version: 66.13
glider: 198
mission: 12
dive: 2
start: 8 6 117 23 4 50
data:
$ID,198
$MISSION,12
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,55522
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281
$HD_B,0.0107
$HD_C,1.91e-06
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,692.78448
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2250
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,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,-160.33199
$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,10
$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
$LOGGERDEVICE2,83
$LOGGERDEVICE3,135
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004407478
$SEABIRD_T_H,0.00064096908
$SEABIRD_T_I,2.5637486e-05
$SEABIRD_T_J,3.1305062e-06
$SEABIRD_C_G,-9.8934832
$SEABIRD_C_H,1.0879974
$SEABIRD_C_I,-0.0021788499
$SEABIRD_C_J,0.00021905446
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,6.0
$CP_NDIVE,1.0
$GPS1,060817,225841,7107.7886,-14741.8164,5,0.9,10,21.2,0.0,248.0,9,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.5
$GPS2,060817,230418,7107.7876,-14741.7568,7,0.9,13,21.2,0.0,0.0,9,9.8
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,HEADING
$TGT_LATLONG,7118.586,-14741.757
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,317.5,20000,-17.5,-10.000,-21.45,2245
$D_GRID,120
$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,52,end surface,CONTROL_FINISHED_OK
$STATE,52,begin dive
$GC,55,-0.59,-145.9,204,2403,484,512,0.0,0.0,0,149,0.00,0.00,-92.05,0.000,16386,0.000,0.000,202,2402,1949,1903,1995,0,0,0,0,0,0,14.56,28.83,14.58
$GC,152,-0.59,-145.9,203,2404,1904,1998,3.0,-5.7,16,218,10.27,2.72,-48.40,0.000,18724,0.477,2.183,2044,3785,3959,3904,4014,0,0,0,0,0,0,13.97,13.26,14.37
$GC,443,-0.56,-145.9,2045,3786,3910,4013,52.5,-15.1,72,449,0.00,2.30,0.00,0.000,1158,0.000,0.055,2044,2403,3960,3907,4013,0,0,0,0,0,0,14.28,14.20,14.31
$GC,629,-0.56,-145.9,2043,2402,3909,4013,78.5,-13.0,109,635,0.00,2.50,0.00,0.000,260,0.000,0.112,2043,3786,3960,3908,4013,0,0,0,0,0,0,14.53,14.14,14.55
$GC,767,-0.63,-145.9,2043,3787,3909,4014,95.0,-11.6,136,773,0.00,2.33,0.00,0.000,1158,0.000,0.056,2043,2394,3961,3909,4013,0,0,0,0,0,0,14.33,14.25,14.38
$GC,953,-0.71,-145.9,2044,2395,3910,4014,115.9,-10.6,173,960,0.00,2.55,0.00,0.000,388,0.000,0.116,2043,3786,3961,3909,4013,0,0,0,0,0,0,14.57,14.06,14.59
$GC,985,-0.80,-145.9,2044,3786,3910,4013,119.4,-10.7,179,991,0.17,2.33,0.00,0.000,5254,0.098,0.056,1964,2389,3958,3904,4013,0,0,0,0,0,0,14.31,14.27,14.38
$STATE,994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,994,begin apogee
$GC,999,-0.14,0.0,1965,2389,3910,4014,120.5,-10.1,181,1162,0.90,0.00,156.32,1.073,10246,0.262,0.000,2197,2388,3360,3312,3409,0,0,0,0,0,0,14.00,13.88,13.38
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1166,begin climb
$GC,1168,0.59,145.9,2200,2388,3310,3408,130.7,0.0,209,1370,0.77,2.65,155.45,1.024,11012,0.120,0.104,2440,3787,2752,2697,2807,0,0,0,0,0,0,13.88,13.65,13.29
$GC,1758,0.41,298.0,2440,3788,2693,2797,131.1,3.0,222,1955,0.28,2.33,176.25,1.023,13478,0.303,0.052,2390,2384,2135,2060,2211,0,0,0,0,0,0,13.83,14.15,13.31
$GC,2214,0.47,351.8,2390,2384,2055,2200,98.8,7.5,262,2250,0.00,2.40,27.60,0.457,8868,0.000,0.077,2390,1016,1933,1858,2008,0,0,0,0,0,0,14.32,14.00,13.74
$GC,2337,0.58,397.4,2390,1018,1859,2014,88.9,7.9,285,2374,0.15,2.42,26.73,0.434,11430,0.122,0.084,2457,2399,1749,1675,1823,0,0,0,0,0,0,14.08,14.01,13.78
$GC,2554,0.56,397.4,2457,2401,1682,1828,62.8,12.2,327,2560,0.00,0.00,0.00,0.000,134,0.000,0.000,2456,2400,1754,1681,1827,0,0,0,0,0,0,14.38,14.40,14.39
$GC,2739,0.56,397.4,2456,2400,1678,1827,41.1,10.9,364,2746,0.00,2.40,0.00,0.000,516,0.000,0.076,2463,1013,1752,1678,1827,0,0,0,0,0,0,14.42,14.12,14.44
$GC,2776,0.56,397.4,2463,1014,1679,1827,37.4,10.0,371,2782,0.12,2.45,0.00,0.000,5126,0.249,0.083,2436,2406,1751,1678,1825,0,0,0,0,0,0,13.97,14.11,14.19
$GC,2962,0.67,493.4,2436,2407,1679,1825,24.1,5.6,408,3028,0.00,2.53,57.08,0.253,8612,0.000,0.112,2435,3794,1356,1280,1432,0,0,0,0,0,0,14.42,14.07,13.96
$GC,3075,0.83,549.9,2436,3794,1284,1437,16.8,7.4,428,3117,0.25,2.33,33.62,0.229,11430,0.093,0.059,2538,2410,1121,1048,1194,0,0,0,0,0,0,14.19,14.14,13.97
$GC,3298,0.99,727.5,2538,2411,1048,1204,4.9,1.9,471,3381,0.00,0.00,81.20,0.197,8866,0.000,0.000,2538,2412,536,522,551,0,0,0,0,0,0,14.40,28.83,14.42
$STATE,3381,end climb,SURFACE_DEPTH_REACHED
$STATE,3383,begin surface coast
$FINISH,-0.0,1.012953
$STATE,3420,end surface coast,CONTROL_FINISHED_OK
$STATE,3420,begin surface
$SM_CCo,3499,0.00,0.000,0,0,536,693.71
$SM_GC,1.16,7.05,0.00,0.00,0.086,0.000,0.000,192,2411,536,-6.35,0.28,693.71,0,0,0,0,0,0,14.16,14.38,14.22
$RAFOS_CLK,16
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7106.66,-14737.84,060817,225920
$TT8_MAMPS,0.088382,0.847868
$HUMID,47.59
$INTERNAL_PRESSURE,7.65578
$TCM_TEMP,13.50
$XPDR_PINGS,0
$PM_FREEKB_00,62295424
$CP_FREE,0.000000
$24V_AH,13.26,51.368
$10V_AH,13.26,0.000
$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,19.975,34.225,714.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,13.972,0.000,1177.211,480.257,1848.527,87.315,0.000,1289.854,0.000,716.410,2157.000,0.538,0.000
$DEVICE_MAMPS,477.360,2182.545,1072.530,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3409.000,3416.000,2136.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.941,16.563,111.000,0.000
$MEM,324656
$DATA_FILE_SIZE,16710,496
$CAP_FILE_SIZE,71105,0
$CFSIZE,2097872896,2087714816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.3
$CURRENT,0.179,94.56,1
$GPS,070817,000412,7108.082,-14740.600,5,0.7,13,21.2,0.0,0.0,11,9.2