version: 66.13
glider: 199
mission: 7
dive: 78
start: 10 9 118 2 39 31
data:
$ID,199
$MISSION,7
$DIVE,78
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$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,70
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53675
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019
$HD_B,0.016000001
$HD_C,1.2e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2070
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2943
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,120
$LOITER_D_BOTTOM,300
$LOITER_N_DIVE,1
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$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,-160.83926
$PRESSURE_SLOPE,0.00010895507
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.6
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043925666
$SEABIRD_T_H,0.0006320356
$SEABIRD_T_I,2.5405934e-05
$SEABIRD_T_J,3.1033937e-06
$SEABIRD_C_G,-9.8267241
$SEABIRD_C_H,1.1324162
$SEABIRD_C_I,-0.0020002997
$SEABIRD_C_J,0.00022812413
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,091018,022859,7411.5312,-14631.7764,17,0.7,19,22.4,0.3,34.7,12,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-65.5
$GPS2,091018,023855,7411.5742,-14631.6748,7,0.7,12,22.4,0.0,0.0,11,9.1
$SPEED_LIMITS,0.165,0.207
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,20.6,7177,-16.5,-9.524,-24.67,2361
$D_GRID,200
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.76,-146.0,193,2754,779,808,0.0,0.0,0,103,0.00,0.00,-91.35,0.002,16386,0.000,0.000,193,2755,2193,2221,2166,0,0,0,0,0,0,14.29,28.83,14.31
$GC,106,-0.76,-146.0,194,2756,2223,2169,4.3,-7.2,9,152,9.02,2.80,-32.47,0.004,18948,0.477,0.170,1815,1335,3541,3590,3493,0,0,0,0,0,0,13.89,13.27,14.16
$GC,378,-0.76,-146.0,1816,1335,3586,3496,77.2,-21.3,62,384,0.00,2.83,0.00,0.000,1030,0.000,0.174,1806,2757,3542,3589,3496,0,0,0,0,0,0,14.27,14.13,14.29
$GC,563,-0.76,-146.0,1806,2758,3591,3495,111.0,-17.3,81,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2763,3542,3589,3496,0,0,0,0,0,0,14.45,14.47,14.47
$GC,743,-0.76,-146.0,1806,2757,3590,3496,140.1,-15.8,99,743,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2758,3542,3589,3496,0,0,0,0,0,0,14.50,14.52,14.51
$GC,923,-0.76,-146.0,1806,2758,3590,3497,167.8,-15.3,117,924,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2757,3542,3589,3496,0,0,0,0,0,0,14.53,14.54,14.54
$GC,1103,-0.76,-146.0,1806,2757,3591,3496,194.0,-14.2,135,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2757,3542,3589,3496,0,0,0,0,0,0,14.55,14.57,14.57
$STATE,1150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1150,begin apogee
$GC,1156,-0.19,0.0,1807,2598,3590,3497,200.8,-13.6,140,1276,0.77,0.00,116.60,1.692,10246,0.280,0.000,2001,2597,2942,3030,2855,0,0,0,0,0,0,14.26,13.73,13.06
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin loiter
$GC,1453,-0.17,10.8,2001,2597,3027,2839,212.7,-2.8,170,1464,0.00,0.00,9.23,1.470,8230,0.000,0.000,2001,2597,2895,2989,2802,0,0,0,0,0,0,14.27,14.02,13.33
$GC,1643,-0.17,19.8,2000,2598,2989,2798,217.3,-2.3,189,1654,0.00,0.00,8.73,1.480,8230,0.000,0.000,2001,2597,2857,2949,2766,0,0,0,0,0,0,14.37,14.13,13.42
$GC,1833,-0.11,19.8,2001,2598,2949,2764,220.8,-1.7,208,1834,0.12,0.00,0.00,0.000,2118,0.261,0.000,2030,2596,2856,2949,2763,0,0,0,0,0,0,14.16,14.32,14.29
$GC,2013,-0.07,19.8,2027,2597,2948,2762,223.5,-1.5,226,2014,0.00,0.00,0.00,0.000,70,0.000,0.000,2030,2596,2855,2949,2762,0,0,0,0,0,0,14.52,14.54,14.54
$GC,2193,-0.06,27.9,2030,2596,2950,2761,226.9,-2.1,244,2204,0.00,0.00,7.72,1.539,8230,0.000,0.000,2030,2597,2824,2913,2736,0,0,0,0,0,0,14.58,14.33,13.57
$GC,2383,-0.02,27.9,2030,2596,2914,2734,229.6,-1.4,263,2384,0.12,0.00,0.00,0.000,2118,0.307,0.000,2058,2596,2823,2913,2734,0,0,0,0,0,0,14.29,14.47,14.44
$GC,2563,0.01,27.9,2059,2597,2914,2733,231.5,-1.0,281,2564,0.00,0.00,0.00,0.000,70,0.000,0.000,2059,2596,2822,2912,2733,0,0,0,0,0,0,14.62,14.65,14.64
$GC,2743,0.03,27.9,2059,2598,2913,2733,232.8,-0.6,299,2744,0.00,0.00,0.00,0.000,70,0.000,0.000,2058,2596,2822,2913,2732,0,0,0,0,0,0,14.67,14.69,14.68
$GC,2923,0.05,27.9,2059,2597,2914,2731,234.0,-0.7,317,2924,0.00,0.00,0.00,0.000,70,0.000,0.000,2058,2596,2822,2913,2732,0,0,0,0,0,0,14.70,14.72,14.71
$GC,3103,0.08,27.9,2059,2597,2913,2732,235.6,-0.9,335,3104,0.12,0.00,0.00,0.000,2118,0.235,0.000,2090,2596,2822,2913,2731,0,0,0,0,0,0,14.46,14.61,14.58
$GC,3283,0.09,27.9,2091,2596,2914,2731,236.7,-0.5,353,3284,0.00,0.00,0.00,0.000,70,0.000,0.000,2090,2597,2822,2913,2731,0,0,0,0,0,0,14.74,14.76,14.76
$GC,3463,0.09,27.9,2090,2597,2913,2732,237.3,-0.2,371,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2597,2821,2913,2730,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3643,0.09,27.9,2091,2596,2914,2730,237.7,-0.2,389,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2597,2821,2912,2730,0,0,0,0,0,0,14.78,14.81,14.80
$GC,3823,0.09,27.9,2091,2596,2914,2730,238.1,-0.2,407,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2597,2821,2913,2730,0,0,0,0,0,0,14.80,14.81,14.81
$GC,4003,0.09,27.9,2090,2597,2913,2730,238.2,-0.0,425,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2596,2821,2912,2730,0,0,0,0,0,0,14.81,14.83,14.83
$GC,4183,0.09,27.9,2090,2597,2913,2731,238.4,-0.2,443,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2596,2821,2913,2730,0,0,0,0,0,0,14.81,14.84,14.83
$GC,4363,0.09,27.9,2090,2597,2913,2730,238.9,-0.3,461,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2596,2821,2913,2729,0,0,0,0,0,0,14.83,14.85,14.84
$GC,4543,0.09,27.9,2090,2596,2914,2729,239.4,-0.2,479,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2596,2821,2913,2729,0,0,0,0,0,0,14.83,14.85,14.85
$GC,4723,0.09,27.9,2090,2597,2914,2728,240.0,-0.5,497,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2597,2821,2913,2729,0,0,0,0,0,0,14.84,14.86,14.85
$STATE,4871,end loiter,LOITER_COMPLETE
$STATE,4871,begin climb
$GC,4874,0.76,146.0,2089,2597,2912,2730,240.8,0.0,512,4975,0.70,2.78,94.80,1.743,10756,0.148,0.147,2318,1184,2343,2444,2243,0,0,0,0,0,0,14.57,13.75,13.20
$GC,5203,0.85,146.0,2321,1182,2444,2229,222.9,6.4,574,5208,0.00,2.83,0.00,0.000,1094,0.000,0.172,2318,2600,2336,2443,2229,0,0,0,0,0,0,14.20,14.05,14.22
$GC,5393,0.95,146.0,2318,2601,2444,2227,210.6,6.4,594,5399,0.15,2.72,0.00,0.000,2628,0.125,0.149,2395,1185,2335,2444,2226,0,0,0,0,0,0,14.21,14.14,14.26
$GC,5454,0.98,146.0,2395,1186,2444,2226,205.8,8.4,606,5459,0.00,2.80,0.00,0.000,1094,0.000,0.171,2395,2600,2334,2444,2225,0,0,0,0,0,0,14.28,14.13,14.30
$GC,5644,1.01,146.0,2395,2599,2445,2223,189.3,8.3,626,5645,0.00,0.00,0.00,0.000,70,0.000,0.000,2395,2600,2337,2451,2224,0,0,0,0,0,0,14.42,14.44,14.44
$GC,5824,1.06,146.0,2396,2601,2444,2224,174.6,8.2,644,5825,0.00,0.00,0.00,0.000,70,0.000,0.000,2395,2600,2333,2444,2223,0,0,0,0,0,0,14.45,14.46,14.46
$GC,6004,1.11,146.0,2395,2600,2445,2223,160.4,7.7,662,6005,0.00,0.00,0.00,0.000,70,0.000,0.000,2396,2600,2332,2443,2222,0,0,0,0,0,0,14.46,14.48,14.48
$GC,6184,1.18,146.0,2396,2601,2444,2223,147.0,7.3,680,6186,0.17,0.00,0.00,0.000,2118,0.121,0.000,2458,2600,2333,2444,2222,0,0,0,0,0,0,14.30,14.38,14.37
$GC,6364,1.22,146.0,2458,2600,2445,2221,132.2,7.9,698,6369,0.00,2.72,0.00,0.000,580,0.000,0.152,2468,1175,2332,2444,2221,0,0,0,0,0,0,14.48,14.24,14.50
$GC,6525,1.30,146.0,2469,1175,2445,2221,120.4,7.2,730,6530,0.00,2.80,0.00,0.000,1094,0.000,0.171,2469,2601,2331,2443,2220,0,0,0,0,0,0,14.37,14.22,14.39
$GC,6715,1.39,146.0,2467,2601,2445,2219,107.5,6.3,750,6720,0.12,2.35,0.00,0.000,2372,0.144,0.204,2517,3771,2332,2444,2220,0,0,0,0,0,0,14.27,14.20,14.31
$GC,6851,1.47,146.0,2517,3771,2445,2219,97.7,6.9,777,6858,0.00,2.25,0.00,0.000,1094,0.000,0.160,2525,2595,2331,2443,2220,0,0,0,0,0,0,14.35,14.23,14.37
$MODEM_MSG,CACST,6,1,20181009040535.687039,18,1646,32,0105,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0F
$MODEM_MSG,CACST,6,1,20181009041035.621356,18,3561,35,0055,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D
$MODEM_MSG,CACST,6,1,20181009041535.617119,18,5303,37,0080,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0E
$MODEM_MSG,CACST,6,1,20181009041640.230596,18,378,25,0097,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31
$MODEM_MSG,CACST,6,1,20181009042036.968682,18,2062,33,0118,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D
$MODEM_MSG,CACST,6,1,20181009042843.382631,18,102,08,0136,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F
$GC,7036,1.61,282.5,2526,2597,2444,2220,88.3,3.6,796,7148,0.15,2.58,106.55,1.522,10532,0.140,0.200,2584,3771,1784,1885,1684,0,0,0,0,0,0,14.28,13.64,13.14
$GC,7190,1.61,282.5,2584,3771,1884,1679,72.4,15.9,824,7195,0.00,2.33,0.00,0.000,1030,0.000,0.155,2592,2599,1780,1883,1678,0,0,0,0,0,0,13.93,13.83,13.96
$GC,7381,1.64,282.5,2593,2599,1884,1669,53.3,8.6,844,7386,0.00,2.42,0.00,0.000,324,0.000,0.201,2593,3776,1775,1882,1669,0,0,0,0,0,0,14.26,14.00,14.28
$GC,7611,1.78,428.0,2593,3775,1884,1664,41.7,3.2,890,7733,0.12,2.28,114.60,1.414,11302,0.147,0.158,2647,2595,1192,1221,1163,0,0,0,0,0,0,14.19,14.14,13.09
$GC,7910,1.78,428.0,2648,2595,1216,1158,11.8,9.6,930,7915,0.00,2.45,0.00,0.000,260,0.000,0.201,2647,3771,1186,1215,1158,0,0,0,0,0,0,14.14,13.88,14.16
$STATE,8003,end climb,SURFACE_DEPTH_REACHED
$STATE,8003,begin surface coast
$FINISH,0.7,1.020657
$STATE,8015,end surface coast,CONTROL_FINISHED_OK
$STATE,8015,begin surface
$SM_CCo,8034,148.75,0.218,0,0,802,525.19
$SM_GC,0.77,7.60,2.05,148.75,0.093,0.156,0.218,193,2749,802,-5.81,0.45,525.19,0,0,0,0,0,0,14.07,14.01,13.93
$RAFOS_CLK,147
$MODEM,5,1539059323,76.93333,-143.66667,223.383,322041.0
$MODEM,4,1539058836,76.58334,-140.05000,36.969,53296.1
$MODEM,3,1539058535,75.50000,-144.13333,35.617,51347.7
$MODEM,2,1539058235,74.08334,-144.88333,35.621,51353.8
$MODEM,1,1539057935,74.43333,-147.95000,35.687,51448.5
$RAFOS_FIX,7439.640625,-14216.428711,091018,040443,5,255,20.59
$IRIDIUM_FIX,7411.13,-14625.16,091018,000400
$TT8_MAMPS,0.039697,0.647136
$HUMID,47.83
$INTERNAL_PRESSURE,9.46163
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.7
$24V_AH,13.06,40.236
$10V_AH,13.35,0.000
$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,19.200,41.325,458.225,148.750,0.000,0.000,0.000,357.725,0.250,0.000,20.613,0.000,5667.873,683.851,2197.143,242.389,0.000,1770.401,0.000,1359.170,2219.000,2.534,0.000
$DEVICE_MAMPS,476.595,204.255,1743.435,218.025,0.000,0.000,0.000,182.070,420.000,0.000,21.720,0.000,2.310,11.470,30.200,36.190,0.000,9.500,0.000,7.490,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4447.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.663,0.000,0.000,0.000
$MEM,334540
$DATA_FILE_SIZE,30071,951
$CAP_FILE_SIZE,102529,0
$CFSIZE,2097872896,2076508160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1441.7
$CURRENT,0.122,7.21,1
$GPS,091018,045703,7412.403,-14630.784,26,0.8,26,22.4,0.5,359.4,9,8.3