version: 66.11
glider: 198
mission: 2
dive: 5
start: 5 1 113 18 38 3
data:
$ID,198
$MISSION,2
$DIVE,5
$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,-1354.2751
$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,39
$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
$GPS1,020513,013239,4743.288,-12224.944,5,1.1,5,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.0
$GPS2,020513,014311,4743.179,-12224.954,5,1.0,6,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.252
$KALMAN_X,-94.0,103.8,174.8,-540.2,-145.9
$KALMAN_Y,-970.0,-613.7,-137.4,2625.6,-324.9
$MHEAD_RNG_PITCHd_Wd,357.9,1349,-17.5,-10.000,-21.04,2225
$D_GRID,178
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.91,-146.6,202,2405,2001,1929,0.0,0.0,0,86,0.00,0.00,-65.90,0.000,16386,0.000,0.000,202,2405,3669,3693,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.91,-146.6,199,2405,3699,3642,3.5,-7.8,12,108,9.98,2.38,-2.40,0.000,18692,0.418,0.120,2338,3792,3791,3832,3750,0,0,0,0,0,0,14.54,14.64,14.84
$GC,238,-0.91,-146.6,1408,3791,3836,3744,35.9,-18.3,47,245,0.00,2.22,0.00,0.000,1030,0.000,0.063,2338,2410,3792,3840,3744,0,0,0,0,0,0,28.83,14.72,28.83
$GC,307,-0.91,-146.6,1408,2406,3838,3741,47.3,-15.8,63,314,0.00,2.33,0.00,0.000,516,0.000,0.090,2338,1014,3791,3840,3743,0,0,0,0,0,0,28.83,14.71,28.83
$GC,464,-0.91,-146.6,1392,1013,3839,3742,76.3,-17.2,101,471,0.00,2.35,0.00,0.000,1030,0.000,0.093,2334,2413,3792,3842,3743,0,0,0,0,0,0,28.83,14.78,28.83
$GC,593,-0.91,-146.6,1392,2411,3839,3742,95.9,-14.2,132,600,0.00,2.35,0.00,0.000,260,0.000,0.109,2334,3792,3792,3841,3743,0,0,0,0,0,0,28.83,14.78,28.83
$GC,690,-0.91,-146.6,1408,3792,3839,3742,110.4,-14.7,155,697,0.00,2.22,0.00,0.000,1030,0.000,0.065,2334,2402,3792,3842,3743,0,0,0,0,0,0,28.83,14.83,28.83
$GC,822,-0.91,-146.6,1408,2400,3840,3741,127.7,-14.3,186,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2402,3792,3842,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,951,-0.91,-146.6,1392,2400,3840,3741,147.7,-16.6,217,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2402,3792,3842,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1078,-0.91,-146.6,1392,2399,3840,3741,168.0,-16.0,248,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2403,3792,3842,3743,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1142,begin apogee
$GC,1145,-0.21,0.0,2334,2402,3842,3743,178.2,-16.0,263,1268,0.88,0.00,118.15,2.239,10246,0.260,0.000,2576,2401,3194,3277,3111,0,0,0,0,0,0,14.77,28.83,13.38
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1271,0.91,146.6,2577,2401,3280,3111,183.2,0.0,285,1403,1.20,2.55,119.00,2.152,10500,0.173,0.102,2932,3777,2595,2670,2521,0,0,0,0,0,0,14.00,13.94,13.31
$GC,1441,0.91,146.6,1888,3776,2631,2515,172.4,11.8,317,1448,0.00,2.28,0.00,0.000,1030,0.000,0.062,2940,2414,2596,2671,2521,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1570,0.91,146.6,1872,2412,2631,2514,157.4,12.8,348,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2414,2595,2671,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,0.91,146.6,1872,2411,2630,2514,140.1,13.6,379,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2413,2594,2667,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1826,0.91,146.6,1872,2412,2626,2514,124.8,10.6,410,1833,0.00,2.35,0.00,0.000,260,0.000,0.101,2940,3788,2595,2670,2521,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2063,0.91,146.6,1872,3788,2629,2514,90.5,14.3,468,2070,0.00,2.22,0.00,0.000,1030,0.000,0.064,2945,2405,2595,2670,2521,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2192,0.91,146.6,1872,2403,2630,2515,75.0,10.7,499,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2405,2595,2670,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,0.91,149.2,1888,2403,2630,2514,61.5,9.9,530,2328,0.00,2.42,1.55,0.411,8452,0.000,0.102,2945,3790,2585,2661,2510,0,0,0,0,0,0,28.83,14.80,14.67
$GC,2378,0.91,149.2,1888,3789,2622,2504,54.2,12.3,543,2385,0.00,2.22,0.00,0.000,1030,0.000,0.064,2953,2402,2585,2661,2510,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2508,0.93,166.4,1888,2400,2621,2504,40.7,9.2,574,2520,0.00,0.00,10.00,1.602,8710,0.000,0.000,2953,2402,2514,2589,2439,0,0,0,0,0,0,28.83,28.83,14.17
$GC,2642,0.93,166.4,1888,2400,2550,2433,27.3,10.4,606,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2402,2514,2590,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2711,0.95,178.4,1888,2400,2551,2432,20.7,9.4,622,2723,0.00,0.00,6.57,0.243,8198,0.000,0.000,2953,2402,2464,2540,2389,0,0,0,0,0,0,28.83,28.83,14.68
$GC,2785,0.95,178.4,1896,2400,2499,2382,12.5,11.8,639,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2402,2464,2540,2389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,0.95,178.4,1888,2400,2497,2382,4.5,11.0,655,2860,0.00,2.33,0.00,0.000,516,0.000,0.094,2960,1014,2462,2540,2385,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,2877,end climb,SURFACE_DEPTH_REACHED
$STATE,2877,begin surface coast
$FINISH,0.3,1.009978
$STATE,2899,end surface coast,CONTROL_FINISHED_OK
$STATE,2899,begin surface
$SM_CCo,2916,59.72,0.148,0,0,1968,300.00
$SM_GC,1.52,8.00,2.40,59.72,0.093,0.088,0.148,206,2410,1968,-7.58,-0.82,300.00,0,0,0,0,0,0,14.78,14.76,14.70
$IRIDIUM_FIX,4726.11,-12223.37,020513,010151
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.92
$INTERNAL_PRESSURE,8.92536
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,75.1
$SC_FREEKB,4018208
$24V_AH,13.3,2.429
$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,20.050,32.625,255.275,59.725,0.000,0.000,0.000,442.325,0.500,0.000,10.293,1429.189,209.506,398.687,1522.360,50.371,33.205,1379.427,0.000,1004.341,0.000,5.634,0.000
$DEVICE_MAMPS,418.455,120.105,2239.155,147.645,0.000,0.000,0.000,179.010,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.456,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,20104,665
$CAP_FILE_SIZE,101037,0
$CFSIZE,2097872896,2094497792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,023441,4743.301,-12225.118,17,0.9,17,16.3