version: 66.11
glider: 198
mission: 2
dive: 7
start: 5 1 113 20 35 18
data:
$ID,198
$MISSION,2
$DIVE,7
$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,-1431.6779
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,020513,033403,4743.229,-12225.330,29,1.1,29,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.3
$GPS2,020513,034026,4743.114,-12225.366,4,1.0,4,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,0.223
$KALMAN_X,-909.2,63.4,6.2,-26.7,-494.0
$KALMAN_Y,-2688.0,-840.3,-22.0,4324.1,-836.5
$MHEAD_RNG_PITCHd_Wd,14.5,1618,-17.5,-10.000,-21.04,2225
$D_GRID,187
$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,-146.6,200,2411,2006,1925,0.0,0.0,0,80,0.00,0.00,-60.88,0.000,16386,0.000,0.000,201,2411,3576,3630,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.91,-146.6,200,2411,3631,3523,4.0,-9.3,11,102,9.90,2.42,-4.07,0.000,18692,0.416,0.124,2324,3794,3793,3843,3744,0,0,0,0,0,0,14.51,14.62,14.83
$GC,168,-0.91,-146.6,1408,3789,3842,3742,23.8,-18.0,30,175,0.00,2.25,0.00,0.000,1030,0.000,0.063,2324,2400,3794,3845,3743,0,0,0,0,0,0,28.83,14.67,28.83
$GC,237,-0.91,-146.6,1392,2397,3843,3741,36.8,-18.5,46,244,0.00,2.33,0.00,0.000,516,0.000,0.092,2324,1013,3794,3846,3742,0,0,0,0,0,0,28.83,14.68,28.83
$GC,278,-0.91,-146.6,1408,1013,3844,3741,44.5,-18.3,55,285,0.00,2.38,0.00,0.000,1030,0.000,0.093,2320,2416,3794,3846,3742,0,0,0,0,0,0,28.83,14.68,28.83
$GC,407,-0.91,-146.6,1376,2415,3844,3741,66.9,-16.1,86,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2417,3794,3847,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,534,-0.91,-146.6,1376,2415,3845,3741,90.1,-16.5,117,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2417,3795,3847,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,662,-0.91,-146.6,1376,2415,3845,3741,110.5,-15.7,148,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2417,3794,3846,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-0.91,-146.6,1384,2415,3845,3741,131.7,-15.3,179,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2417,3794,3847,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,921,-0.91,-146.6,1376,2415,3845,3741,152.4,-15.9,210,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2417,3794,3847,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1049,-0.91,-146.6,1376,2415,3845,3741,173.6,-16.6,241,1056,0.00,2.35,0.00,0.000,516,0.000,0.092,2320,1009,3795,3847,3743,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1095,-0.21,0.0,2318,2418,3847,3742,180.1,-15.8,250,1223,0.88,0.00,119.30,2.280,10246,0.275,0.000,2555,2418,3197,3282,3112,0,0,0,0,0,0,14.73,28.83,13.26
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1226,0.91,146.6,2554,2418,3281,3112,187.7,0.0,273,1369,1.27,2.62,133.38,2.879,11012,0.194,0.092,2926,1008,2596,2672,2521,0,0,0,0,0,0,13.96,13.80,12.93
$GC,1412,0.91,146.6,1936,1007,2636,2516,177.6,11.8,308,1419,0.00,2.45,0.00,0.000,1030,0.000,0.084,2926,2411,2596,2672,2521,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1541,0.91,146.6,1872,2408,2632,2515,161.6,12.1,339,1547,0.00,2.40,0.00,0.000,260,0.000,0.103,2923,3788,2596,2671,2521,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1593,0.91,146.6,1888,3788,2633,2515,154.8,13.0,351,1600,0.00,2.28,0.00,0.000,1030,0.000,0.064,2932,2406,2596,2672,2521,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1722,0.91,146.6,1856,2404,2632,2514,138.3,13.2,382,1729,0.00,2.35,0.00,0.000,516,0.000,0.091,2940,1016,2596,2672,2521,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1763,0.91,146.6,1896,1013,2632,2515,133.2,12.0,391,1770,0.00,2.38,0.00,0.000,1030,0.000,0.086,2941,2420,2596,2671,2521,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1892,0.91,146.6,1888,2421,2632,2514,115.9,13.6,422,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2421,2596,2671,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,0.91,146.6,1888,2418,2632,2515,99.7,11.6,453,2027,0.00,2.38,0.00,0.000,516,0.000,0.093,2945,1012,2596,2672,2521,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2109,0.91,146.6,1888,1011,2632,2515,88.9,12.1,474,2116,0.00,2.35,0.00,0.000,1030,0.000,0.086,2945,2420,2596,2672,2521,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2238,0.93,165.1,1888,2417,2632,2515,75.5,9.2,505,2251,0.00,0.00,10.43,2.326,8198,0.000,0.000,2945,2420,2519,2594,2444,0,0,0,0,0,0,28.83,28.83,13.84
$GC,2373,0.93,165.1,1888,2418,2559,2437,61.5,12.2,537,2380,0.00,2.33,0.00,0.000,260,0.000,0.102,2944,3786,2521,2599,2444,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2426,0.93,165.1,1904,3785,2560,2437,54.0,14.8,549,2433,0.00,2.25,0.00,0.000,1030,0.000,0.064,2953,2404,2521,2599,2444,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2555,0.93,165.1,1888,2402,2559,2437,38.5,10.4,580,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2403,2521,2599,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,0.97,195.5,1888,2401,2559,2437,32.1,8.6,596,2648,0.00,2.40,17.35,1.926,8452,0.000,0.099,2953,3790,2394,2470,2319,0,0,0,0,0,0,28.83,14.54,13.95
$GC,2738,0.97,195.5,1888,3789,2427,2312,19.7,12.4,622,2745,0.00,2.25,0.00,0.000,1030,0.000,0.064,2960,2411,2394,2470,2319,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2807,0.97,195.5,1920,2408,2428,2312,10.0,13.3,638,2814,0.00,2.35,0.00,0.000,516,0.000,0.091,2969,1013,2394,2470,2319,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,2903,end climb,SURFACE_DEPTH_REACHED
$STATE,2903,begin surface coast
$FINISH,0.4,1.020919
$STATE,2941,end surface coast,CONTROL_FINISHED_OK
$STATE,2941,begin surface
$SM_CCo,2958,53.15,0.154,0,0,1969,300.00
$SM_GC,2.70,8.10,2.42,53.15,0.094,0.085,0.154,204,2417,1969,-7.53,-0.59,300.00,0,0,0,0,0,0,14.70,14.67,14.62
$IRIDIUM_FIX,4722.92,-12137.29,020513,020208
$TT8_MAMPS,0.023219,0.023219
$HUMID,32.08
$INTERNAL_PRESSURE,8.91559
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.6,82.4
$SC_FREEKB,4017568
$24V_AH,12.9,2.919
$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,20.150,47.350,280.450,53.150,0.000,0.000,0.000,275.900,0.750,0.000,8.359,1433.220,150.190,421.741,1341.852,49.283,33.247,1250.323,0.000,1010.107,0.000,7.237,0.000
$DEVICE_MAMPS,416.160,123.930,2878.695,153.765,0.000,0.000,0.000,175.185,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2947.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.188,0.000,0.000,0.000
$MEM,322852
$DATA_FILE_SIZE,23389,670
$CAP_FILE_SIZE,101962,0
$CFSIZE,2097872896,2094170112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,043218,4743.041,-12225.463,3,1.1,3,16.3