version: 66.13
glider: 198
mission: 12
dive: 7
start: 8 7 117 9 24 1
data:
$ID,198
$MISSION,12
$DIVE,7
$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,44
$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,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,77.0
$CP_NDIVE,1.0
$GPS1,070817,091222,7110.5986,-14737.5068,14,0.9,36,21.2,0.0,0.0,8,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.3
$GPS2,070817,092328,7110.6240,-14737.4600,17,0.9,20,21.2,0.3,0.0,8,9.9
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7121.423,-14737.460
$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,-145.9,193,2486,499,497,0.0,0.0,0,131,0.00,0.00,-105.68,0.000,16386,0.000,0.000,196,2486,2096,2059,2133,0,0,0,0,0,0,14.23,28.83,14.25
$GC,134,-0.59,-145.9,197,2487,2063,2134,3.3,-7.5,18,194,10.35,2.70,-39.65,0.000,18724,0.480,2.176,1992,3782,3962,3912,4013,0,0,0,0,0,0,13.66,12.79,14.07
$GC,419,-0.49,-145.9,1992,3783,3914,4014,68.1,-18.4,73,426,0.20,2.15,0.00,0.000,3206,0.295,0.057,2033,2508,3963,3913,4013,0,0,0,0,0,0,13.80,14.05,14.06
$GC,606,-0.49,-145.9,2033,2509,3914,4014,94.6,-12.9,110,612,0.00,2.35,0.00,0.000,260,0.000,0.117,2033,3781,3965,3917,4013,0,0,0,0,0,0,14.32,13.97,14.34
$GC,717,-0.55,-145.9,2031,3784,3915,4014,107.8,-11.3,132,723,0.00,2.17,0.00,0.000,1158,0.000,0.057,2027,2488,3964,3915,4013,0,0,0,0,0,0,14.16,14.08,14.21
$GC,903,-0.61,-145.9,2030,2488,3915,4014,129.2,-11.0,169,909,0.00,2.38,0.00,0.000,644,0.000,0.073,2030,1098,3963,3914,4013,0,0,0,0,0,0,14.40,14.03,14.40
$GC,944,-0.70,-145.9,2033,1099,3914,4013,133.6,-10.8,177,951,0.17,2.50,0.00,0.000,5254,0.105,0.094,1954,2500,3963,3914,4012,0,0,0,0,0,0,14.16,14.04,14.23
$GC,1131,-0.66,-145.9,1955,2500,3916,4013,160.9,-14.1,214,1137,0.12,2.42,0.00,0.000,2692,0.295,0.073,1979,1094,3963,3914,4013,0,0,0,0,0,0,13.90,14.05,14.16
$GC,1187,-0.69,-145.9,1978,1092,3914,4013,167.9,-11.9,225,1193,0.00,2.53,0.00,0.000,1158,0.000,0.095,1976,2506,3962,3912,4012,0,0,0,0,0,0,14.19,14.04,14.23
$GC,1373,-0.69,-145.9,1976,2507,3915,4013,189.5,-11.1,262,1379,0.00,2.42,0.00,0.000,516,0.000,0.072,1976,1090,3961,3911,4012,0,0,0,0,0,0,14.42,14.05,14.44
$GC,1429,-0.73,-145.9,1975,1092,3913,4012,195.8,-11.0,273,1435,0.00,2.50,0.00,0.000,1158,0.000,0.096,1976,2499,3962,3914,4011,0,0,0,0,0,0,14.21,14.06,14.24
$GC,1615,-0.77,-145.9,1975,2500,3914,4012,214.8,-10.3,310,1621,0.00,2.38,0.00,0.000,388,0.000,0.123,1975,3792,3962,3913,4011,0,0,0,0,0,0,14.43,14.00,14.45
$GC,1667,-0.82,-145.9,1975,3792,3914,4011,220.1,-10.4,320,1673,0.15,2.17,0.00,0.000,5254,0.124,0.059,1913,2494,3962,3914,4011,0,0,0,0,0,0,14.12,14.15,14.20
$GC,1853,-0.77,-145.9,1913,2494,3910,4012,246.3,-14.2,357,1859,0.15,2.40,0.00,0.000,2692,0.300,0.073,1942,1090,3962,3913,4011,0,0,0,0,0,0,13.88,14.07,14.16
$GC,1904,-0.77,-145.9,1943,1091,3914,4011,252.7,-11.5,367,1911,0.00,2.53,0.00,0.000,1030,0.000,0.096,1939,2504,3961,3913,4010,0,0,0,0,0,0,14.23,14.05,14.23
$GC,2091,-0.77,-145.9,1938,2504,3912,4010,275.6,-12.4,404,2097,0.00,2.35,0.00,0.000,260,0.000,0.122,1932,3788,3961,3912,4010,0,0,0,0,0,0,14.45,14.03,14.47
$GC,2147,-0.77,-145.9,1932,3788,3912,4009,282.7,-12.8,415,2154,0.00,2.15,0.00,0.000,1030,0.000,0.059,1932,2501,3960,3912,4009,0,0,0,0,0,0,14.23,14.14,14.27
$GC,2334,-0.77,-145.9,1932,2502,3917,4010,304.9,-11.6,452,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2502,3960,3912,4008,0,0,0,0,0,0,14.45,14.47,14.49
$GC,2520,-0.77,-145.9,1932,2502,3913,4010,326.6,-12.0,489,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2505,3960,3912,4009,0,0,0,0,0,0,14.44,14.46,14.45
$GC,2705,-0.77,-145.9,1931,2502,3912,4006,348.3,-11.9,526,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2504,3960,3911,4009,0,0,0,0,0,0,14.44,14.46,14.46
$STATE,2808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2808,begin apogee
$GC,2814,-0.14,0.0,1931,2325,3911,4009,360.5,-11.6,532,3055,0.85,0.00,237.80,1.184,10246,0.259,0.000,2148,2325,3362,3315,3410,0,0,0,0,0,0,13.87,13.57,13.06
$STATE,3058,end apogee,CONTROL_FINISHED_OK
$STATE,3058,begin climb
$GC,3060,0.59,145.9,2149,2326,3308,3408,372.1,0.0,540,3246,0.77,2.62,171.18,1.212,11012,0.106,0.073,2398,915,2753,2693,2813,0,0,0,0,0,0,13.59,13.34,12.82
$GC,3471,0.44,145.9,2398,916,2683,2796,347.3,10.9,621,3477,0.22,2.55,0.00,0.000,5254,0.291,0.083,2350,2331,2738,2681,2795,0,0,0,0,0,0,13.55,13.74,13.81
$GC,3658,0.34,151.6,2350,2331,2678,2795,329.3,9.7,658,3664,0.15,2.50,0.00,0.000,4772,0.295,0.075,2326,911,2736,2678,2795,0,0,0,0,0,0,13.68,13.86,13.88
$GC,3854,0.35,195.9,2326,912,2679,2796,313.3,8.0,697,3920,0.00,2.50,59.05,1.196,9382,0.000,0.083,2326,2321,2560,2499,2622,0,0,0,0,0,0,14.07,13.93,13.24
$GC,4100,0.37,214.6,2326,2321,2478,2603,291.1,9.1,744,4125,0.00,2.67,19.15,1.248,8484,0.000,0.114,2326,3730,2483,2422,2545,0,0,0,0,0,0,14.19,13.85,13.33
$GC,4175,0.32,214.6,2326,3730,2417,2529,283.3,11.1,758,4181,0.00,2.42,0.00,0.000,1158,0.000,0.059,2329,2322,2471,2415,2528,0,0,0,0,0,0,13.99,13.91,14.03
$GC,4361,0.34,236.8,2329,2321,2407,2527,265.9,9.0,795,4391,0.00,0.00,25.12,1.216,8230,0.000,0.000,2329,2321,2392,2332,2453,0,0,0,0,0,0,14.26,13.91,13.34
$GC,4571,0.34,237.7,2330,2322,2317,2439,245.3,10.0,836,4577,0.00,2.60,0.00,0.000,292,0.000,0.112,2329,3733,2377,2316,2438,0,0,0,0,0,0,14.28,13.94,14.28
$GC,4607,0.31,237.7,2330,3734,2317,2438,241.1,11.8,843,4615,0.00,2.42,0.00,0.000,1158,0.000,0.060,2329,2317,2376,2316,2437,0,0,0,0,0,0,14.12,14.03,14.14
$GC,4795,0.32,251.7,2330,2317,2315,2437,222.8,9.4,880,4819,0.00,2.50,14.88,1.227,8740,0.000,0.082,2329,911,2332,2272,2392,0,0,0,0,0,0,14.33,14.01,13.47
$GC,4879,0.37,269.3,2329,911,2265,2385,215.0,9.2,896,4910,0.00,2.50,24.80,1.162,9382,0.000,0.083,2329,2321,2267,2204,2330,0,0,0,0,0,0,14.12,14.01,13.41
$GC,5090,0.43,297.3,2329,2325,2186,2317,195.3,8.7,937,5132,0.00,2.67,37.17,1.149,8612,0.000,0.113,2330,3731,2147,2078,2217,0,0,0,0,0,0,14.28,13.85,13.36
$GC,5167,0.47,297.3,2329,3732,2072,2202,188.0,10.2,951,5174,0.00,2.42,0.00,0.000,1158,0.000,0.060,2329,2325,2136,2071,2201,0,0,0,0,0,0,14.02,13.95,14.04
$GC,5355,0.57,342.1,2330,2321,2061,2201,172.2,7.9,988,5421,0.15,2.58,60.83,1.101,10916,0.122,0.083,2405,912,1964,1895,2034,0,0,0,0,0,0,14.09,13.80,13.28
$GC,5491,0.57,342.1,2404,911,1877,2020,156.5,12.4,1013,5497,0.00,2.50,0.00,0.000,1030,0.000,0.081,2405,2330,1948,1877,2019,0,0,0,0,0,0,13.99,13.89,14.02
$GC,5677,0.57,342.1,2407,2324,1874,2019,135.1,11.3,1050,5683,0.00,2.50,0.00,0.000,516,0.000,0.081,2404,909,1945,1872,2018,0,0,0,0,0,0,14.24,13.97,14.26
$GC,5728,0.57,342.1,2409,906,1873,2017,129.7,10.6,1060,5734,0.00,2.47,0.00,0.000,1030,0.000,0.082,2408,2312,1944,1872,2016,0,0,0,0,0,0,14.12,14.00,14.14
$GC,5914,0.57,342.1,2408,2313,1872,2016,109.6,10.5,1097,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2312,1942,1870,2015,0,0,0,0,0,0,14.31,14.35,14.35
$GC,6099,0.58,354.6,2408,2312,1870,2016,91.5,9.4,1134,6106,0.00,0.00,4.15,0.234,8230,0.000,0.000,2408,2312,1919,1847,1991,0,0,0,0,0,0,14.35,14.09,13.81
$GC,6286,0.59,377.9,2407,2312,1863,2010,73.9,8.9,1171,6305,0.00,0.00,17.23,0.378,8230,0.000,0.000,2408,2312,1822,1748,1897,0,0,0,0,0,0,14.38,14.12,13.79
$GC,6485,0.69,441.0,2408,2312,1770,1916,57.7,7.1,1210,6532,0.00,2.60,40.50,0.349,8612,0.000,0.113,2408,3728,1572,1499,1645,0,0,0,0,0,0,14.36,14.00,13.78
$GC,6604,0.82,511.4,2408,3729,1509,1658,49.5,6.8,1232,6658,0.17,2.42,45.17,0.320,11430,0.116,0.061,2488,2305,1281,1215,1347,0,0,0,0,0,0,14.06,14.02,13.77
$GC,6839,0.86,537.0,2489,2305,1217,1371,26.5,8.8,1277,6857,0.00,0.00,17.88,0.262,8358,0.000,0.000,2488,2305,1174,1115,1234,0,0,0,0,0,0,14.30,14.08,13.83
$GC,7038,1.14,725.9,2488,2305,1114,1263,13.4,1.4,1316,7150,0.20,2.62,103.78,0.225,10660,0.110,0.111,2578,3728,500,506,495,0,0,0,0,0,0,14.06,13.88,13.84
$GC,7175,1.14,725.9,2579,3729,508,501,4.9,10.3,1340,7182,0.00,2.42,0.80,0.285,9222,0.000,0.060,2586,2319,498,504,493,0,0,0,0,0,0,14.08,14.02,13.86
$STATE,7204,end climb,SURFACE_DEPTH_REACHED
$STATE,7204,begin surface coast
$FINISH,-0.1,1.019717
$STATE,7225,end surface coast,CONTROL_FINISHED_OK
$STATE,7225,begin surface
$SM_CCo,7305,0.00,0.000,0,0,502,702.29
$SM_GC,0.99,7.30,0.35,0.00,0.096,0.114,0.000,198,2507,502,-6.17,-0.51,702.29,0,0,0,0,0,0,14.10,14.04,14.18
$RAFOS_CLK,437
$RAFOS_FIX,7212.363281,-14535.427734,070817,080858,4,255,30.28
$IRIDIUM_FIX,7110.16,-14739.90,070817,065716
$TT8_MAMPS,0.041944,0.81641
$HUMID,50.07
$INTERNAL_PRESSURE,7.58742
$TCM_TEMP,13.10
$XPDR_PINGS,1
$PM_FREEKB_00,62079936
$CP_FREE,0.000000
$24V_AH,12.79,53.307
$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,20.975,89.250,879.475,0.000,0.000,0.000,0.000,438.550,0.250,0.000,21.688,0.000,3667.798,987.173,3021.250,306.157,0.000,2493.271,0.000,1932.707,0.000,0.536,0.000
$DEVICE_MAMPS,480.420,2175.660,1248.480,0.000,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7249.000,7233.000,7217.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.556,16.301,111.000,0.000
$MEM,324668
$DATA_FILE_SIZE,46640,1350
$CAP_FILE_SIZE,128900,0
$CFSIZE,2097872896,2086240256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.9
$CURRENT,0.216,60.16,1
$GPS,070817,112706,7111.717,-14736.689,21,1.4,33,21.2,0.2,59.1,6,8.9