version: 66.11
glider: 198
mission: 2
dive: 8
start: 5 1 113 21 34 49
data:
$ID,198
$MISSION,2
$DIVE,8
$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,-1449.2942
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,020513,043218,4743.041,-12225.463,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.0
$GPS2,020513,043957,4742.903,-12225.472,5,2.0,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,0.210
$KALMAN_X,-1343.6,74.6,-179.2,446.2,-580.4
$KALMAN_Y,-3695.7,-834.3,-191.2,5111.7,-824.4
$MHEAD_RNG_PITCHd_Wd,19.7,2027,-17.5,-10.000,-21.04,2225
$D_GRID,190
$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,-146.6,204,2419,2012,1923,0.0,0.0,0,69,0.00,0.00,-50.35,0.000,16386,0.000,0.000,204,2419,3320,3378,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.91,-146.6,204,2419,3379,3264,3.6,-7.5,9,102,10.00,2.45,-9.88,0.000,18948,0.420,0.116,2333,1015,3793,3845,3742,0,0,0,0,0,0,14.44,14.62,14.78
$GC,217,-0.91,-146.6,1392,1014,3844,3740,30.9,-19.7,42,224,0.00,2.38,0.00,0.000,1030,0.000,0.093,2333,2406,3794,3846,3742,0,0,0,0,0,0,28.83,14.63,28.83
$GC,286,-0.91,-146.6,1408,2405,3844,3741,45.0,-21.5,58,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2407,3794,3846,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,413,-0.91,-146.6,1392,2405,3844,3740,68.1,-16.8,89,420,0.00,2.38,0.00,0.000,260,0.000,0.108,2333,3790,3794,3846,3742,0,0,0,0,0,0,28.83,14.69,28.83
$GC,490,-0.91,-146.6,1408,3790,3844,3740,82.7,-17.0,107,497,0.00,2.22,0.00,0.000,1030,0.000,0.063,2333,2410,3794,3846,3742,0,0,0,0,0,0,28.83,14.75,28.83
$GC,619,-0.91,-146.6,1392,2406,3845,3741,103.2,-14.7,138,626,0.00,2.33,0.00,0.000,516,0.000,0.090,2333,1012,3794,3846,3742,0,0,0,0,0,0,28.83,14.74,28.83
$GC,759,-0.91,-146.6,1384,1011,3844,3740,123.5,-15.5,171,765,0.00,2.35,0.00,0.000,1030,0.000,0.091,2333,2412,3793,3846,3741,0,0,0,0,0,0,28.83,14.75,28.83
$GC,890,-0.91,-146.6,1392,2410,3845,3740,144.1,-14.8,202,897,0.00,2.35,0.00,0.000,260,0.000,0.107,2333,3795,3794,3847,3742,0,0,0,0,0,0,28.83,14.77,28.83
$GC,923,-0.91,-146.6,1440,3791,3850,3740,149.6,-18.1,209,930,0.00,2.22,0.00,0.000,1030,0.000,0.063,2333,2401,3794,3847,3742,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1052,-0.91,-146.6,1392,2398,3844,3740,170.7,-14.6,240,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2400,3794,3847,3742,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1116,begin apogee
$GC,1119,-0.21,0.0,2333,2400,3846,3741,180.1,-14.3,255,1258,0.82,0.00,134.00,3.075,10246,0.266,0.000,2560,2399,3194,3277,3111,0,0,0,0,0,0,14.72,28.83,12.96
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1261,0.91,146.6,2560,2400,3282,3111,186.6,0.0,280,1403,1.25,0.00,135.15,3.049,10246,0.183,0.000,2919,2400,2598,2673,2523,0,0,0,0,0,0,13.83,28.83,12.89
$GC,1526,0.94,168.5,1856,2397,2634,2517,167.6,9.0,335,1555,0.00,2.50,21.17,2.778,8452,0.000,0.103,2919,3785,2508,2585,2431,0,0,0,0,0,0,28.83,14.08,13.38
$GC,1586,0.94,168.5,1872,3784,2545,2425,160.5,13.7,347,1593,0.00,2.30,0.00,0.000,1030,0.000,0.063,2927,2417,2507,2584,2430,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1715,0.94,168.5,1864,2414,2544,2424,144.6,13.2,378,1722,0.00,2.40,0.00,0.000,260,0.000,0.102,2927,3790,2508,2585,2431,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1756,0.94,168.5,1888,3789,2545,2425,138.8,14.6,387,1763,0.00,2.28,0.00,0.000,1030,0.000,0.064,2932,2408,2508,2585,2431,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1885,0.94,168.5,1872,2404,2544,2425,122.5,14.1,418,1892,0.00,2.38,0.00,0.000,516,0.000,0.091,2941,1004,2508,2585,2431,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1934,0.94,168.5,1888,1004,2545,2424,115.6,13.0,429,1941,0.00,2.38,0.00,0.000,1030,0.000,0.085,2938,2414,2508,2585,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2063,0.94,168.5,1872,2412,2544,2424,98.0,13.4,460,2070,0.00,2.35,0.00,0.000,260,0.000,0.102,2941,3790,2508,2585,2431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2116,0.94,168.5,1888,3789,2545,2425,90.8,12.7,472,2123,0.00,2.25,0.00,0.000,1030,0.000,0.065,2946,2405,2508,2585,2431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2245,0.94,168.5,1888,2402,2543,2424,74.5,13.3,503,2252,0.00,2.35,0.00,0.000,516,0.000,0.093,2946,1008,2508,2585,2431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2314,0.94,168.5,1888,1006,2542,2424,65.8,12.2,519,2321,0.00,2.35,0.00,0.000,1030,0.000,0.084,2946,2416,2508,2585,2431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2443,0.94,168.5,1888,2414,2543,2430,50.0,12.1,550,2450,0.00,2.33,0.00,0.000,260,0.000,0.103,2946,3787,2508,2585,2431,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2472,0.94,168.5,1952,3786,2548,2425,46.5,12.5,556,2479,0.00,2.22,0.00,0.000,1030,0.000,0.063,2952,2404,2508,2585,2431,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2602,0.94,168.5,1888,2401,2544,2425,33.3,10.6,587,2608,0.00,2.33,0.00,0.000,516,0.000,0.092,2960,1012,2507,2584,2431,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2667,0.94,168.5,1904,1011,2544,2424,26.5,10.7,602,2673,0.00,2.33,0.00,0.000,1030,0.000,0.084,2961,2408,2508,2585,2431,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2735,0.94,168.5,1904,2408,2544,2424,18.7,10.9,618,2742,0.00,2.35,0.00,0.000,516,0.000,0.091,2969,1011,2508,2585,2431,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2856,0.94,168.5,1920,1010,2544,2424,5.9,12.3,647,2864,0.12,2.35,0.00,0.000,5126,0.286,0.085,2941,2419,2508,2585,2432,0,0,0,0,0,0,14.65,14.71,28.83
$STATE,2893,end climb,SURFACE_DEPTH_REACHED
$STATE,2894,begin surface coast
$FINISH,0.5,1.021148
$STATE,2912,end surface coast,CONTROL_FINISHED_OK
$STATE,2912,begin surface
$SM_CCo,2926,65.50,0.148,0,0,1969,300.00
$SM_GC,1.87,7.90,0.00,65.50,0.084,0.000,0.148,201,2419,1969,-7.55,0.25,300.00,0,0,0,0,0,0,14.76,28.83,14.68
$IRIDIUM_FIX,4738.89,-12235.42,020513,030301
$TT8_MAMPS,0.023968,0.023968
$HUMID,32.16
$INTERNAL_PRESSURE,8.92536
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.5,81.0
$SC_FREEKB,4017184
$24V_AH,12.9,3.238
$10V_AH,13.1,0.000
$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,20.100,56.100,290.325,65.500,0.000,0.000,0.000,330.575,1.000,0.000,8.310,1408.965,147.018,441.202,1401.503,53.937,33.233,1322.412,0.000,995.314,0.000,10.162,0.000
$DEVICE_MAMPS,419.985,115.515,3074.535,148.410,0.000,0.000,0.000,185.130,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.042,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,23319,659
$CAP_FILE_SIZE,104405,0
$CFSIZE,2097872896,2094006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,053132,4743.202,-12225.882,6,0.9,6,16.3