version: 66.11
glider: 198
mission: 2
dive: 11
start: 5 2 113 0 51 17
data:
$ID,198
$MISSION,2
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$T_MISSION,84
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,-1542.9645
$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,2635
$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,31
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3093
$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,15
$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
$GPS1,020513,074817,4743.257,-12225.380,4,1.0,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.7
$GPS2,020513,075628,4743.250,-12225.385,4,1.0,4,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.183,0.165
$KALMAN_X,-2621.1,-167.2,-500.8,2391.8,-358.2
$KALMAN_Y,-5613.8,-630.0,-397.1,7659.9,-397.7
$MHEAD_RNG_PITCHd_Wd,31.6,2934,-15.0,-8.547,-19.14,2595
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.81,-146.6,204,2412,1895,1830,0.0,0.0,0,86,0.00,0.00,-66.68,0.000,16386,0.000,0.000,204,2413,3608,3664,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.81,-146.6,204,2412,3664,3553,3.8,-8.6,12,107,10.30,2.40,-1.67,0.000,18948,0.427,0.114,2365,1008,3691,3781,3602,0,0,0,0,0,0,14.45,14.57,14.75
$GC,158,-0.81,-146.6,1424,1007,3780,3600,20.5,-16.8,27,164,0.00,2.38,0.00,0.000,1030,0.000,0.090,2361,2409,3692,3783,3602,0,0,0,0,0,0,28.83,14.60,28.83
$GC,227,-0.81,-146.6,1416,2408,3781,3600,31.4,-15.9,43,233,0.00,2.38,0.00,0.000,260,0.000,0.109,2361,3783,3692,3783,3602,0,0,0,0,0,0,28.83,14.60,28.83
$GC,283,-0.81,-146.6,1424,3782,3781,3600,40.4,-15.4,56,290,0.00,2.25,0.00,0.000,1030,0.000,0.063,2360,2403,3692,3783,3602,0,0,0,0,0,0,28.83,14.65,28.83
$GC,412,-0.81,-146.6,1408,2399,3781,3600,58.1,-12.9,87,419,0.00,2.33,0.00,0.000,516,0.000,0.092,2361,1013,3692,3783,3601,0,0,0,0,0,0,28.83,14.67,28.83
$GC,649,-0.81,-146.6,1408,1012,3781,3600,88.5,-11.1,145,656,0.00,2.35,0.00,0.000,1030,0.000,0.091,2361,2410,3692,3783,3602,0,0,0,0,0,0,28.83,14.73,28.83
$GC,778,-0.81,-146.6,1408,2408,3781,3600,103.4,-11.9,176,785,0.00,2.35,0.00,0.000,516,0.000,0.090,2361,1009,3693,3784,3602,0,0,0,0,0,0,28.83,14.76,28.83
$GC,823,-0.81,-146.6,1424,1009,3781,3600,109.1,-13.3,186,830,0.00,2.35,0.00,0.000,1030,0.000,0.091,2361,2411,3692,3783,3601,0,0,0,0,0,0,28.83,14.77,28.83
$GC,956,-0.81,-146.6,1408,2409,3781,3600,127.4,-15.6,217,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2411,3692,3783,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1084,-0.81,-146.6,1408,2409,3781,3600,147.0,-14.6,248,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2411,3693,3784,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1212,-0.81,-146.6,1424,2409,3781,3600,165.0,-13.7,279,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2411,3693,3784,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.81,-146.6,1416,2409,3781,3600,183.6,-15.2,310,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2411,3692,3783,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1416,begin apogee
$GC,1419,-0.21,0.0,2361,2411,3783,3601,194.1,-14.0,328,1559,0.73,0.00,132.25,2.984,10246,0.272,0.000,2559,2411,3094,3186,3002,0,0,0,0,0,0,14.73,28.83,12.99
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1560,begin climb
$GC,1561,0.81,146.6,2558,2411,3186,3003,200.4,0.0,353,1703,1.15,0.00,134.80,3.023,10246,0.190,0.000,2885,2411,2496,2571,2422,0,0,0,0,0,0,13.83,28.83,12.92
$GC,1826,0.81,146.6,1824,2409,2529,2415,181.1,8.9,408,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2411,2496,2571,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,0.81,146.6,1824,2409,2530,2416,168.9,8.7,439,1961,0.00,2.40,0.00,0.000,260,0.000,0.102,2885,3792,2496,2570,2422,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2091,0.81,146.6,1824,3791,2529,2416,154.1,11.0,472,2098,0.00,2.28,0.00,0.000,1030,0.000,0.065,2888,2403,2496,2570,2422,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2221,0.81,146.6,1824,2400,2529,2416,142.5,8.8,503,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2402,2496,2570,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,0.90,223.4,1824,2400,2529,2416,134.0,5.5,534,2406,0.12,2.47,48.15,2.876,10756,0.149,0.094,2954,1009,2183,2255,2111,0,0,0,0,0,0,14.68,14.04,13.27
$GC,2441,0.90,223.4,1920,1008,2213,2105,124.8,12.1,552,2448,0.00,2.45,0.00,0.000,1030,0.000,0.084,2954,2416,2182,2254,2111,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2570,0.90,223.4,1920,2414,2213,2105,109.1,11.8,583,2577,0.00,2.38,0.00,0.000,260,0.000,0.101,2954,3784,2182,2253,2111,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2691,0.90,223.4,1888,3784,2211,2105,89.9,16.4,612,2699,0.12,2.25,0.00,0.000,5126,0.304,0.065,2931,2415,2181,2252,2111,0,0,0,0,0,0,14.45,14.55,28.83
$GC,2821,0.90,223.4,1872,2411,2211,2105,72.1,13.1,643,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2414,2182,2252,2112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,0.90,223.4,1856,2412,2210,2105,56.1,11.9,674,2956,0.00,2.38,0.00,0.000,516,0.000,0.093,2941,1007,2181,2252,2111,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2974,0.90,223.4,1920,1007,2213,2105,52.7,12.4,679,2981,0.00,2.35,0.00,0.000,1030,0.000,0.083,2941,2412,2181,2252,2110,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3104,0.90,223.4,1888,2410,2211,2105,37.2,11.0,710,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2412,2181,2252,2111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3172,0.90,223.4,1888,2409,2210,2105,29.7,11.9,726,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2412,2181,2252,2111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,0.90,223.4,1888,2410,2211,2105,21.1,12.4,742,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2412,2181,2252,2111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3309,0.90,223.4,1888,2410,2212,2105,12.7,12.1,758,3315,0.00,2.35,0.00,0.000,260,0.000,0.102,2941,3790,2181,2252,2111,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,3373,end climb,SURFACE_DEPTH_REACHED
$STATE,3373,begin surface coast
$FINISH,0.4,1.007899
$STATE,3382,end surface coast,CONTROL_FINISHED_OK
$STATE,3382,begin surface
$SM_CCo,3399,39.33,0.149,0,0,1867,300.00
$SM_GC,1.44,7.93,2.33,39.33,0.086,0.066,0.149,204,2403,1867,-7.53,0.85,300.00,0,0,0,0,0,0,14.72,14.71,14.65
$IRIDIUM_FIX,4726.11,-12223.37,020513,060620
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.68
$INTERNAL_PRESSURE,8.89606
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,88.8
$SC_FREEKB,4016032
$24V_AH,12.9,4.207
$10V_AH,13.1,0.000
$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,20.350,42.400,315.200,39.325,0.000,0.000,0.000,353.050,0.500,0.000,8.297,1644.173,173.493,443.896,1599.965,66.157,33.213,1423.598,0.000,1169.968,0.000,5.665,0.000
$DEVICE_MAMPS,426.870,113.985,3023.280,149.175,0.000,0.000,0.000,185.895,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3415.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.249,0.000,0.000,0.000
$MEM,322972
$DATA_FILE_SIZE,26718,775
$CAP_FILE_SIZE,115914,0
$CFSIZE,2097872896,2093514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,085525,4743.713,-12224.911,3,1.7,4,16.3