version: 66.13
glider: 198
mission: 12
dive: 11
start: 8 7 117 18 21 52
data:
$ID,198
$MISSION,12
$DIVE,11
$N_DIVES,12
$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,41
$R_STBD_OVSHOOT,24
$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,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,85.0
$CP_NDIVE,1.0
$GPS1,070817,181036,7115.3433,-14736.9775,28,0.7,29,21.2,0.0,0.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.1
$GPS2,070817,182118,7115.3525,-14736.9023,7,0.8,10,21.2,0.0,0.0,10,9.5
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7126.151,-14736.902
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,325.3,20000,-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,41,end surface,CONTROL_FINISHED_OK
$STATE,41,begin dive
$GC,44,-0.59,-145.9,189,2511,534,553,0.0,0.0,0,149,0.00,0.00,-102.28,0.000,16386,0.000,0.000,193,2510,2088,2052,2125,0,0,0,0,0,0,14.28,28.83,14.26
$GC,151,-0.59,-145.9,193,2511,2051,2126,3.2,-7.7,18,206,10.25,2.60,-38.50,0.000,18724,0.477,2.168,1990,3783,3963,3911,4015,0,0,0,0,0,0,13.67,12.79,14.07
$GC,411,-0.50,-145.9,1991,3784,3913,4016,66.1,-18.5,68,418,0.20,2.15,0.00,0.000,3206,0.289,0.055,2033,2506,3963,3912,4015,0,0,0,0,0,0,13.80,14.04,14.06
$GC,598,-0.50,-145.9,2033,2506,3913,4014,93.6,-14.1,105,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2505,3963,3912,4015,0,0,0,0,0,0,14.33,14.35,14.35
$GC,783,-0.56,-145.9,2033,2505,3914,4016,116.2,-10.2,142,789,0.00,0.00,0.00,0.000,134,0.000,0.000,2033,2505,3963,3911,4015,0,0,0,0,0,0,14.38,14.40,14.40
$GC,969,-0.65,-145.9,2033,2506,3914,4016,133.5,-9.3,179,975,0.15,2.40,0.00,0.000,4772,0.125,0.067,1962,1095,3963,3913,4014,0,0,0,0,0,0,14.17,14.09,14.21
$GC,1030,-0.65,-145.9,1968,1094,3914,4015,141.2,-13.0,191,1037,0.12,2.47,0.00,0.000,3078,0.304,0.092,1982,2493,3965,3917,4013,0,0,0,0,0,0,13.89,14.04,14.15
$GC,1217,-0.68,-145.9,1983,2494,3915,4015,162.7,-10.7,228,1223,0.00,2.35,0.00,0.000,388,0.000,0.116,1976,3786,3963,3913,4013,0,0,0,0,0,0,14.42,14.02,14.43
$GC,1274,-0.72,-145.9,1976,3787,3915,4013,169.1,-11.4,239,1280,0.00,2.15,0.00,0.000,1158,0.000,0.055,1976,2494,3963,3913,4013,0,0,0,0,0,0,14.19,14.11,14.21
$GC,1460,-0.75,-145.9,1976,2495,3915,4014,188.2,-9.9,276,1466,0.00,0.00,0.00,0.000,166,0.000,0.000,1976,2494,3963,3913,4013,0,0,0,0,0,0,14.42,14.45,14.44
$GC,1646,-0.81,-145.9,1976,2495,3914,4014,206.8,-10.0,313,1652,0.00,2.38,0.00,0.000,420,0.000,0.117,1971,3789,3963,3912,4014,0,0,0,0,0,0,14.42,14.04,14.44
$GC,1712,-0.88,-145.9,1973,3791,3913,4013,213.5,-10.1,326,1719,0.17,2.17,0.00,0.000,5254,0.106,0.056,1899,2492,3962,3912,4012,0,0,0,0,0,0,14.18,14.14,14.24
$GC,1899,-0.82,-145.9,1899,2492,3912,4013,239.3,-14.3,363,1906,0.12,2.38,0.00,0.000,2692,0.310,0.070,1927,1100,3964,3916,4012,0,0,0,0,0,0,13.88,14.07,14.05
$GC,1950,-0.82,-145.9,1927,1100,3912,4013,245.9,-12.3,373,1957,0.00,2.47,0.00,0.000,1030,0.000,0.091,1922,2500,3962,3912,4012,0,0,0,0,0,0,14.21,14.07,14.24
$GC,2136,-0.82,-145.9,1922,2501,3913,4012,269.1,-12.6,410,2143,0.00,2.35,0.00,0.000,260,0.000,0.120,1922,3786,3965,3918,4012,0,0,0,0,0,0,14.43,14.04,14.47
$GC,2182,-0.82,-145.9,1923,3787,3913,4012,275.0,-12.6,419,2189,0.00,2.15,0.00,0.000,1030,0.000,0.057,1921,2497,3961,3912,4011,0,0,0,0,0,0,14.24,14.16,14.26
$GC,2369,-0.82,-145.9,1921,2498,3912,4011,296.6,-11.1,456,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2496,3961,3912,4011,0,0,0,0,0,0,14.45,14.47,14.47
$GC,2555,-0.82,-145.9,1921,2497,3910,4011,318.7,-12.2,493,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2497,3961,3911,4011,0,0,0,0,0,0,14.46,14.48,14.47
$GC,2740,-0.82,-145.9,1921,2498,3911,4011,340.8,-12.0,530,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2497,3960,3909,4011,0,0,0,0,0,0,14.45,14.47,14.47
$STATE,2913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2913,begin apogee
$GC,2918,-0.14,0.0,1922,2319,3911,4012,361.0,-11.6,550,3160,0.88,0.00,238.60,1.183,10246,0.256,0.000,2146,2318,3365,3317,3414,0,0,0,0,0,0,13.93,13.57,13.05
$STATE,3163,end apogee,CONTROL_FINISHED_OK
$STATE,3163,begin climb
$GC,3166,0.59,145.9,2147,2319,3312,3409,371.3,0.0,558,3373,0.77,2.78,174.45,1.212,10500,0.100,0.105,2391,3734,2752,2697,2808,0,0,0,0,0,0,13.59,13.24,12.83
$GC,3599,0.36,145.9,2391,3735,2696,2796,335.7,13.8,604,3607,0.35,2.42,0.00,0.000,5254,0.296,0.054,2320,2331,2745,2695,2795,0,0,0,0,0,0,13.57,13.78,13.84
$GC,3787,0.34,187.1,2321,2332,2690,2796,319.5,8.1,641,3840,0.00,2.62,46.92,1.212,8612,0.000,0.107,2319,3737,2594,2538,2650,0,0,0,0,0,0,14.17,13.64,13.19
$GC,4065,0.28,187.1,2319,3737,2530,2635,290.9,10.8,695,4072,0.17,2.42,0.00,0.000,5254,0.275,0.056,2290,2321,2580,2529,2632,0,0,0,0,0,0,13.76,13.99,14.01
$GC,4252,0.36,237.7,2289,2321,2527,2632,276.7,7.7,732,4324,0.00,2.67,62.95,1.179,8612,0.000,0.110,2288,3727,2384,2331,2438,0,0,0,0,0,0,14.28,13.76,13.27
$GC,4355,0.41,242.4,2290,3728,2330,2429,268.1,9.8,750,4362,0.15,2.42,0.00,0.000,3238,0.122,0.056,2358,2317,2377,2326,2429,0,0,0,0,0,0,13.90,13.88,13.95
$GC,4542,0.38,242.4,2358,2317,2319,2426,246.6,11.2,787,4547,0.15,0.00,0.00,0.000,4230,0.272,0.000,2327,2321,2371,2317,2425,0,0,0,0,0,0,13.78,14.04,14.00
$GC,4728,0.41,258.3,2326,2314,2316,2425,228.7,9.3,824,4752,0.00,0.00,22.83,1.206,8614,0.000,0.000,2327,2316,2311,2256,2367,0,0,0,0,0,0,14.31,13.98,13.42
$GC,4932,0.45,278.7,2327,2317,2234,2354,210.0,9.1,864,4963,0.00,0.00,24.65,1.195,8358,0.000,0.000,2326,2316,2221,2160,2282,0,0,0,0,0,0,14.28,14.02,13.39
$GC,5143,0.50,288.7,2326,2317,2145,2274,190.8,9.5,905,5149,0.12,0.00,3.53,0.955,10406,0.132,0.000,2394,2316,2187,2123,2252,0,0,0,0,0,0,14.09,14.03,13.19
$GC,5329,0.44,288.7,2394,2317,2132,2260,165.8,13.1,942,5336,0.20,2.65,1.70,0.216,12676,0.251,0.107,2348,3731,2188,2123,2254,0,0,0,0,0,0,13.92,14.03,13.95
$GC,5407,0.44,288.7,2349,3732,2134,2259,157.2,10.9,957,5413,0.00,2.40,0.00,0.000,1030,0.000,0.056,2355,2313,2195,2133,2257,0,0,0,0,0,0,14.19,14.12,14.21
$GC,5593,0.46,319.4,2354,2314,2133,2259,139.9,8.6,994,5646,0.00,0.00,51.22,1.126,8230,0.000,0.000,2355,2313,2063,1999,2128,0,0,0,0,0,0,14.38,13.95,13.43
$GC,5826,0.53,348.0,2356,2314,1975,2111,119.8,8.7,1039,5869,0.00,2.67,38.62,1.107,8612,0.000,0.108,2356,3730,1939,1874,2005,0,0,0,0,0,0,14.27,13.79,13.38
$GC,5901,0.59,350.7,2355,3730,1866,1994,112.9,9.9,1054,5907,0.12,2.45,0.00,0.000,3238,0.133,0.057,2409,2310,1929,1864,1994,0,0,0,0,0,0,13.92,13.90,13.99
$GC,6087,0.60,365.4,2409,2310,1857,1992,95.7,9.3,1091,6100,0.00,2.53,7.78,0.363,8740,0.000,0.079,2416,913,1880,1810,1951,0,0,0,0,0,0,14.16,13.90,13.62
$GC,6141,0.64,383.9,2417,911,1822,1959,90.7,9.2,1101,6159,0.00,2.50,13.40,0.418,9382,0.000,0.079,2416,2326,1800,1735,1866,0,0,0,0,0,0,14.03,13.93,13.62
$GC,6339,0.67,406.1,2416,2326,1747,1883,72.6,9.0,1140,6363,0.00,2.62,15.80,0.376,8612,0.000,0.110,2419,3722,1713,1649,1778,0,0,0,0,0,0,14.19,13.85,13.69
$GC,6398,0.67,406.1,2417,3723,1656,1790,66.9,10.2,1151,6404,0.00,2.40,2.53,0.241,9222,0.000,0.057,2423,2324,1709,1644,1775,0,0,0,0,0,0,14.04,13.95,13.74
$GC,6585,0.77,472.5,2423,2325,1654,1791,51.7,7.0,1188,6632,0.00,2.55,42.83,0.331,8868,0.000,0.082,2423,912,1440,1371,1510,0,0,0,0,0,0,14.21,13.91,13.71
$GC,6667,0.96,546.0,2424,913,1377,1523,46.4,6.6,1203,6721,0.25,2.50,46.55,0.311,11430,0.089,0.078,2522,2327,1137,1081,1194,0,0,0,0,0,0,14.00,13.90,13.66
$GC,6901,0.96,546.0,2521,2327,1082,1219,18.6,10.7,1248,6908,0.00,0.00,1.80,0.230,8198,0.000,0.000,2521,2327,1137,1075,1200,0,0,0,0,0,0,14.16,13.98,13.80
$GC,7088,1.14,706.8,2521,2328,1075,1220,11.6,2.6,1285,7194,0.15,2.58,98.55,0.214,10660,0.119,0.107,2596,3728,498,507,490,0,0,0,0,0,0,14.02,13.86,13.75
$STATE,7208,end climb,SURFACE_DEPTH_REACHED
$STATE,7208,begin surface coast
$FINISH,-0.1,1.019737
$STATE,7222,end surface coast,CONTROL_FINISHED_OK
$STATE,7222,begin surface
$SM_CCo,7303,0.00,0.000,0,0,501,702.54
$SM_GC,0.93,7.30,2.15,0.00,0.084,0.054,0.000,194,2482,501,-6.19,0.93,702.54,0,0,0,0,0,0,14.00,13.99,14.08
$RAFOS_CLK,93
$RAFOS_FIX,7113.728027,-14712.622070,070817,161608,2,255,17.97
$IRIDIUM_FIX,7111.88,-14736.33,070817,155827
$TT8_MAMPS,0.08988,0.847868
$HUMID,46.02
$INTERNAL_PRESSURE,7.61672
$TCM_TEMP,13.30
$XPDR_PINGS,2
$PM_FREEKB_00,61866560
$CP_FREE,16016605184.000000
$24V_AH,12.79,54.956
$10V_AH,12.68,0.000
$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,21.650,73.650,894.700,0.000,0.000,0.000,0.000,427.700,0.500,0.000,10.965,0.000,3659.533,833.166,3164.782,304.564,0.000,2474.458,0.000,1873.937,2218.000,0.536,0.000
$DEVICE_MAMPS,477.360,2168.010,1211.760,0.000,0.000,0.000,0.000,192.015,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7245.000,7230.000,7198.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.697,16.349,111.000,0.000
$MEM,324728
$DATA_FILE_SIZE,43275,1309
$CAP_FILE_SIZE,130289,0
$CFSIZE,2097872896,2085060608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.4
$CURRENT,0.036,336.60,1
$GPS,070817,202441,7116.399,-14738.065,15,0.8,19,21.2,0.0,0.0,10,9.8