version: 66.11
glider: 198
mission: 2
dive: 6
start: 5 1 113 19 37 20
data:
$ID,198
$MISSION,2
$DIVE,6
$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,-1388.3794
$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,23
$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
$GPS1,020513,023441,4743.301,-12225.118,17,0.9,17,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.0
$GPS2,020513,024228,4743.000,-12225.081,8,0.9,8,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,0.243
$KALMAN_X,-382.5,68.2,135.0,-333.8,-304.0
$KALMAN_Y,-2080.0,-823.7,38.7,3444.0,-750.4
$MHEAD_RNG_PITCHd_Wd,4.4,1702,-17.5,-10.000,-21.04,2225
$D_GRID,181
$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,-146.6,206,2411,2002,1929,0.0,0.0,0,80,0.00,0.00,-61.08,0.000,16386,0.000,0.000,206,2411,3539,3597,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.91,-146.6,206,2412,3597,3482,3.3,-6.6,11,107,10.05,2.42,-5.20,0.000,18948,0.421,0.116,2351,1016,3793,3844,3742,0,0,0,0,0,0,14.50,14.63,14.83
$GC,254,-0.91,-146.6,1408,1016,3843,3741,35.6,-17.7,51,260,0.00,2.35,0.00,0.000,1030,0.000,0.091,2347,2410,3793,3845,3742,0,0,0,0,0,0,28.83,14.67,28.83
$GC,323,-0.91,-146.6,1408,2408,3843,3740,47.7,-17.8,67,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2410,3793,3845,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,451,-0.91,-146.6,1408,2407,3843,3740,69.0,-16.9,98,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2410,3793,3845,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,579,-0.91,-146.6,1408,2408,3843,3741,88.5,-13.8,129,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2410,3793,3844,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,707,-0.91,-146.6,1408,2408,3843,3741,106.3,-13.2,160,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2410,3793,3845,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,837,-0.91,-146.6,1424,2408,3843,3741,124.8,-15.0,191,849,0.00,2.33,0.00,0.000,516,0.000,0.090,2351,1014,3793,3845,3741,0,0,0,0,0,0,28.83,14.81,28.83
$GC,887,-0.91,-146.6,2347,1014,3845,3742,132.7,-16.1,200,894,0.00,2.35,0.00,0.000,1030,0.000,0.093,2347,2418,3793,3845,3741,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1016,-0.91,-146.6,1408,2415,3841,3740,151.6,-15.2,231,1023,0.00,2.33,0.00,0.000,260,0.000,0.109,2348,3784,3794,3846,3742,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1109,-0.91,-146.6,1428,3784,3843,3740,165.3,-15.6,253,1116,0.00,2.20,0.00,0.000,1030,0.000,0.064,2347,2413,3793,3845,3741,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1208,-0.21,0.0,2347,2411,3846,3741,180.1,-15.1,276,1337,0.80,0.00,120.32,2.348,10246,0.258,0.000,2570,2411,3196,3281,3112,0,0,0,0,0,0,14.74,28.83,13.27
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$GC,1340,0.91,146.6,2570,2411,3280,3112,185.8,0.0,299,1472,1.25,2.58,122.45,2.342,10500,0.181,0.101,2935,3784,2595,2670,2521,0,0,0,0,0,0,13.97,13.90,13.21
$GC,1502,0.91,146.6,1888,3783,2631,2515,175.3,12.2,329,1509,0.00,2.33,0.00,0.000,1030,0.000,0.063,2943,2406,2595,2670,2521,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1631,0.91,146.6,1888,2403,2630,2515,161.1,11.4,360,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2405,2595,2670,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,0.91,146.6,1888,2403,2630,2515,144.3,13.2,391,1766,0.00,2.38,0.00,0.000,260,0.000,0.101,2943,3784,2595,2670,2521,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1952,0.91,146.6,1872,3784,2629,2515,117.1,12.8,438,1959,0.00,2.22,0.00,0.000,1030,0.000,0.065,2950,2409,2595,2670,2521,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2082,0.91,146.6,1888,2406,2630,2515,99.5,14.8,469,2089,0.00,2.35,0.00,0.000,260,0.000,0.099,2950,3789,2595,2670,2521,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2111,0.91,146.6,1920,3788,2632,2515,94.3,17.8,475,2117,0.00,2.22,0.00,0.000,1030,0.000,0.064,2958,2410,2596,2670,2522,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2239,0.91,146.6,2958,2412,2670,2521,76.1,12.6,506,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2408,2596,2671,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2364,0.91,149.8,2958,2408,2670,2521,63.4,9.9,537,2368,0.00,0.00,1.92,0.416,8198,0.000,0.000,2958,2408,2581,2655,2508,0,0,0,0,0,0,28.83,28.83,14.65
$GC,2490,0.93,163.8,2958,2406,2657,2508,51.5,9.4,568,2501,0.00,0.00,7.95,1.471,8198,0.000,0.000,2958,2408,2524,2599,2449,0,0,0,0,0,0,28.83,28.83,14.26
$GC,2622,0.93,163.8,2958,2408,2599,2449,34.3,14.8,601,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2408,2524,2599,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2687,0.94,170.8,1960,2406,2564,2443,27.0,9.7,617,2698,0.00,2.35,4.03,0.282,8708,0.000,0.090,2967,1010,2495,2570,2421,0,0,0,0,0,0,28.83,14.78,14.69
$GC,2764,0.97,200.5,2967,1010,2571,2421,20.1,8.6,636,2787,0.00,2.35,15.27,0.219,9222,0.000,0.085,2967,2415,2373,2447,2300,0,0,0,0,0,0,28.83,14.80,14.72
$GC,2849,0.97,200.5,2967,2415,2446,2300,8.4,14.9,657,2853,0.00,2.38,0.00,0.000,516,0.000,0.094,2973,1010,2373,2447,2300,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2863,0.97,200.5,2973,1009,2447,2300,6.0,16.6,660,2867,0.00,2.35,0.00,0.000,1030,0.000,0.086,2973,2409,2373,2447,2300,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,2891,end climb,SURFACE_DEPTH_REACHED
$STATE,2891,begin surface coast
$STATE,2904,end surface coast,CONTROL_FINISHED_OK
$STATE,2904,begin surface
$SM_CCo,2919,49.50,0.151,0,0,1969,300.00
$SM_GC,0.98,8.05,0.00,49.50,0.094,0.000,0.151,200,2410,1969,-7.59,0.00,300.00,0,0,0,0,0,0,14.82,28.83,14.74
$IRIDIUM_FIX,4726.11,-12222.38,020513,010133
$TT8_MAMPS,0.023968,0.023968
$HUMID,32.08
$INTERNAL_PRESSURE,8.91559
$TCM_TEMP,13.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,72.8
$SC_FREEKB,4017952
$24V_AH,13.2,2.652
$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,20.150,37.475,271.950,49.500,0.000,0.000,0.000,335.225,1.250,0.000,11.308,1119.952,292.151,380.952,1587.799,56.153,33.211,1279.888,0.000,1175.868,0.000,11.697,0.000
$DEVICE_MAMPS,420.750,116.280,2347.785,151.470,0.000,0.000,0.000,180.540,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1371.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.961,0.000,0.000,0.000
$MEM,322888
$DATA_FILE_SIZE,23397,670
$CAP_FILE_SIZE,121952,0
$CFSIZE,2097872896,2094333952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,033403,4743.229,-12225.330,29,1.1,29,16.3