version: 66.13
glider: 198
mission: 12
dive: 142
start: 8 29 117 3 45 26
data:
$ID,198
$MISSION,12
$DIVE,142
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,820
$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,60
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$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,0.0022
$HD_B,0.0185
$HD_C,1.91e-06
$HEADING,-1
$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,31
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3107
$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,425.0
$CP_NDIVE,1.0
$GPS1,290817,033231,7422.9526,-14723.3457,35,0.7,39,22.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.9
$GPS2,290817,034446,7422.9790,-14723.5723,7,0.7,8,22.1,0.0,269.0,12,9.2
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,T1
$TGT_LATLONG,7521.800,-14503.100
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,11.6,127234,-19.7,-10.000,-27.15,2241
$D_GRID,180
$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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.65,-145.9,186,2505,507,491,0.0,0.0,0,167,0.00,0.00,-118.95,0.000,16386,0.000,0.000,186,2505,2162,2129,2196,0,0,0,0,0,0,14.41,28.83,14.43
$GC,170,-0.65,-145.9,186,2508,2130,2197,3.2,-7.3,20,225,10.73,2.60,-36.40,0.000,18724,0.494,2.170,1973,3777,3706,3640,3773,0,0,0,0,0,0,13.57,12.64,14.06
$GC,365,-0.52,-145.9,1973,3781,3631,3790,60.6,-26.2,57,371,0.25,2.17,0.00,0.000,3206,0.298,0.050,2025,2489,3707,3628,3786,0,0,0,0,0,0,13.78,14.12,14.07
$GC,551,-0.52,-145.9,2026,2490,3624,3793,93.2,-15.0,94,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3707,3623,3792,0,0,0,0,0,0,14.50,14.52,14.52
$GC,738,-0.56,-145.9,2026,2490,3627,3793,118.1,-12.5,131,743,0.00,0.00,0.00,0.000,134,0.000,0.000,2025,2490,3709,3626,3793,0,0,0,0,0,0,14.54,14.57,14.56
$GC,939,-0.62,-145.9,2022,2490,3626,3795,142.4,-11.5,168,945,0.00,0.00,0.00,0.000,134,0.000,0.000,2025,2489,3712,3624,3800,0,0,0,0,0,0,14.43,14.47,14.49
$GC,1125,-0.70,-145.9,2026,2495,3626,3795,162.7,-10.8,205,1131,0.15,0.00,0.00,0.000,4230,0.125,0.000,1959,2489,3709,3624,3794,0,0,0,0,0,0,14.12,14.21,14.19
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1249,-0.14,0.0,1961,2297,3625,3796,180.1,-14.9,229,1689,0.73,0.00,429.40,1.024,10246,0.261,0.000,2144,2294,3109,3050,3168,0,0,0,0,0,0,13.76,13.28,12.68
$STATE,1693,end apogee,CONTROL_FINISHED_OK
$STATE,1693,begin loiter
$GC,1873,-0.09,75.0,2145,2296,3048,3161,208.2,-3.4,341,1975,0.00,0.00,97.55,1.118,8230,0.000,0.000,2144,2295,2797,2730,2865,0,0,0,0,0,0,13.97,13.45,12.77
$GC,2155,-0.31,75.0,2144,2296,2719,2857,208.6,1.6,395,2161,0.15,0.00,0.00,0.000,4230,0.111,0.000,2064,2295,2787,2719,2856,0,0,0,0,0,0,13.83,13.88,13.87
$GC,2341,-0.36,75.0,2064,2296,2720,2854,205.7,1.5,432,2346,0.00,0.00,0.00,0.000,134,0.000,0.000,2064,2295,2786,2720,2853,0,0,0,0,0,0,14.28,14.30,14.29
$GC,2526,-0.41,75.0,2064,2295,2719,2854,203.3,1.2,469,2532,0.00,0.00,0.00,0.000,134,0.000,0.000,2065,2295,2786,2719,2853,0,0,0,0,0,0,14.42,14.44,14.44
$GC,2712,-0.45,75.0,2064,2296,2719,2852,201.4,0.8,506,2718,0.00,0.00,0.00,0.000,134,0.000,0.000,2064,2296,2781,2715,2848,0,0,0,0,0,0,14.52,14.50,14.50
$GC,2898,-0.49,75.0,2063,2296,2724,2853,199.8,0.8,543,2904,0.00,0.00,0.00,0.000,134,0.000,0.000,2064,2295,2786,2719,2853,0,0,0,0,0,0,14.54,14.53,14.55
$MODEM_MSG,CACST,6,1,20170829040218.096072,3,327,25,0473,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$MODEM_MSG,CACST,6,1,20170829041410.362148,3,239,23,0243,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170829041630.419719,3,23,-10,0127,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*10
$MODEM_MSG,CACST,6,1,20170829042039.026114,3,2111,27,0745,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$MODEM_MSG,CACST,6,1,20170829042703.024206,3,100,13,0322,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$GC,3089,-0.54,75.0,2064,2296,2719,2852,198.4,0.5,580,3095,0.12,0.00,0.00,0.000,4230,0.135,0.000,2001,2295,2785,2719,2852,0,0,0,0,0,0,14.27,14.34,14.31
$GC,3277,-0.46,78.6,2001,2296,2719,2852,198.0,-0.2,617,3283,0.17,0.00,0.00,0.000,2214,0.308,0.000,2042,2295,2785,2719,2852,0,0,0,0,0,0,13.88,14.21,14.08
$GC,3465,-0.45,89.6,2042,2296,2719,2848,198.8,-0.5,654,3486,0.00,0.00,16.67,1.411,8230,0.000,0.000,2042,2295,2740,2681,2800,0,0,0,0,0,0,14.53,14.19,13.40
$GC,3665,-0.45,89.6,2043,2296,2678,2796,195.8,2.0,693,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2736,2677,2795,0,0,0,0,0,0,14.68,14.69,14.69
$GC,3851,-0.45,89.6,2042,2296,2677,2795,192.4,1.7,730,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2735,2676,2795,0,0,0,0,0,0,14.73,14.78,14.75
$GC,4037,-0.45,89.6,2042,2296,2677,2794,189.7,1.2,767,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2735,2676,2794,0,0,0,0,0,0,14.77,14.78,14.79
$GC,4222,-0.45,89.6,2043,2296,2678,2795,187.7,1.1,804,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2735,2676,2794,0,0,0,0,0,0,14.79,14.81,14.81
$GC,4408,-0.45,89.6,2042,2296,2676,2794,186.1,0.8,841,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2734,2676,2793,0,0,0,0,0,0,14.82,14.84,14.84
$GC,4593,-0.45,89.6,2042,2296,2676,2794,184.7,0.8,878,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2735,2676,2794,0,0,0,0,0,0,14.83,14.83,14.85
$GC,4779,-0.45,89.6,2042,2296,2677,2794,183.6,0.5,915,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2735,2676,2794,0,0,0,0,0,0,14.84,14.88,14.85
$GC,4964,-0.45,89.6,2043,2296,2677,2794,182.6,0.5,952,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2734,2676,2793,0,0,0,0,0,0,14.86,14.88,14.88
$GC,5150,-0.45,89.6,2042,2296,2676,2793,181.9,0.3,989,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2295,2734,2676,2793,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,5288,end loiter,LOITER_COMPLETE
$STATE,5288,begin climb
$GC,5290,0.65,145.9,2042,2296,2675,2793,181.6,0.0,1017,5500,1.33,2.40,80.00,1.223,10756,0.259,0.066,2397,929,2495,2435,2556,0,0,0,0,0,0,14.07,13.88,13.35
$GC,5509,0.65,145.9,2398,929,2435,2557,172.7,4.3,1019,5517,0.00,2.42,0.00,0.000,1030,0.000,0.075,2397,2319,2495,2434,2556,0,0,0,0,0,0,14.14,14.02,14.19
$GC,5697,0.72,243.1,2397,2319,2431,2555,161.8,5.5,1056,5841,0.10,2.72,137.25,1.138,10532,0.161,0.106,2446,3733,2111,2039,2183,0,0,0,0,0,0,14.18,13.70,13.08
$GC,5963,0.65,243.1,2447,3733,2033,2170,134.4,12.1,1104,5970,0.17,2.40,0.00,0.000,5254,0.256,0.050,2412,2331,2100,2032,2169,0,0,0,0,0,0,13.71,13.93,13.97
$GC,6150,0.73,289.5,2413,2331,2026,2170,118.4,7.9,1141,6220,0.00,0.00,63.95,1.125,8358,0.000,0.000,2412,2331,1919,1847,1992,0,0,0,0,0,0,14.38,13.69,13.19
$GC,6400,0.85,337.1,2411,2331,1836,1984,98.1,7.8,1189,6430,0.17,0.00,23.73,0.469,10662,0.107,0.000,2502,2330,1735,1663,1807,0,0,0,0,0,0,13.81,14.03,13.59
$GC,6610,0.82,337.1,2505,2331,1667,1814,72.4,11.0,1230,6616,0.15,0.00,0.00,0.000,4230,0.252,0.000,2466,2331,1739,1665,1813,0,0,0,0,0,0,13.45,14.02,13.83
$GC,6796,0.94,420.8,2470,2331,1664,1811,58.1,6.2,1267,6852,0.00,2.58,48.22,0.363,8612,0.000,0.101,2469,3735,1391,1324,1458,0,0,0,0,0,0,14.47,13.98,13.72
$GC,6887,1.08,472.8,2472,3736,1325,1468,52.0,7.6,1283,6925,0.22,2.40,30.67,0.346,11430,0.090,0.050,2564,2317,1177,1122,1233,0,0,0,0,0,0,14.16,14.12,13.75
$GC,7105,1.08,472.8,2564,2318,1123,1245,28.0,11.1,1325,7111,0.00,2.42,0.00,0.000,516,0.000,0.076,2564,921,1183,1122,1245,0,0,0,0,0,0,14.46,14.05,14.48
$GC,7156,1.11,472.8,2566,921,1124,1244,22.6,10.6,1335,7163,0.00,2.45,0.00,0.000,1158,0.000,0.073,2564,2327,1183,1122,1244,0,0,0,0,0,0,14.26,14.13,14.29
$GC,7208,1.32,716.6,2564,2327,1122,1245,18.0,6.5,1345,7311,0.15,2.62,96.15,0.236,10660,0.116,0.101,2640,3732,497,499,496,0,0,0,0,0,0,14.23,13.94,13.83
$STATE,7339,end climb,SURFACE_DEPTH_REACHED
$STATE,7339,begin surface coast
$FINISH,-0.0,1.020839
$STATE,7349,end surface coast,CONTROL_FINISHED_OK
$STATE,7349,begin surface
$SM_CCo,7369,-0.12,0.000,0,0,498,639.25
$SM_CCo,7372,0.03,2.590,0,0,498,639.74
$SM_CCo,7376,-0.22,0.000,0,0,501,639.50
$SM_GC,1.30,7.12,2.12,-0.22,0.063,0.047,0.000,189,2476,501,-6.19,0.90,639.50,0,0,0,0,0,0,14.24,14.24,14.33
$RAFOS_CLK,405
$MODEM,4,1503980823,75.71700,-151.21500,122.274,177089.0
$MODEM,3,1503980439,74.30400,-153.94400,132.026,191212.6
$MODEM,2,1503980050,73.18300,-149.96500,103.362,149698.8
$MODEM,0,1503979338,75.36600,-145.04601,84.096,121795.9
$RAFOS_FIX,7423.776855,-14731.616211,290817,040402,4,255,2.28
$IRIDIUM_FIX,7425.32,-14727.43,280817,232900
$TT8_MAMPS,0.041944,0.878577
$HUMID,45.03
$INTERNAL_PRESSURE,7.52882
$TCM_TEMP,12.80
$XPDR_PINGS,10
$PM_FREEKB_00,48992768
$CP_FREE,15983378432.000000
$24V_AH,12.64,116.657
$10V_AH,12.45,0.000
$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,21.725,29.600,1023.600,0.025,0.000,0.000,0.000,464.550,2.500,0.000,8.804,0.000,3503.269,983.086,3305.392,333.881,0.000,2736.371,0.000,1951.717,2218.000,0.535,0.000
$DEVICE_MAMPS,494.190,2170.305,1410.660,2589.525,0.000,0.000,0.000,206.550,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3774.000,3762.000,3746.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.508,16.293,30.000,0.000
$MEM,323452
$DATA_FILE_SIZE,46594,1370
$CAP_FILE_SIZE,129624,1
$CFSIZE,2097872896,2046066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1442.5
$CURRENT,0.107,17.32,1
$GPS,290817,054934,7423.598,-14722.009,15,0.8,16,22.1,0.5,275.0,10,7.6