
$TCM_TEMP,13.20
$XPDR_PINGS,0
$PM_FREEKB_00,62125120
$CP_FREE,0.000000
$24V_AH,12.25,52.939
$10V_AH,12.61,0.000
$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,21.600,94.050,1076.950,0.000,0.000,0.000,0.000,407.800,0.000,0.000,38.780,0.000,3548.921,946.498,3423.407,317.500,0.000,2812.070,0.000,1861.105,2218.000,0.535,0.000
$DEVICE_MAMPS,478.890,2171.070,1213.290,0.000,0.000,0.000,0.000,197.370,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7478.000,7462.000,7468.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.503,16.388,111.000,0.000
$MEM,324664
$DATA_FILE_SIZE,43312,1300
$CAP_FILE_SIZE,133242,0
$CFSIZE,2097872896,2086502400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.0
$CURRENT,0.213,71.25,1
$GPS,070817,091222,7110.599,-14737.507,14,0.9,36,21.2,0.0,0.0,8,8.5