version: 66.13
glider: 198
mission: 6
dive: 3
start: 7 29 116 17 15 53
data:
$ID,198
$MISSION,6
$DIVE,3
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,65
$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,676.83997
$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,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$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,75
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$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,0.80000001
$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
$GPS1,290716,171214,4743.2822,-12224.3174,6,1.2,10,16.3,0.0,199.1,6,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-53.7
$GPS2,290716,171526,4743.2471,-12224.3193,7,1.0,15,16.3,0.0,202.9,7,8.4
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,282.6,969,-18.1,-10.000,-23.98,2246
$D_GRID,176
$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,13,-0.61,-146.6,195,2322,481,531,0.0,0.0,0,167,0.00,0.00,-152.95,0.000,16386,0.000,0.000,195,2323,3664,3595,3734,0,0,0,0,0,0,14.90,28.83,14.92
$GC,170,-0.61,-146.6,195,2323,3592,3736,3.9,-11.0,31,189,9.88,2.47,-0.80,0.000,18692,0.406,2.163,2334,3679,3700,3610,3791,0,0,0,0,0,0,14.47,13.74,14.71
$GC,414,-0.63,-146.6,2332,3681,3607,3797,41.0,-14.6,79,420,0.00,2.10,0.00,0.000,1158,0.000,0.035,2334,2305,3701,3604,3799,0,0,0,0,0,0,14.71,14.66,14.71
$GC,482,-0.67,-146.6,2334,2305,3598,3800,49.5,-11.3,92,488,0.00,2.30,0.00,0.000,388,0.000,0.086,2325,3684,3701,3603,3799,0,0,0,0,0,0,14.83,14.63,14.85
$GC,684,-0.70,-146.6,2328,3685,3603,3800,72.0,-10.8,132,690,0.00,2.15,0.00,0.000,1158,0.000,0.035,2325,2289,3702,3604,3800,0,0,0,0,0,0,14.76,14.72,14.78
$GC,811,-0.74,-146.6,2326,2290,3604,3800,85.4,-10.5,157,816,0.00,0.00,0.00,0.000,134,0.000,0.000,2325,2290,3701,3603,3799,0,0,0,0,0,0,14.84,14.86,14.86
$MODEM_MSG,CACST,6,1,20160729171917.158609,3,176,10,0212,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$MODEM_MSG,CACST,6,1,20160729172108.209444,3,29,02,0161,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$MODEM_MSG,CACST,6,1,20160729172649.597769,3,77,12,0116,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$GC,942,-0.78,-146.6,2325,2290,3605,3803,100.2,-12.1,182,948,0.00,0.00,0.00,0.000,134,0.000,0.000,2325,2290,3701,3603,3800,0,0,0,0,0,0,14.83,14.85,14.85
$GC,1069,-0.82,-146.6,2325,2290,3600,3801,114.1,-10.2,207,1075,0.12,2.33,0.00,0.000,4484,0.125,0.084,2251,3693,3701,3604,3799,0,0,0,0,0,0,14.71,14.65,14.76
$GC,1172,-0.73,-146.6,2252,3694,3603,3800,130.2,-16.5,227,1179,0.22,2.12,0.00,0.000,3206,0.261,0.034,2308,2286,3701,3603,3800,0,0,0,0,0,0,14.62,14.78,14.78
$GC,1299,-0.76,-146.6,2308,2286,3604,3801,144.8,-10.7,252,1305,0.00,0.00,0.00,0.000,134,0.000,0.000,2308,2285,3701,3603,3800,0,0,0,0,0,0,14.94,14.96,14.96
$STATE,1347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1347,begin apogee
$GC,1353,-0.14,0.0,2309,2488,3602,3801,150.0,-10.3,262,1488,0.62,0.00,120.72,1.402,10246,0.206,0.000,2496,2487,3105,3020,3190,0,0,0,0,1,0,14.66,14.12,13.58
$STATE,1489,end apogee,CONTROL_FINISHED_OK
$STATE,1490,begin climb
$GC,1492,0.61,146.6,2496,2486,3026,3194,152.9,0.0,284,1624,0.75,2.22,121.55,0.892,11012,0.134,0.087,2737,3779,2490,2403,2577,0,0,0,0,0,0,14.25,14.25,13.95
$GC,1749,0.58,146.6,2736,3779,2399,2566,133.2,11.3,329,1755,0.00,1.95,0.00,0.000,1158,0.000,0.034,2745,2500,2481,2397,2565,0,0,0,0,0,0,14.66,14.60,14.67
$GC,1877,0.59,158.2,2745,2499,2400,2565,120.5,9.5,354,1884,0.00,0.00,4.97,0.775,8230,0.000,0.000,2745,2497,2461,2382,2540,0,0,0,0,0,0,14.85,14.67,14.26
$GC,2005,0.60,177.6,2745,2499,2379,2541,108.6,9.1,379,2030,0.00,0.00,21.00,0.851,8230,0.000,0.000,2745,2499,2364,2285,2444,0,0,0,0,0,0,14.86,14.64,14.27
$GC,2150,0.60,177.6,2743,2500,2285,2431,94.3,10.2,407,2157,0.00,2.17,0.00,0.000,516,0.000,0.050,2754,1116,2352,2276,2429,0,0,0,0,0,0,14.83,14.68,14.85
$GC,2182,0.64,194.0,2754,1119,2278,2430,91.4,9.3,413,2195,0.00,2.25,5.75,0.280,9382,0.000,0.063,2755,2502,2314,2243,2386,0,0,0,0,0,0,14.73,14.66,14.46
$GC,2315,0.64,194.0,2755,2503,2263,2404,77.2,12.0,439,2322,0.00,2.25,3.25,0.210,8708,0.000,0.047,2762,1113,2311,2241,2382,0,0,0,0,0,0,14.87,14.69,14.52
$GC,2387,0.67,194.0,2763,1114,2264,2399,68.6,11.1,453,2395,0.00,2.25,3.12,0.213,9350,0.000,0.061,2763,2501,2308,2237,2380,0,0,0,0,0,0,14.75,14.68,14.54
$GC,2515,0.67,204.3,2763,2502,2264,2401,56.4,9.5,478,2528,0.00,2.22,8.12,0.283,8484,0.000,0.089,2763,3789,2269,2200,2339,0,0,0,0,0,0,14.89,14.69,14.56
$GC,2618,0.65,213.8,2763,3789,2224,2352,45.9,9.6,494,2631,0.00,1.95,7.38,0.259,9382,0.000,0.035,2771,2501,2229,2158,2300,0,0,0,0,0,0,14.76,14.71,14.55
$GC,2691,0.65,213.8,2770,2501,2181,2315,38.7,10.5,508,2698,0.00,2.22,2.47,0.202,8452,0.000,0.089,2771,3784,2231,2163,2299,0,0,0,0,0,0,14.84,14.65,14.59
$STATE,2711,end climb,POWER_ERROR_DETECTED
$SM_CCo,2725,222.70,0.203,0,0,499,638.03
$SM_CCo,2996,0.43,0.343,0,0,499,638.03
$SM_CCo,3000,-0.20,0.000,0,0,500,637.78
$SM_CCo,3003,0.00,0.000,0,0,500,637.78
$SM_GC,0.90,7.30,2.03,0.00,0.070,0.035,0.000,188,2496,500,-7.26,1.98,637.78,0,0,0,0,0,0,14.66,14.66,14.80
$RAFOS_CLK,23
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12220.67,290716,170944
$TT8_MAMPS,0.086884,0.814912
$HUMID,55.15
$INTERNAL_PRESSURE,8.99372
$TCM_TEMP,18.50
$XPDR_PINGS,3
$SC_FREEKB,4018720
$PM_FREEKB,62285056
$24V_AH,13.58,0.769
$10V_AH,13.76,0.000
$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,18.900,35.325,298.350,223.125,0.000,0.000,0.000,0.000,0.750,0.000,16.495,0.000,1245.376,547.355,1197.840,108.483,0.000,1111.008,0.000,742.214,2686.000,0.544,0.000
$DEVICE_MAMPS,406.215,2162.655,1402.245,343.485,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2709.000,2701.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.273,18.497,0.000,0.000
$MEM,310352
$DATA_FILE_SIZE,16765,512
$CAP_FILE_SIZE,97808,1
$CFSIZE,2097872896,2093416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$EOP_CODE,POWER_ERROR_DETECTED
$RECOV_CODE,CURRENT_CUTOFF_10V
$SM_CCo,3066,0.98,0.232,0,0,497,637.78
$SM_CCo,3070,-0.25,0.000,0,0,501,637.78
$SM_CCo,3073,-0.03,0.000,0,0,502,637.29
$SM_GC,0.98,1.80,0.00,-0.03,0.063,0.000,0.000,188,2495,502,-7.28,-0.14,637.29,0,0,0,0,0,0,14.68,14.84,14.33
$GPS,290716,180746,4743.152,-12224.998,12,1.1,32,16.3,0.3,206.6,6,9.3