version: 66.13
glider: 198
mission: 7
dive: 3
start: 8 3 116 18 14 12
data:
$ID,198
$MISSION,7
$DIVE,3
$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,63
$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
$GPS1,030816,180533,4743.9634,-12224.1680,5,1.0,18,16.3,0.0,0.0,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.7
$GPS2,030816,181347,4743.9707,-12224.1494,6,0.9,13,16.3,0.0,0.0,9,9.8
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,214.2,1372,-18.1,-10.000,-23.98,2246
$D_GRID,173
$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,-146.6,183,2343,1139,1228,0.0,0.0,0,133,0.00,0.08,-115.12,0.000,16390,0.000,2.257,182,2262,3618,3547,3690,0,0,0,0,0,0,14.78,13.78,14.80
$GC,135,-0.61,-146.6,183,2262,3544,3691,3.9,-8.2,20,149,9.95,2.38,0.00,0.000,2340,0.405,0.067,2340,3681,3619,3545,3694,0,0,0,0,0,0,14.40,14.57,14.60
$GC,374,-0.61,-146.6,2338,3681,3537,3704,42.2,-13.9,67,380,0.00,2.12,0.00,0.000,1030,0.000,0.034,2341,2282,3620,3535,3705,0,0,0,0,0,0,14.70,14.66,14.71
$GC,442,-0.61,-146.6,2341,2282,3535,3707,50.8,-12.6,80,448,0.00,2.33,0.00,0.000,260,0.000,0.087,2330,3670,3621,3535,3708,0,0,0,0,0,0,14.81,14.62,14.83
$GC,673,-0.61,-146.6,2330,3671,3535,3706,79.7,-11.8,126,679,0.00,2.08,0.00,0.000,1030,0.000,0.033,2330,2290,3621,3534,3708,0,0,0,0,0,0,14.75,14.71,14.76
$GC,799,-0.61,-146.6,2330,2290,3535,3707,94.6,-11.9,151,806,0.00,2.30,0.00,0.000,260,0.000,0.086,2320,3667,3620,3533,3707,0,0,0,0,0,0,14.83,14.63,14.85
$GC,1031,-0.58,-146.6,2318,3671,3534,3708,124.7,-12.2,197,1037,0.15,2.08,0.00,0.000,3206,0.250,0.034,2356,2276,3621,3535,3707,0,0,0,0,0,0,14.59,14.73,14.76
$GC,1158,-0.65,-146.6,2356,2276,3535,3708,137.7,-10.2,222,1164,0.00,2.33,0.00,0.000,388,0.000,0.089,2346,3670,3620,3533,3708,0,0,0,0,0,0,14.85,14.66,14.88
$GC,1366,-0.69,-146.6,2346,3671,3535,3708,159.8,-9.7,263,1372,0.00,2.03,0.00,0.000,1190,0.000,0.034,2346,2308,3620,3533,3708,0,0,0,0,0,0,14.78,14.75,14.79
$GC,1493,-0.74,-146.6,2346,2309,3535,3708,171.7,-9.2,288,1499,0.12,0.00,0.00,0.000,4262,0.116,0.000,2271,2308,3620,3533,3708,0,0,0,0,0,0,14.72,14.77,14.74
$STATE,1507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1507,begin apogee
$GC,1513,-0.14,0.0,2271,2481,3535,3709,173.6,-10.3,291,1631,0.77,0.00,105.57,1.763,10246,0.223,0.000,2495,2481,3025,2957,3093,0,0,0,0,1,0,14.59,14.14,13.50
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1637,0.61,146.6,2496,2481,2964,3099,177.9,0.0,309,1778,0.77,2.25,128.40,0.887,10500,0.146,0.093,2740,3769,2406,2324,2488,0,0,0,0,0,0,14.14,14.20,13.90
$GC,1848,0.61,146.6,2736,3768,2317,2476,164.1,10.3,343,1854,0.00,1.92,0.00,0.000,1030,0.000,0.034,2746,2507,2395,2315,2476,0,0,0,0,0,0,14.53,14.49,14.53
$GC,1976,0.66,173.3,2745,2508,2316,2475,152.6,8.8,368,2001,0.00,0.00,17.45,0.815,8358,0.000,0.000,2745,2507,2310,2234,2387,0,0,0,0,1,0,14.77,14.58,14.14
$GC,2121,0.71,175.4,2744,2508,2253,2389,138.4,9.9,396,2127,0.00,0.00,2.25,0.383,8358,0.000,0.000,2745,2508,2303,2232,2374,0,0,0,0,0,0,14.82,14.67,14.15
$GC,2249,0.75,176.6,2745,2506,2250,2384,125.7,9.9,421,2256,0.12,2.20,2.35,0.415,10660,0.123,0.090,2835,3776,2298,2229,2367,0,0,0,0,0,0,14.73,14.68,14.19
$GC,2351,0.60,176.6,2830,3776,2253,2372,109.0,17.4,441,2359,0.35,1.92,1.80,0.190,13446,0.269,0.034,2749,2495,2296,2230,2362,0,0,0,0,0,0,14.61,14.76,14.64
$GC,2479,0.64,176.6,2749,2495,2250,2377,94.6,11.6,466,2485,0.00,0.00,1.70,0.197,8326,0.000,0.000,2749,2495,2298,2233,2364,0,0,0,0,0,0,14.90,14.81,14.67
$GC,2607,0.68,176.6,2749,2496,2250,2376,80.9,10.7,491,2613,0.00,0.00,1.75,0.195,8326,0.000,0.000,2749,2495,2297,2233,2362,0,0,0,0,0,0,14.92,14.80,14.69
$GC,2747,0.72,177.5,2749,2495,2250,2378,66.2,10.0,516,2754,0.00,2.22,2.10,0.190,8612,0.000,0.090,2749,3780,2296,2231,2361,0,0,0,0,0,0,14.88,14.69,14.65
$GC,2811,0.72,177.5,2750,3780,2252,2373,59.4,11.3,528,2817,0.00,1.92,2.00,0.191,9222,0.000,0.034,2757,2493,2297,2235,2360,0,0,0,0,0,0,14.77,14.74,14.64
$GC,2938,0.79,217.3,2758,2493,2250,2377,47.6,8.2,553,2968,0.12,2.17,22.88,0.278,10916,0.121,0.048,2847,1114,2135,2062,2208,0,0,0,0,0,0,14.73,14.66,14.54
$GC,2998,0.73,217.3,2848,1114,2079,2213,41.0,11.3,564,3006,0.22,2.25,2.03,0.194,13446,0.249,0.062,2791,2499,2132,2060,2204,0,0,0,0,0,0,14.57,14.64,14.59
$GC,3066,0.73,222.7,2791,2499,2082,2219,34.3,9.8,577,3073,0.00,0.00,5.43,0.216,8230,0.000,0.000,2792,2499,2111,2038,2185,0,0,0,0,0,0,14.81,14.70,14.54
$GC,3134,0.74,227.0,2791,2500,2065,2202,27.8,9.8,590,3147,0.00,2.15,5.75,0.212,8484,0.000,0.090,2791,3781,2099,2032,2167,0,0,0,0,0,0,14.82,14.64,14.55
$GC,3237,0.72,227.0,2791,3780,2054,2178,14.9,12.8,610,3244,0.00,1.92,3.15,0.185,9350,0.000,0.034,2799,2509,2093,2023,2164,0,0,0,0,0,0,14.73,14.68,14.58
$GC,3304,0.72,227.0,2800,2510,2045,2177,7.2,11.1,623,3311,0.00,2.28,2.53,0.190,8708,0.000,0.048,2808,1108,2095,2026,2164,0,0,0,0,0,0,14.81,14.66,14.58
$GC,3336,0.72,227.0,2807,1107,2038,2170,3.6,11.1,629,3343,0.00,2.28,1.85,0.198,9222,0.000,0.062,2808,2507,2091,2022,2160,0,0,0,0,0,0,14.71,14.64,14.59
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3351,begin surface coast
$FINISH,0.3,1.021492
$STATE,3366,end surface coast,CONTROL_FINISHED_OK
$STATE,3366,begin surface
$SM_CCo,3385,118.30,0.150,0,0,1181,450.13
$SM_GC,1.00,7.30,0.28,118.30,0.060,0.067,0.150,179,2280,1181,-7.27,1.84,450.13,0,0,0,0,0,0,14.72,14.73,14.57
$RAFOS_CLK,39
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12220.67,030816,170617
$TT8_MAMPS,0.086884,0.813414
$HUMID,53.81
$INTERNAL_PRESSURE,8.87653
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,4018720
$PM_FREEKB,62267200
$24V_AH,13.50,1.763
$10V_AH,13.63,0.000
$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,19.900,43.875,308.975,118.300,0.000,0.000,0.000,278.725,0.000,0.000,14.905,0.000,1599.559,538.139,1642.165,231.014,0.000,1355.190,0.000,915.395,2218.000,0.543,0.000
$DEVICE_MAMPS,404.685,2256.750,1762.560,149.940,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3416.000,3367.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.040,18.515,0.000,0.000
$MEM,310416
$DATA_FILE_SIZE,20108,635
$CAP_FILE_SIZE,116035,0
$CFSIZE,2097872896,2093285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1494.0
$GPS,030816,191347,4744.001,-12224.583,6,1.2,23,16.3,0.0,0.0,8,10.0