version: 66.13
glider: 198
mission: 7
dive: 2
start: 8 3 116 17 9 31
data:
$ID,198
$MISSION,7
$DIVE,2
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,200
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53373
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_BLANK_MOTORS,0
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2550
$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,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,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,-160.6378
$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,5
$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
$LOGGERDEVICE2,87
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043050982
$SEABIRD_T_H,0.00061941822
$SEABIRD_T_I,2.1629137e-05
$SEABIRD_T_J,2.164825e-06
$SEABIRD_C_G,-9.9284992
$SEABIRD_C_H,1.1529615
$SEABIRD_C_I,-0.0017988096
$SEABIRD_C_J,0.00021813816
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,030816,170532,4743.9683,-12223.6875,5,0.9,6,16.3,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.8
$GPS2,030816,170904,4743.9790,-12223.6543,7,0.9,8,16.3,0.0,0.0,9,9.8
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,225.8,1896,-18.1,-10.000,-23.98,2246
$D_GRID,167
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.61,-146.6,192,2245,519,560,0.0,0.0,0,161,0.00,0.00,-145.10,0.000,16390,0.000,0.000,192,2246,3620,3547,3694,0,0,0,0,0,0,15.00,14.12,14.90
$GC,164,-0.61,-146.6,192,2249,3548,3690,4.0,-11.1,30,182,9.90,2.38,0.00,0.000,2308,0.410,0.070,2334,3682,3619,3542,3697,0,0,0,0,0,0,14.52,14.64,14.73
$GC,407,-0.61,-146.6,2339,3682,3538,3703,42.3,-15.0,78,414,0.00,2.17,0.00,0.000,1030,0.000,0.033,2333,2249,3620,3535,3705,0,0,0,0,0,0,14.77,14.73,14.78
$GC,475,-0.61,-146.6,2334,2250,3536,3706,51.6,-12.6,91,481,0.00,2.38,0.00,0.000,260,0.000,0.083,2323,3682,3623,3535,3711,0,0,0,0,0,0,14.86,14.66,14.88
$GC,707,-0.58,-146.6,2324,3682,3535,3707,82.1,-11.0,137,713,0.15,2.17,0.00,0.000,3206,0.249,0.033,2359,2236,3620,3534,3706,0,0,0,0,0,0,14.60,14.73,14.73
$GC,833,-0.64,-146.6,2356,2236,3535,3707,93.7,-10.1,162,839,0.00,2.15,0.00,0.000,644,0.000,0.049,2359,866,3619,3532,3706,0,0,0,0,0,0,14.85,14.66,14.88
$GC,929,-0.71,-146.6,2360,865,3535,3705,104.0,-10.4,181,936,0.00,2.28,0.00,0.000,1158,0.000,0.061,2351,2274,3620,3534,3707,0,0,0,0,0,0,14.75,14.68,14.76
$GC,1056,-0.76,-146.6,2352,2274,3535,3707,116.2,-9.4,206,1063,0.12,2.40,0.00,0.000,4516,0.114,0.086,2261,3711,3620,3533,3707,0,0,0,0,0,0,14.70,14.65,14.72
$GC,1224,-0.65,-146.6,2260,3711,3535,3707,142.9,-17.3,239,1231,0.28,2.22,0.00,0.000,3206,0.251,0.034,2332,2239,3619,3533,3706,0,0,0,0,0,0,14.58,14.73,14.76
$GC,1351,-0.68,-146.6,2332,2239,3535,3707,158.8,-11.2,264,1357,0.00,0.00,0.00,0.000,134,0.000,0.000,2332,2238,3620,3534,3707,0,0,0,0,0,0,14.88,14.91,14.91
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1427,begin apogee
$GC,1432,-0.14,0.0,2332,2503,3534,3707,167.4,-10.8,279,1553,0.55,0.00,111.95,1.449,10246,0.205,0.000,2495,2503,3020,2946,3095,0,0,0,0,1,0,14.62,14.21,13.57
$STATE,1554,end apogee,CONTROL_FINISHED_OK
$STATE,1555,begin climb
$MODEM_MSG,CACST,6,1,20160803171417.749331,3,54,05,0105,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$MODEM_MSG,CACST,6,1,20160803173542.200154,3,17,-11,0113,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*15
$GC,1557,0.61,146.6,2495,2503,2957,3094,172.0,0.0,299,1691,0.77,0.00,125.50,0.901,10758,0.142,0.000,2739,2503,2412,2331,2493,0,0,0,0,0,0,14.19,14.28,13.93
$GC,1811,0.69,189.8,2739,2503,2318,2474,156.1,8.0,342,1852,0.00,2.20,27.38,0.923,8612,0.000,0.089,2739,3784,2243,2170,2316,0,0,0,0,1,0,14.69,14.39,14.02
$GC,1877,0.69,189.8,2740,3785,2188,2320,149.8,11.7,353,1884,0.00,2.05,0.00,0.000,1030,0.000,0.034,2749,2441,2254,2187,2321,0,0,0,0,0,0,14.57,14.53,14.58
$GC,2004,0.76,217.4,2749,2441,2189,2323,138.4,8.7,378,2047,0.12,0.00,35.00,0.838,10406,0.122,0.000,2817,2441,2125,2050,2200,0,0,0,0,1,0,14.67,14.52,13.90
$GC,2167,0.71,217.4,2818,2441,2042,2191,117.6,13.2,409,2174,0.15,2.25,0.00,0.000,4484,0.262,0.090,2782,3777,2116,2041,2191,0,0,0,0,0,0,14.54,14.60,14.70
$GC,2229,0.69,217.4,2783,3778,2042,2191,109.7,12.3,421,2235,0.00,2.03,0.00,0.000,1158,0.000,0.034,2791,2446,2116,2041,2191,0,0,0,0,0,0,14.74,14.71,14.76
$GC,2357,0.69,217.4,2792,2443,2040,2190,96.0,10.6,446,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2446,2113,2038,2189,0,0,0,0,0,0,14.88,14.90,14.90
$GC,2482,0.69,217.4,2792,2447,2040,2189,81.8,11.4,471,2489,0.00,2.17,0.00,0.000,516,0.000,0.050,2801,1059,2112,2037,2187,0,0,0,0,0,0,14.90,14.71,14.92
$GC,2494,0.69,217.4,2801,1059,2039,2186,80.4,11.8,473,2501,0.00,2.30,0.00,0.000,1030,0.000,0.060,2801,2494,2111,2038,2185,0,0,0,0,0,0,14.80,14.72,14.82
$GC,2622,0.69,217.4,2801,2494,2039,2187,68.0,10.0,498,2628,0.00,2.15,0.00,0.000,260,0.000,0.091,2801,3779,2109,2034,2185,0,0,0,0,0,0,14.92,14.70,14.94
$GC,2724,0.65,217.4,2802,3780,2040,2186,54.7,12.4,518,2730,0.20,2.00,0.00,0.000,5254,0.249,0.034,2760,2449,2112,2039,2185,0,0,0,0,0,0,14.67,14.80,14.82
$GC,2851,0.75,269.9,2760,2450,2040,2185,44.6,7.6,543,2882,0.00,2.22,26.58,0.269,8868,0.000,0.049,2768,1069,1919,1843,1995,0,0,0,0,0,0,14.93,14.72,14.59
$GC,2912,0.87,309.1,2769,1069,1864,1996,39.6,8.2,554,2943,0.17,2.33,24.12,0.259,11430,0.095,0.061,2861,2508,1760,1689,1832,0,0,0,0,0,0,14.75,14.70,14.57
$GC,3017,0.82,309.1,2861,2506,1709,1835,24.8,16.7,571,3024,0.15,0.00,1.95,0.178,12422,0.252,0.000,2819,2507,1758,1691,1826,0,0,0,0,0,0,14.59,14.73,14.61
$GC,3085,0.82,309.1,2819,2508,1708,1832,16.1,12.8,584,3091,0.00,0.00,1.75,0.198,8198,0.000,0.000,2818,2508,1758,1691,1825,0,0,0,0,0,0,14.85,14.73,14.63
$GC,3153,0.82,309.1,2818,2509,1706,1829,7.0,13.0,597,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2508,1768,1707,1829,0,0,0,0,0,0,14.85,14.88,14.87
$STATE,3191,end climb,SURFACE_DEPTH_REACHED
$STATE,3191,begin surface coast
$FINISH,0.2,1.010609
$STATE,3202,end surface coast,CONTROL_FINISHED_OK
$STATE,3202,begin surface
$SM_CCo,3220,75.95,0.149,0,0,1183,450.62
$SM_GC,0.95,7.28,0.35,75.95,0.057,0.060,0.149,183,2231,1183,-7.27,0.59,450.62,0,0,0,0,0,0,14.76,14.76,14.61
$RAFOS_CLK,19
$MODEM,3,1470245742,74.38900,-147.59100,288.200,422213.2
$MODEM,1,1470244457,74.28600,-146.53101,230.749,338047.8
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12225.08,030816,170325
$TT8_MAMPS,0.085386,0.901047
$HUMID,55.78
$INTERNAL_PRESSURE,8.87653
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,4019168
$PM_FREEKB,62298304
$24V_AH,13.57,1.548
$10V_AH,13.29,0.000
$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,19.850,40.700,354.225,75.950,0.000,0.000,0.000,0.000,0.000,0.000,8.954,0.000,1454.879,458.653,1347.429,121.212,0.000,1088.961,0.000,874.295,3790.000,0.544,0.000
$DEVICE_MAMPS,410.040,172.890,1448.910,149.175,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3193.000,3187.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.946,18.561,0.000,0.000
$MEM,310428
$DATA_FILE_SIZE,20096,607
$CAP_FILE_SIZE,122585,0
$CFSIZE,2097872896,2093514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$SOUNDSPEED,1493.9
$GPS,030816,180533,4743.963,-12224.168,5,1.0,18,16.3,0.0,0.0,8,9.8