version: 66.13
glider: 198
mission: 7
dive: 4
start: 8 3 116 19 22 18
data:
$ID,198
$MISSION,7
$DIVE,4
$N_DIVES,4
$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,81
$R_STBD_OVSHOOT,27
$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
$GPS1,030816,191347,4744.0010,-12224.5830,6,1.2,23,16.3,0.0,0.0,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.2
$GPS2,030816,192154,4743.9927,-12224.5830,8,1.0,33,16.3,0.0,0.0,9,10.0
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,193.4,1050,-18.1,-10.000,-23.98,2246
$D_GRID,174
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.61,-146.6,180,2280,1143,1224,0.0,0.0,0,127,0.00,0.00,-112.72,0.000,16386,0.000,0.000,180,2281,3589,3522,3657,0,0,0,0,0,0,14.76,28.83,14.79
$GC,130,-0.61,-146.6,180,2281,3523,3657,3.0,-5.1,19,149,9.93,2.35,-0.70,0.000,18980,0.405,2.160,2343,940,3619,3537,3701,0,0,0,0,0,0,14.42,13.82,14.64
$GC,374,-0.61,-146.6,2343,940,3537,3705,39.2,-13.1,67,381,0.00,2.22,0.00,0.000,1030,0.000,0.063,2335,2306,3620,3534,3707,0,0,0,0,0,0,14.65,14.59,14.67
$GC,441,-0.61,-146.6,2335,2307,3535,3708,48.2,-13.2,80,447,0.00,2.17,0.00,0.000,516,0.000,0.047,2335,928,3621,3534,3708,0,0,0,0,0,0,14.78,14.62,14.80
$GC,672,-0.61,-146.6,2335,927,3534,3711,74.7,-11.3,126,678,0.00,2.25,0.00,0.000,1030,0.000,0.063,2326,2308,3620,3533,3708,0,0,0,0,0,0,14.69,14.63,14.72
$GC,798,-0.61,-146.6,2326,2308,3534,3709,88.4,-10.2,151,804,0.00,2.35,0.00,0.000,260,0.000,0.090,2315,3711,3620,3533,3708,0,0,0,0,0,0,14.81,14.61,14.85
$GC,845,-0.57,-146.6,2315,3711,3533,3709,93.9,-11.9,160,851,0.17,2.15,0.00,0.000,3206,0.245,0.033,2358,2278,3621,3533,3709,0,0,0,0,0,0,14.56,14.67,14.69
$GC,972,-0.63,-146.6,2358,2279,3534,3708,105.9,-9.5,185,978,0.00,0.00,0.00,0.000,166,0.000,0.000,2359,2278,3622,3535,3709,0,0,0,0,0,0,14.79,14.82,14.82
$GC,1098,-0.69,-146.6,2359,2278,3534,3710,117.5,-8.7,210,1105,0.00,2.40,0.00,0.000,420,0.000,0.091,2349,3702,3621,3533,3709,0,0,0,0,0,0,14.80,14.60,14.82
$GC,1261,-0.73,-146.6,2348,3711,3533,3709,133.5,-9.6,242,1268,0.12,2.10,0.00,0.000,5286,0.119,0.034,2280,2307,3620,3532,3709,0,0,0,0,0,0,14.68,14.71,14.73
$GC,1388,-0.67,-146.6,2280,2305,3533,3709,149.8,-13.6,267,1394,0.17,0.00,0.00,0.000,2182,0.262,0.000,2328,2305,3620,3532,3709,0,0,0,0,0,0,14.61,14.76,14.71
$GC,1515,-0.69,-146.6,2329,2305,3534,3709,163.7,-10.1,292,1521,0.00,0.00,0.00,0.000,134,0.000,0.000,2329,2305,3621,3533,3709,0,0,0,0,0,0,14.90,14.93,14.95
$STATE,1609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1609,begin apogee
$GC,1615,-0.14,0.0,2329,2507,3533,3710,174.5,-11.1,311,1731,0.57,0.00,104.15,1.682,10246,0.206,0.000,2499,2507,3025,2957,3094,0,0,0,0,1,0,14.66,14.19,13.63
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,0.61,146.6,2500,2507,2964,3099,178.9,0.0,330,1872,0.75,0.00,128.75,0.878,10758,0.139,0.000,2737,2507,2407,2326,2489,0,0,0,0,0,0,14.17,14.19,13.89
$GC,1994,0.67,169.1,2736,2508,2317,2473,162.1,9.0,375,2019,0.00,2.22,15.07,0.760,8612,0.000,0.093,2736,3773,2328,2252,2404,0,0,0,0,1,0,14.68,14.46,13.82
$GC,2054,0.68,173.5,2737,3773,2263,2405,156.4,9.8,386,2061,0.00,1.92,3.40,0.680,9254,0.000,0.034,2745,2506,2311,2238,2385,0,0,0,0,0,0,14.62,14.57,14.08
$GC,2182,0.72,182.1,2745,2505,2257,2392,144.5,9.6,411,2200,0.12,0.00,14.07,0.888,10406,0.120,0.000,2819,2506,2268,2196,2340,0,0,0,0,0,0,14.66,14.60,14.23
$GC,2334,0.65,182.1,2823,2506,2184,2328,123.3,14.9,438,2340,0.20,0.00,0.00,0.000,4230,0.252,0.000,2767,2506,2255,2183,2328,0,0,0,0,0,0,14.50,14.64,14.60
$GC,2460,0.65,182.1,2767,2507,2183,2328,109.9,10.1,463,2466,0.00,2.15,0.00,0.000,260,0.000,0.091,2767,3776,2256,2182,2331,0,0,0,0,0,0,14.81,14.60,14.81
$GC,2528,0.62,182.1,2767,3776,2183,2329,101.8,13.9,476,2534,0.00,1.95,0.00,0.000,1158,0.000,0.034,2776,2492,2255,2183,2328,0,0,0,0,0,0,14.71,14.66,14.72
$GC,2654,0.62,182.1,2776,2492,2184,2327,85.9,10.8,501,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2492,2254,2182,2327,0,0,0,0,0,0,14.78,14.82,14.82
$GC,2780,0.62,182.1,2776,2493,2183,2327,73.2,10.3,526,2786,0.00,2.15,0.00,0.000,516,0.000,0.047,2785,1118,2254,2182,2327,0,0,0,0,0,0,14.80,14.65,14.82
$GC,2796,0.62,182.1,2785,1119,2183,2326,71.5,10.3,529,2803,0.15,2.25,0.00,0.000,5126,0.243,0.061,2749,2500,2254,2182,2326,0,0,0,0,0,0,14.57,14.63,14.71
$GC,2923,0.69,215.7,2749,2501,2183,2327,59.8,8.5,554,2942,0.00,2.22,15.00,0.299,8612,0.000,0.093,2749,3780,2143,2070,2217,0,0,0,0,0,0,14.82,14.60,14.47
$GC,3037,0.73,229.1,2749,3780,2094,2228,48.6,9.4,576,3056,0.00,1.95,10.50,0.265,9382,0.000,0.034,2756,2493,2087,2016,2158,0,0,0,0,0,0,14.71,14.66,14.48
$GC,3116,0.82,261.8,2757,2494,2034,2170,41.4,8.5,591,3140,0.15,0.00,20.70,0.261,10406,0.104,0.000,2850,2492,1952,1876,2028,0,0,0,0,0,0,14.66,14.64,14.48
$GC,3200,0.74,261.8,2851,2494,1899,2031,30.2,14.0,607,3207,0.20,0.00,2.28,0.177,12422,0.247,0.000,2795,2493,1950,1879,2021,0,0,0,0,0,0,14.51,14.64,14.54
$GC,3269,0.77,261.8,2796,2494,1898,2030,21.8,12.4,620,3275,0.00,0.00,2.12,0.186,8326,0.000,0.000,2795,2493,1952,1880,2024,0,0,0,0,0,0,14.77,14.66,14.55
$GC,3337,0.80,261.8,2798,2493,1900,2030,13.4,12.1,633,3344,0.00,2.22,1.95,0.190,8836,0.000,0.049,2804,1126,1953,1882,2024,0,0,0,0,0,0,14.78,14.62,14.57
$GC,3364,0.82,261.8,2805,1126,1891,2026,10.1,10.5,638,3370,0.00,2.25,0.00,0.000,1158,0.000,0.060,2805,2504,1959,1892,2027,0,0,0,0,0,0,14.68,14.61,14.69
$STATE,3430,end climb,SURFACE_DEPTH_REACHED
$STATE,3430,begin surface coast
$FINISH,0.3,1.021844
$STATE,3443,end surface coast,CONTROL_FINISHED_OK
$STATE,3443,begin surface
$SM_CCo,3461,101.68,0.149,0,0,1184,450.13
$SM_GC,1.09,7.30,0.25,101.68,0.060,0.070,0.149,180,2303,1184,-7.26,2.21,450.13,0,0,0,0,0,0,14.69,14.69,14.54
$RAFOS_CLK,59
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12222.38,030816,180912
$TT8_MAMPS,0.087633,0.708554
$HUMID,53.89
$INTERNAL_PRESSURE,8.83747
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,4018272
$PM_FREEKB,62234816
$24V_AH,13.63,1.981
$10V_AH,13.75,0.000
$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,19.850,39.875,318.000,101.675,0.000,0.000,0.000,256.100,0.000,0.000,34.491,0.000,1605.565,551.070,1672.013,230.541,0.000,1351.209,0.000,942.134,2219.000,0.543,0.000
$DEVICE_MAMPS,405.450,2159.595,1682.235,149.175,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3492.000,3443.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.891,18.532,0.000,0.000
$MEM,310440
$DATA_FILE_SIZE,20070,654
$CAP_FILE_SIZE,120738,0
$CFSIZE,2097872896,2093056000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1493.9
$GPS,030816,202233,4743.478,-12224.681,8,1.3,11,16.3,0.0,0.0,7,7.3