version: 66.11
glider: 198
mission: 2
dive: 4
start: 5 1 113 17 34 35
data:
$ID,198
$MISSION,2
$DIVE,4
$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,-1333.6724
$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,38
$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
$GPS1,020513,002933,4743.168,-12224.785,23,1.6,23,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.8
$GPS2,020513,003943,4743.087,-12224.815,4,1.5,4,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.003,0.260
$KALMAN_X,69.0,116.3,146.5,-513.4,18.7
$KALMAN_Y,-388.6,-377.9,-255.5,1750.8,-204.6
$MHEAD_RNG_PITCHd_Wd,343.0,1506,-17.5,-10.000,-21.04,2225
$D_GRID,177
$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,-146.6,201,2409,2004,1925,0.0,0.0,0,75,0.00,0.00,-55.47,0.000,16386,0.000,0.000,201,2410,3399,3458,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.91,-146.6,201,2410,3458,3341,3.1,-5.5,10,102,9.70,2.35,-8.50,0.000,19204,0.404,0.112,2348,1009,3789,3837,3742,0,0,0,0,0,0,14.56,14.70,14.90
$GC,112,-0.91,-146.6,1472,1009,3837,3740,11.4,-18.8,16,119,0.00,2.35,0.00,0.000,1030,0.000,0.092,2347,2409,3791,3841,3742,0,0,0,0,0,0,28.83,14.69,28.83
$GC,181,-0.91,-146.6,1408,2403,3839,3740,22.6,-16.1,32,188,0.00,2.35,0.00,0.000,260,0.000,0.109,2347,3783,3791,3842,3741,0,0,0,0,0,0,28.83,14.71,28.83
$GC,270,-0.91,-146.6,1408,3782,3840,3740,38.4,-18.7,53,277,0.00,2.20,0.00,0.000,1030,0.000,0.063,2347,2410,3792,3843,3741,0,0,0,0,0,0,28.83,14.76,28.83
$GC,339,-0.91,-146.6,1408,2407,3841,3740,50.0,-16.1,69,346,0.00,2.33,0.00,0.000,516,0.000,0.090,2347,1012,3794,3843,3746,0,0,0,0,0,0,28.83,14.76,28.83
$GC,452,-0.91,-146.6,1408,1011,3841,3740,68.7,-16.1,96,459,0.00,2.35,0.00,0.000,1030,0.000,0.092,2347,2416,3792,3844,3741,0,0,0,0,0,0,28.83,14.80,28.83
$GC,581,-0.91,-146.6,1408,2414,3841,3740,88.3,-15.1,127,588,0.00,2.33,0.00,0.000,260,0.000,0.108,2347,3786,3792,3844,3741,0,0,0,0,0,0,28.83,14.81,28.83
$GC,702,-0.91,-146.6,1408,3785,3841,3740,106.2,-15.4,156,709,0.00,2.20,0.00,0.000,1030,0.000,0.063,2346,2404,3792,3844,3741,0,0,0,0,0,0,28.83,14.87,28.83
$GC,835,-0.91,-146.6,1424,2402,3842,3740,126.1,-14.8,187,842,0.00,2.30,0.00,0.000,516,0.000,0.090,2347,1010,3793,3844,3742,0,0,0,0,0,0,28.83,14.85,28.83
$GC,912,-0.91,-146.6,1408,1008,3841,3740,138.1,-15.8,205,919,0.00,2.33,0.00,0.000,1030,0.000,0.091,2347,2411,3792,3844,3741,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1041,-0.91,-146.6,1408,2409,3841,3740,156.7,-14.4,236,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2410,3792,3844,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1169,-0.91,-146.6,1408,2408,3841,3740,176.0,-15.4,267,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2411,3792,3844,3741,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1180,begin apogee
$GC,1183,-0.21,0.0,2347,2411,3843,3741,177.7,-14.3,269,1312,0.80,0.00,120.82,2.426,10246,0.255,0.000,2572,2411,3195,3279,3112,0,0,0,0,0,0,14.78,28.83,13.34
$STATE,1313,end apogee,CONTROL_FINISHED_OK
$STATE,1313,begin climb
$GC,1315,0.91,146.6,2572,2411,3279,3111,183.7,0.0,292,1446,1.23,0.00,123.68,2.482,10246,0.174,0.000,2934,2411,2595,2670,2521,0,0,0,0,0,0,14.04,28.83,13.24
$GC,1568,0.91,146.6,1856,2408,2630,2514,165.1,10.3,345,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2411,2595,2670,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,0.91,146.6,1856,2409,2630,2514,148.6,13.6,376,1702,0.00,2.35,0.00,0.000,260,0.000,0.101,2935,3785,2595,2670,2521,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1744,0.91,146.6,1872,3783,2631,2514,141.5,15.5,387,1751,0.00,2.25,0.00,0.000,1030,0.000,0.063,2942,2405,2595,2670,2521,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1873,0.91,146.6,1872,2403,2629,2514,124.1,12.3,418,1880,0.00,2.33,0.00,0.000,516,0.000,0.091,2945,1012,2593,2670,2517,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1938,0.91,146.6,1888,1011,2630,2515,115.9,12.8,433,1945,0.00,2.35,0.00,0.000,1030,0.000,0.085,2945,2414,2595,2670,2521,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2067,0.91,146.6,1872,2411,2630,2514,100.0,12.6,464,2074,0.00,2.33,0.00,0.000,260,0.000,0.101,2945,3789,2596,2670,2522,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2249,0.91,146.6,1872,3789,2629,2514,74.7,12.1,508,2256,0.00,2.22,0.00,0.000,1030,0.000,0.063,2953,2399,2595,2670,2521,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2378,0.91,146.6,1888,2397,2630,2515,62.0,10.1,539,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2399,2595,2670,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,0.91,146.6,1888,2397,2626,2514,48.7,11.3,570,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2399,2595,2670,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2634,0.91,146.6,1888,2397,2630,2514,36.0,10.0,601,2641,0.00,2.30,0.00,0.000,516,0.000,0.093,2960,1012,2595,2670,2521,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2739,0.91,146.6,1888,1011,2630,2514,25.3,10.5,626,2746,0.00,2.33,0.00,0.000,1030,0.000,0.086,2960,2416,2595,2670,2521,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2808,0.91,146.6,1920,2414,2630,2515,18.1,10.9,642,2815,0.00,2.30,0.00,0.000,260,0.000,0.102,2960,3784,2595,2670,2521,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2921,0.91,146.6,1896,3784,2630,2515,5.6,10.1,669,2928,0.00,2.20,0.00,0.000,1030,0.000,0.063,2968,2407,2595,2670,2521,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,2965,end climb,SURFACE_DEPTH_REACHED
$STATE,2965,begin surface coast
$FINISH,0.5,1.021317
$STATE,2987,end surface coast,CONTROL_FINISHED_OK
$STATE,2987,begin surface
$SM_CCo,3001,74.03,0.151,0,0,1967,300.00
$SM_GC,1.60,7.90,0.00,74.03,0.081,0.000,0.151,202,2405,1967,-7.59,-0.14,300.00,0,0,0,0,0,0,14.83,28.83,14.75
$IRIDIUM_FIX,4726.11,-12232.20,020513,000056
$TT8_MAMPS,0.023219,0.023219
$HUMID,32.39
$INTERNAL_PRESSURE,8.93513
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,72.0
$SC_FREEKB,4018592
$24V_AH,13.2,2.204
$10V_AH,13.4,0.000
$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,19.625,46.025,244.500,74.025,0.000,0.000,0.000,423.200,0.500,0.000,8.310,1479.336,212.262,413.689,1529.672,52.541,32.226,1392.091,0.000,1033.919,0.000,5.624,0.000
$DEVICE_MAMPS,403.920,112.455,2482.425,150.705,0.000,0.000,0.000,185.130,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3011.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.619,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,23384,684
$CAP_FILE_SIZE,105586,0
$CFSIZE,2097872896,2094661632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,013239,4743.288,-12224.944,5,1.1,5,16.3