version: 66.11
glider: 198
mission: 2
dive: 2
start: 5 1 113 15 24 21
data:
$ID,198
$MISSION,2
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,-1265.8611
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,42
$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
$GPS1,010513,222602,4742.666,-12224.472,3,0.8,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.0
$GPS2,010513,222930,4742.641,-12224.447,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.102,0.239
$KALMAN_X,70.8,70.8,70.8,53.3,218.6
$KALMAN_Y,-81.4,-81.4,-81.4,151.9,-251.6
$MHEAD_RNG_PITCHd_Wd,320.7,2372,-17.5,-10.000,-21.04,2225
$D_GRID,162
$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,-0.88,-146.6,205,2391,1166,1119,0.0,0.0,0,108,0.00,0.00,-88.20,0.000,16386,0.000,0.000,205,2391,3434,3489,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.88,-146.6,205,2391,3489,3380,3.2,-6.8,16,134,9.50,0.00,-7.88,0.000,18694,0.396,0.000,2376,2391,3792,3843,3741,0,0,0,0,0,0,14.76,28.83,15.09
$GC,196,-0.88,-146.6,1424,2389,3842,3739,16.4,-12.3,35,203,0.00,2.35,0.00,0.000,260,0.000,0.103,2374,3789,3792,3844,3741,0,0,0,0,0,0,28.83,14.88,28.83
$GC,268,-0.88,-146.6,1416,3789,3842,3739,26.2,-14.1,52,275,0.00,2.17,0.00,0.000,1030,0.000,0.058,2374,2403,3792,3844,3741,0,0,0,0,0,0,28.83,14.91,28.83
$GC,337,-0.88,-146.6,1424,2402,3842,3740,36.5,-16.8,68,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2404,3792,3844,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,406,-0.88,-146.6,1416,2402,3842,3740,46.9,-14.7,84,412,0.00,2.33,0.00,0.000,260,0.000,0.103,2374,3787,3793,3845,3741,0,0,0,0,0,0,28.83,14.88,28.83
$GC,434,-0.88,-146.6,1440,3787,3842,3740,51.1,-14.8,90,441,0.00,2.17,0.00,0.000,1030,0.000,0.059,2374,2415,3792,3844,3741,0,0,0,0,0,0,28.83,14.93,28.83
$GC,564,-0.88,-146.6,1408,2412,3842,3739,67.7,-14.8,121,571,0.00,2.28,0.00,0.000,516,0.000,0.084,2374,1012,3792,3844,3741,0,0,0,0,0,0,28.83,14.93,28.83
$GC,621,-0.88,-146.6,1424,1011,3842,3739,75.5,-13.1,134,627,0.00,2.33,0.00,0.000,1030,0.000,0.087,2374,2411,3792,3844,3741,0,0,0,0,0,0,28.83,14.93,28.83
$GC,750,-0.88,-146.6,1408,2409,3842,3740,93.6,-15.6,165,756,0.00,2.30,0.00,0.000,260,0.000,0.103,2374,3786,3793,3845,3741,0,0,0,0,0,0,28.83,14.93,28.83
$GC,830,-0.88,-146.6,1408,3785,3843,3740,105.9,-14.8,184,837,0.00,2.17,0.00,0.000,1030,0.000,0.059,2374,2397,3793,3845,3741,0,0,0,0,0,0,28.83,14.98,28.83
$GC,963,-0.88,-146.6,1456,2394,3843,3739,123.2,-12.5,215,970,0.00,2.25,0.00,0.000,516,0.000,0.085,2374,1011,3793,3845,3741,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1012,-0.88,-146.6,1424,1010,3843,3739,129.6,-13.0,225,1018,0.00,2.30,0.00,0.000,1030,0.000,0.087,2374,2413,3792,3844,3741,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1140,-0.88,-146.6,1408,2410,3842,3739,146.9,-13.6,256,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2413,3793,3845,3741,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1163,begin apogee
$GC,1166,-0.20,0.0,2374,2413,3845,3741,150.1,-13.5,261,1294,0.77,0.00,119.93,2.445,10246,0.241,0.000,2597,2412,3194,3277,3112,0,0,0,0,0,0,14.88,28.83,13.29
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1297,0.88,146.6,2597,2413,3277,3112,152.6,0.0,284,1429,1.12,2.50,120.22,2.376,10756,0.151,0.086,2955,1015,2596,2673,2520,0,0,0,0,0,0,14.17,14.10,13.47
$GC,1531,0.88,146.6,1888,1014,2633,2512,132.2,12.0,332,1538,0.00,2.35,0.00,0.000,1030,0.000,0.081,2955,2415,2597,2676,2518,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1660,0.88,146.6,1888,2412,2633,2512,114.5,14.2,363,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2414,2595,2673,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,0.88,146.6,1888,2412,2638,2512,98.0,11.7,394,1795,0.00,2.30,0.00,0.000,260,0.000,0.099,2955,3786,2596,2673,2519,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1821,0.88,146.6,1920,3785,2634,2512,93.8,12.7,401,1828,0.00,2.20,0.00,0.000,1030,0.000,0.061,2959,2407,2596,2674,2519,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1950,0.88,146.6,1888,2404,2632,2512,79.5,11.7,432,1957,0.00,2.33,0.00,0.000,260,0.000,0.099,2958,3789,2594,2673,2515,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2127,0.88,146.6,1888,3789,2630,2512,56.8,12.2,475,2134,0.00,2.20,0.00,0.000,1030,0.000,0.060,2968,2401,2595,2674,2517,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2257,0.88,146.6,1888,2398,2631,2512,40.6,11.3,506,2263,0.00,2.28,0.00,0.000,516,0.000,0.090,2975,1012,2595,2673,2518,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2314,0.88,146.6,1920,1011,2633,2512,34.4,10.7,519,2320,0.00,2.30,0.00,0.000,1030,0.000,0.083,2975,2413,2595,2673,2518,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2382,0.88,146.6,1920,2411,2632,2512,27.1,10.2,535,2389,0.00,2.30,0.00,0.000,260,0.000,0.099,2975,3789,2595,2673,2518,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2621,1.05,283.6,1904,3789,2632,2512,2.9,3.7,593,2651,0.00,2.20,24.73,0.161,9218,0.000,0.060,2985,2395,2381,2459,2303,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,2652,end climb,SURFACE_DEPTH_REACHED
$STATE,2652,begin surface coast
$FINISH,0.2,1.010067
$STATE,2725,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2739,49.50,0.151,0,0,1968,300.00
$SM_GC,0.95,7.97,0.00,49.50,0.090,0.000,0.151,206,2395,1968,-7.64,-0.42,300.00,0,0,0,0,0,0,14.89,28.83,14.81
$IRIDIUM_FIX,4726.11,-12225.08,010513,222259
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.92
$INTERNAL_PRESSURE,8.98396
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,61.1
$SC_FREEKB,4019360
$24V_AH,13.3,1.711
$10V_AH,13.5,0.000
$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,19.375,45.600,264.875,49.500,0.000,0.000,0.000,0.000,1.000,0.000,8.353,1303.112,132.696,422.139,966.156,33.726,30.073,935.777,0.000,930.189,0.000,10.088,0.000
$DEVICE_MAMPS,396.270,103.275,2444.940,151.470,0.000,0.000,0.000,0.000,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2708.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.845,0.000,0.000,0.000
$MEM,322932
$DATA_FILE_SIZE,20127,616
$CAP_FILE_SIZE,105622,0
$CFSIZE,2097872896,2094989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010513,231737,4742.952,-12224.497,3,0.9,3,16.3