version: 66.11
glider: 198
mission: 2
dive: 3
start: 5 1 113 16 30 52
data:
$ID,198
$MISSION,2
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,53056
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1296.9315
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3193
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.69725
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$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,120
$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
$DEEPGLIDERMB,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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010513,233003,4742.864,-12224.517,3,1.3,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.2
$GPS2,010513,233600,4742.830,-12224.562,6,1.5,6,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,0.251
$KALMAN_X,126.7,131.8,126.0,-254.6,148.7
$KALMAN_Y,-200.0,-214.6,-197.9,863.3,-250.6
$MHEAD_RNG_PITCHd_Wd,328.4,2004,-17.5,-10.000,-21.04,2225
$D_GRID,179
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.91,-146.6,206,2399,2007,1924,0.0,0.0,0,80,0.00,0.00,-60.88,0.000,16386,0.000,0.000,206,2395,3548,3603,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.91,-146.6,206,2395,3604,3493,3.4,-7.7,11,101,9.57,0.00,-4.90,0.000,18694,0.406,0.000,2348,2395,3792,3836,3748,0,0,0,0,0,0,14.70,28.83,15.02
$GC,163,-0.91,-146.6,1408,2393,3841,3743,20.6,-15.2,29,170,0.00,2.35,0.00,0.000,260,0.000,0.106,2347,3783,3794,3843,3745,0,0,0,0,0,0,28.83,14.82,28.83
$GC,300,-0.91,-146.6,1408,3782,3841,3744,43.6,-19.6,62,307,0.00,2.17,0.00,0.000,1030,0.000,0.061,2347,2413,3794,3844,3745,0,0,0,0,0,0,28.83,14.85,28.83
$GC,429,-0.91,-146.6,1408,2410,3842,3743,64.0,-16.5,93,436,0.00,2.30,0.00,0.000,516,0.000,0.088,2347,1012,3794,3844,3745,0,0,0,0,0,0,28.83,14.87,28.83
$GC,498,-0.91,-146.6,1408,1011,3842,3743,75.3,-15.0,109,505,0.00,2.33,0.00,0.000,1030,0.000,0.090,2347,2413,3794,3844,3744,0,0,0,0,0,0,28.83,14.88,28.83
$GC,627,-0.91,-146.6,1408,2410,3842,3743,94.6,-14.9,140,634,0.00,2.30,0.00,0.000,260,0.000,0.107,2347,3783,3794,3844,3744,0,0,0,0,0,0,28.83,14.88,28.83
$GC,689,-0.91,-146.6,1408,3782,3842,3743,103.9,-15.1,154,695,0.00,2.17,0.00,0.000,1030,0.000,0.061,2347,2407,3794,3844,3744,0,0,0,0,0,0,28.83,14.92,28.83
$GC,820,-0.91,-146.6,1392,2403,3841,3742,121.3,-13.3,185,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2405,3794,3844,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.91,-146.6,1408,2403,3842,3743,138.7,-13.1,216,955,0.00,2.28,0.00,0.000,516,0.000,0.089,2347,1014,3794,3844,3744,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1049,-0.91,-146.6,1408,1013,3842,3743,153.6,-14.9,240,1056,0.00,2.33,0.00,0.000,1030,0.000,0.090,2347,2411,3794,3844,3744,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1178,-0.91,-146.6,1408,2409,3842,3742,172.3,-14.6,271,1185,0.00,2.30,0.00,0.000,260,0.000,0.106,2347,3784,3794,3844,3744,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1211,-0.91,-146.6,1424,3784,3842,3743,177.1,-14.8,278,1218,0.00,2.17,0.00,0.000,1030,0.000,0.063,2347,2411,3794,3844,3744,0,0,0,0,0,0,28.83,14.93,28.83
$STATE,1227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1227,begin apogee
$GC,1230,-0.21,0.0,2347,2410,3844,3743,179.7,-14.9,281,1354,0.80,0.00,117.35,2.225,10246,0.246,0.000,2575,2410,3195,3279,3111,0,0,0,0,0,0,14.83,28.83,13.43
$STATE,1356,end apogee,CONTROL_FINISHED_OK
$STATE,1356,begin climb
$GC,1357,0.91,146.6,2575,2410,3280,3111,184.8,0.0,303,1494,1.20,2.47,125.55,2.636,11012,0.168,0.088,2945,1013,2599,2676,2522,0,0,0,0,0,0,14.11,13.99,13.13
$GC,1612,0.91,146.6,1888,1013,2636,2516,168.8,12.2,356,1619,0.00,2.38,0.00,0.000,1030,0.000,0.084,2945,2415,2599,2676,2522,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1741,0.91,146.6,1888,2413,2636,2515,154.1,11.8,387,1748,0.00,2.33,0.00,0.000,260,0.000,0.101,2945,3783,2598,2675,2522,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1790,0.91,146.6,1896,3782,2637,2516,147.6,13.3,398,1797,0.00,2.22,0.00,0.000,1030,0.000,0.063,2953,2403,2598,2675,2522,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1919,0.91,146.6,1888,2400,2636,2516,131.0,13.0,429,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2403,2598,2675,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2048,0.91,146.6,1888,2400,2636,2515,114.4,13.5,460,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2402,2598,2675,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2175,0.91,146.6,1888,2400,2635,2516,99.0,11.6,491,2182,0.00,2.35,0.00,0.000,260,0.000,0.102,2953,3792,2598,2675,2522,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2413,0.91,146.6,1872,3791,2634,2516,66.0,13.5,549,2419,0.00,2.20,0.00,0.000,1030,0.000,0.063,2961,2410,2598,2674,2522,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2541,0.91,146.6,1888,2407,2634,2516,52.4,10.4,580,2548,0.00,2.33,0.00,0.000,260,0.000,0.102,2961,3789,2598,2674,2522,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2574,0.91,146.6,1920,3789,2636,2516,48.6,11.6,587,2581,0.00,2.20,0.00,0.000,1030,0.000,0.063,2970,2408,2598,2674,2522,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2704,0.91,151.8,1920,2405,2635,2515,34.1,9.8,618,2710,0.00,0.00,3.38,0.964,8198,0.000,0.000,2970,2408,2574,2650,2498,0,0,0,0,0,0,28.83,28.83,14.27
$GC,2772,0.91,151.8,1920,2405,2612,2491,26.7,11.4,634,2779,0.00,2.33,0.00,0.000,260,0.000,0.101,2970,3785,2574,2650,2498,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2962,0.91,151.8,1896,3785,2611,2491,4.5,10.9,680,2969,0.15,2.20,0.00,0.000,5126,0.303,0.064,2946,2411,2574,2651,2498,0,0,0,0,0,0,14.76,14.86,28.83
$STATE,2986,end climb,SURFACE_DEPTH_REACHED
$STATE,2986,begin surface coast
$FINISH,0.4,1.021286
$STATE,3008,end surface coast,CONTROL_FINISHED_OK
$STATE,3008,begin surface
$SM_CCo,3022,72.12,0.156,0,0,1969,300.00
$SM_GC,1.94,7.90,0.00,72.12,0.090,0.000,0.156,201,2410,1969,-7.59,-0.03,300.00,0,0,0,0,0,0,14.87,28.83,14.78
$IRIDIUM_FIX,4726.11,-12225.08,010513,232346
$TT8_MAMPS,0.023219,0.023219
$HUMID,32.79
$INTERNAL_PRESSURE,8.95466
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,68.3
$SC_FREEKB,4018976
$24V_AH,13.1,1.960
$10V_AH,13.3,0.000
$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,19.625,45.700,246.275,72.125,0.000,0.000,0.000,0.000,0.500,0.000,9.336,1487.126,155.996,408.441,1077.604,35.691,31.304,959.519,0.000,1040.159,0.000,5.619,0.000
$DEVICE_MAMPS,406.215,107.100,2636.190,156.060,0.000,0.000,0.000,0.000,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.206,0.000,0.000,0.000
$MEM,322952
$DATA_FILE_SIZE,23409,690
$CAP_FILE_SIZE,113500,0
$CFSIZE,2097872896,2094825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,002933,4743.168,-12224.785,23,1.6,23,16.3