version: 66.11
glider: 198
mission: 2
dive: 12
start: 5 2 113 1 58 13
data:
$ID,198
$MISSION,2
$DIVE,12
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,71
$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,-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,350
$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,-1565.7776
$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,33
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$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,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
$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
$GPS1,020513,085525,4743.713,-12224.911,3,1.7,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.5
$GPS2,020513,090324,4743.759,-12225.146,10,1.7,10,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.230,0.086
$KALMAN_X,-3456.3,-181.1,-210.2,3251.5,-367.7
$KALMAN_Y,-5871.7,-338.7,-246.5,8420.7,-118.7
$MHEAD_RNG_PITCHd_Wd,53.3,2207,-14.9,-8.498,-19.07,2610
$D_GRID,184
$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,-0.80,-146.6,204,2402,1905,1820,0.0,0.0,0,80,0.00,0.00,-61.03,0.000,16386,0.000,0.000,205,2402,3484,3543,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.80,-146.6,204,2402,3545,3425,3.8,-8.2,11,102,10.12,2.38,-2.22,0.000,18948,0.417,0.111,2370,1008,3587,3654,3521,0,0,0,0,0,0,14.45,14.57,14.76
$GC,229,-0.80,-146.6,1424,1007,3652,3519,27.4,-14.1,45,236,0.00,2.38,0.00,0.000,1030,0.000,0.089,2361,2410,3588,3656,3521,0,0,0,0,0,0,28.83,14.61,28.83
$GC,298,-0.80,-146.6,1424,2408,3652,3519,38.0,-16.1,61,305,0.00,2.38,0.00,0.000,516,0.000,0.091,2361,1009,3589,3657,3521,0,0,0,0,0,0,28.83,14.64,28.83
$GC,459,-0.80,-146.6,1408,1009,3652,3519,62.8,-14.9,100,466,0.00,2.38,0.00,0.000,1030,0.000,0.090,2361,2411,3589,3657,3521,0,0,0,0,0,0,28.83,14.69,28.83
$GC,588,-0.80,-146.6,1408,2409,3653,3519,79.3,-13.0,131,595,0.00,2.35,0.00,0.000,260,0.000,0.107,2361,3784,3588,3657,3520,0,0,0,0,0,0,28.83,14.70,28.83
$GC,641,-0.80,-146.6,1424,3784,3653,3519,86.3,-13.0,143,648,0.00,2.22,0.00,0.000,1030,0.000,0.063,2361,2401,3588,3656,3521,0,0,0,0,0,0,28.83,14.74,28.83
$GC,770,-0.80,-146.6,1408,2399,3653,3519,101.4,-10.9,174,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2400,3589,3657,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,898,-0.80,-146.6,1408,2398,3652,3519,116.2,-12.4,205,905,0.00,2.38,0.00,0.000,260,0.000,0.108,2361,3788,3589,3657,3521,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1067,-0.80,-146.6,1408,3788,3653,3519,136.6,-13.1,246,1074,0.00,2.22,0.00,0.000,1030,0.000,0.064,2359,2400,3589,3657,3521,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1196,-0.80,-146.6,1408,2397,3653,3519,154.3,-13.6,277,1203,0.00,2.30,0.00,0.000,516,0.000,0.091,2361,1014,3589,3657,3521,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1298,-0.80,-146.6,1408,1013,3653,3519,167.9,-14.1,301,1304,0.00,2.33,0.00,0.000,1030,0.000,0.090,2361,2411,3589,3657,3521,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1401,-0.21,0.0,2360,2412,3657,3521,181.1,-13.3,325,1540,0.73,0.00,132.93,3.063,10246,0.262,0.000,2560,2412,2992,3076,2909,0,0,0,0,0,0,14.73,28.83,12.90
$STATE,1542,end apogee,CONTROL_FINISHED_OK
$STATE,1542,begin climb
$GC,1543,0.80,146.6,2560,2412,3076,2909,186.8,0.0,350,1686,1.10,2.53,133.68,2.974,10756,0.161,0.087,2892,1018,2394,2467,2322,0,0,0,0,0,0,13.81,13.74,12.93
$GC,1748,0.80,146.6,1824,1017,2424,2316,173.9,10.8,390,1755,0.00,2.42,0.00,0.000,1030,0.000,0.082,2888,2410,2394,2467,2322,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1877,0.80,146.6,1824,2408,2423,2315,160.6,10.5,421,1884,0.00,2.40,0.00,0.000,260,0.000,0.101,2888,3786,2394,2467,2322,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1958,0.80,146.6,1824,3786,2423,2315,150.7,12.5,440,1965,0.00,2.28,0.00,0.000,1030,0.000,0.064,2888,2414,2394,2466,2322,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2088,0.80,146.6,1832,2410,2424,2316,136.7,10.7,471,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2412,2394,2466,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2216,0.80,146.6,1824,2410,2424,2315,122.9,11.6,502,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2413,2394,2466,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,0.80,146.6,1824,2410,2423,2315,109.5,10.6,533,2351,0.00,2.35,0.00,0.000,260,0.000,0.102,2888,3784,2394,2466,2322,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2421,0.80,146.6,1832,3784,2424,2315,99.9,12.8,551,2428,0.00,2.22,0.00,0.000,1030,0.000,0.064,2891,2406,2394,2466,2322,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2551,0.80,146.6,1824,2404,2424,2315,83.8,11.9,582,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2406,2394,2466,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,0.80,146.6,1832,2404,2423,2315,68.8,12.3,613,2685,0.00,2.35,0.00,0.000,260,0.000,0.101,2891,3786,2394,2466,2322,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2740,0.80,146.6,1840,3785,2424,2316,61.0,13.3,627,2746,0.00,2.22,0.00,0.000,1030,0.000,0.063,2898,2404,2393,2466,2321,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2869,0.80,146.6,1840,2401,2423,2315,47.1,10.6,658,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2404,2393,2466,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,0.82,158.7,1840,2401,2423,2315,34.7,8.0,689,3010,0.00,2.45,7.35,1.626,8452,0.000,0.102,2897,3789,2342,2414,2270,0,0,0,0,0,0,28.83,14.69,14.15
$GC,3048,0.82,158.7,1856,3789,2373,2264,29.5,10.5,700,3055,0.00,2.25,0.00,0.000,1030,0.000,0.064,2904,2401,2342,2414,2270,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3117,0.82,158.7,1856,2399,2372,2263,23.3,8.8,716,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2401,2341,2413,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,0.82,158.7,1856,2399,2372,2264,17.3,9.8,732,3192,0.00,2.35,0.00,0.000,516,0.000,0.093,2905,1004,2342,2414,2270,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3262,0.82,158.7,1856,1004,2372,2264,9.7,9.7,750,3269,0.00,2.38,0.00,0.000,1030,0.000,0.086,2905,2420,2342,2414,2270,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3332,0.82,158.7,1856,2418,2372,2264,2.5,9.9,766,3338,0.00,2.33,0.00,0.000,260,0.000,0.102,2905,3786,2341,2413,2270,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,3344,end climb,SURFACE_DEPTH_REACHED
$STATE,3344,begin surface coast
$FINISH,0.4,1.001463
$STATE,3361,end surface coast,CONTROL_FINISHED_OK
$STATE,3361,begin surface
$SM_CCo,3378,96.93,0.144,0,0,1562,350.04
$SM_GC,1.37,7.88,2.30,96.93,0.090,0.065,0.144,197,2407,1562,-7.55,1.13,350.04,0,0,0,0,0,0,14.72,14.72,14.63
$IRIDIUM_FIX,4726.11,-12223.37,020513,070741
$TT8_MAMPS,0.023219,0.023219
$HUMID,30.86
$INTERNAL_PRESSURE,8.89606
$TCM_TEMP,17.00
$XPDR_PINGS,0
$SC_FREEKB,4015648
$24V_AH,12.9,4.516
$10V_AH,13.2,0.000
$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,19.825,56.125,273.950,96.925,0.000,0.000,0.000,342.950,0.000,0.000,13.522,1659.720,174.116,470.371,1587.570,60.458,33.216,1432.460,0.000,1165.817,0.000,0.540,0.000
$DEVICE_MAMPS,416.925,110.925,3063.060,143.820,0.000,0.000,0.000,183.600,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.064,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,26712,772
$CAP_FILE_SIZE,115778,0
$CFSIZE,2097872896,2093350912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,100328,4744.069,-12224.310,34,1.0,34,16.3