version: 66.13
glider: 198
mission: 6
dive: 4
start: 7 29 116 18 21 42
data:
$ID,198
$MISSION,6
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,190
$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,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,85
$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,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,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
$GPS1,290716,181812,4743.0698,-12225.0576,7,1.1,26,16.3,0.3,205.2,6,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-59.5
$GPS2,290716,182116,4743.0454,-12225.0840,8,1.1,24,16.3,0.3,221.0,6,9.8
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,350.8,848,-18.1,-10.000,-23.98,2246
$D_GRID,178
$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,-146.6,204,2281,467,542,0.0,0.0,0,169,0.00,0.00,-152.65,0.000,16390,0.000,0.000,203,2281,3699,3639,3759,0,0,0,0,0,0,14.81,13.77,14.81
$GC,171,-0.61,-146.6,203,2281,3635,3767,3.9,-9.8,26,185,9.93,2.42,0.00,0.000,2340,0.412,0.072,2333,3718,3701,3621,3781,0,0,0,0,0,0,14.42,14.59,14.63
$GC,410,-0.61,-146.6,2332,3716,3607,3799,40.1,-12.0,73,416,0.00,2.15,0.00,0.000,1030,0.000,0.035,2333,2315,3702,3605,3800,0,0,0,0,0,0,14.71,14.67,14.72
$GC,478,-0.64,-146.6,2340,2315,3605,3801,48.1,-12.3,86,484,0.00,2.33,0.00,0.000,388,0.000,0.087,2324,3706,3702,3604,3800,0,0,0,0,0,0,14.80,14.61,14.83
$GC,671,-0.64,-146.6,2325,3707,3604,3800,73.8,-12.0,124,678,0.00,2.15,0.00,0.000,1030,0.000,0.034,2324,2297,3702,3604,3800,0,0,0,0,0,0,14.71,14.68,14.73
$GC,798,-0.67,-146.6,2324,2298,3603,3801,87.6,-10.8,149,804,0.00,0.00,0.00,0.000,134,0.000,0.000,2323,2297,3702,3603,3801,0,0,0,0,0,0,14.81,14.83,14.82
$GC,924,-0.72,-146.6,2323,2297,3604,3802,102.7,-12.8,174,931,0.00,2.38,0.00,0.000,388,0.000,0.086,2314,3707,3701,3602,3801,0,0,0,0,0,0,14.81,14.59,14.82
$GC,1056,-0.74,-146.6,2315,3704,3602,3802,120.6,-13.2,200,1063,0.00,2.15,0.00,0.000,1158,0.000,0.035,2314,2296,3702,3602,3802,0,0,0,0,0,0,14.79,14.75,14.81
$GC,1185,-0.77,-146.6,2315,2296,3602,3802,134.9,-10.2,225,1191,0.00,2.35,0.00,0.000,388,0.000,0.086,2304,3708,3702,3602,3802,0,0,0,0,0,0,14.91,14.69,14.93
$GC,1266,-0.77,-146.6,2304,3709,3603,3803,144.8,-13.7,241,1273,0.00,2.15,0.00,0.000,1030,0.000,0.035,2304,2297,3702,3602,3802,0,0,0,0,0,0,14.83,14.79,14.85
$GC,1395,-0.79,-146.6,2303,2296,3603,3803,159.6,-11.5,266,1400,0.00,0.00,0.00,0.000,134,0.000,0.000,2304,2296,3701,3601,3802,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1520,-0.79,-146.6,2304,2296,3602,3802,174.8,-12.4,291,1527,0.00,2.33,0.00,0.000,260,0.000,0.086,2293,3703,3701,3601,3802,0,0,0,0,0,0,14.96,14.75,14.98
$STATE,1545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1545,begin apogee
$GC,1551,-0.14,0.0,2295,2475,3601,3803,178.2,-13.7,296,1673,0.68,0.00,109.28,1.713,10246,0.208,0.000,2494,2474,3103,3022,3185,0,0,0,0,1,0,14.68,14.18,13.52
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.61,146.6,2494,2475,3030,3190,183.2,0.0,316,1808,0.77,0.00,123.45,0.907,10758,0.129,0.000,2742,2474,2490,2406,2574,0,0,0,0,0,0,14.19,14.28,13.90
$GC,1930,0.63,184.6,2742,2474,2399,2562,170.3,8.3,360,1967,0.00,2.25,31.58,0.886,8740,0.000,0.045,2752,1088,2334,2256,2413,0,0,0,0,0,0,14.71,14.45,14.09
$GC,2019,0.68,202.6,2751,1088,2252,2401,162.7,9.2,376,2038,0.00,2.33,14.50,0.900,9382,0.000,0.062,2752,2507,2270,2193,2347,0,0,0,0,0,0,14.59,14.52,14.10
$GC,2158,0.71,202.6,2752,2507,2176,2330,148.5,10.2,403,2164,0.00,0.00,0.00,0.000,134,0.000,0.000,2752,2507,2252,2175,2329,0,0,0,0,0,0,14.78,14.80,14.79
$GC,2298,0.73,202.6,2753,2507,2175,2329,133.6,11.2,428,2304,0.10,2.15,0.00,0.000,2436,0.150,0.087,2810,3787,2251,2174,2329,0,0,0,0,0,0,14.67,14.62,14.72
$GC,2366,0.61,202.6,2810,3786,2178,2329,122.9,16.9,441,2373,0.30,2.00,0.00,0.000,5254,0.281,0.035,2747,2478,2251,2175,2328,0,0,0,0,0,0,14.55,14.70,14.72
$GC,2493,0.66,229.0,2751,2479,2177,2327,109.6,8.8,466,2517,0.00,0.00,21.88,0.858,8358,0.000,0.000,2747,2478,2163,2084,2243,0,0,0,0,0,0,14.81,14.57,14.21
$GC,2638,0.71,229.0,2747,2479,2063,2225,94.7,10.9,494,2644,0.00,2.15,0.00,0.000,644,0.000,0.049,2755,1119,2142,2061,2223,0,0,0,0,0,0,14.76,14.60,14.76
$GC,2754,0.75,229.0,2756,1119,2062,2221,81.0,12.6,517,2761,0.12,2.25,0.00,0.000,3206,0.128,0.063,2819,2500,2142,2061,2224,0,0,0,0,0,0,14.64,14.59,14.69
$GC,2881,0.69,229.0,2819,2500,2059,2221,62.4,14.0,542,2887,0.15,2.15,0.00,0.000,4484,0.295,0.086,2782,3781,2141,2062,2220,0,0,0,0,0,0,14.52,14.60,14.64
$GC,2944,0.65,229.0,2782,3782,2067,2221,52.7,16.2,554,2950,0.00,1.95,0.00,0.000,1158,0.000,0.035,2791,2499,2141,2063,2220,0,0,0,0,0,0,14.69,14.65,14.71
$GC,3070,0.65,229.0,2787,2500,2063,2221,34.7,13.3,579,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2499,2141,2062,2220,0,0,0,0,0,0,14.81,14.83,14.83
$GC,3136,0.65,229.0,2787,2499,2064,2221,26.5,12.3,592,3143,0.12,2.17,0.00,0.000,4612,0.302,0.049,2773,1115,2140,2061,2220,0,0,0,0,0,0,14.52,14.64,14.68
$GC,3238,0.70,231.0,2774,1114,2060,2218,15.9,9.9,612,3244,0.00,2.25,0.00,0.000,1190,0.000,0.061,2773,2503,2139,2061,2218,0,0,0,0,0,0,14.70,14.62,14.72
$GC,3306,0.74,231.0,2772,2504,2062,2219,8.6,10.8,625,3312,0.00,0.00,0.00,0.000,134,0.000,0.000,2774,2503,2139,2061,2218,0,0,0,0,0,0,14.80,14.83,14.82
$STATE,3370,end climb,SURFACE_DEPTH_REACHED
$STATE,3370,begin surface coast
$FINISH,0.0,1.021862
$STATE,3390,end surface coast,CONTROL_FINISHED_OK
$STATE,3390,begin surface
$SM_CCo,3407,209.15,0.151,0,0,499,637.78
$SM_CCo,3619,-0.15,0.000,0,0,500,637.53
$SM_CCo,3622,-0.05,0.000,0,0,504,637.78
$SM_GC,0.80,7.38,0.28,-0.05,0.079,0.067,0.000,182,2276,504,-7.28,1.75,637.78,0,0,0,0,0,0,14.71,14.71,14.13
$RAFOS_CLK,61
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12226.80,290716,181116
$TT8_MAMPS,0.087633,0.844872
$HUMID,52.36
$INTERNAL_PRESSURE,8.99372
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,4018272
$PM_FREEKB,62252736
$24V_AH,13.52,1.003
$10V_AH,13.70,0.000
$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,19.550,44.200,300.675,209.150,0.000,0.000,0.000,0.000,0.000,0.000,25.697,0.000,1579.399,668.475,1340.584,129.614,0.000,1204.643,0.000,929.308,1856.000,0.543,0.000
$DEVICE_MAMPS,411.570,87.210,1712.835,151.470,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3382.000,3376.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.603,18.561,0.000,0.000
$MEM,310388
$DATA_FILE_SIZE,20042,642
$CAP_FILE_SIZE,121909,0
$CFSIZE,2097872896,2093154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1493.2
$GPS,290716,192323,4743.114,-12225.191,35,1.0,38,16.3,0.0,0.0,6,9.5