version: 66.11
glider: 198
mission: 2
dive: 10
start: 5 1 113 23 41 40
data:
$ID,198
$MISSION,2
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$T_MISSION,84
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,-1525.3698
$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,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3093
$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,15
$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
$GPS1,020513,063903,4742.941,-12225.489,36,1.0,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.3
$GPS2,020513,064651,4742.889,-12225.521,4,1.1,4,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.209
$KALMAN_X,-2279.9,-65.4,-514.6,1790.4,-601.6
$KALMAN_Y,-5404.3,-658.2,-276.0,6697.6,-971.2
$MHEAD_RNG_PITCHd_Wd,15.4,2078,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,-0.81,-146.6,206,2402,1892,1834,0.0,0.0,0,86,0.00,0.00,-66.45,0.000,16386,0.000,0.000,206,2402,3625,3680,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.81,-146.6,206,2403,3680,3571,4.1,-10.0,12,107,10.32,2.38,-1.25,0.000,18948,0.428,0.108,2370,1001,3693,3763,3624,0,0,0,0,0,0,14.45,14.58,14.74
$GC,226,-0.81,-146.6,1424,1001,3760,3624,31.9,-15.5,44,233,0.00,2.38,0.00,0.000,1030,0.000,0.090,2361,2405,3694,3763,3625,0,0,0,0,0,0,28.83,14.62,28.83
$GC,295,-0.81,-146.6,1416,2406,3760,3624,42.3,-12.9,60,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2409,3694,3763,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,422,-0.81,-146.6,1408,2406,3760,3624,63.5,-15.8,91,429,0.00,2.35,0.00,0.000,516,0.000,0.090,2361,1011,3694,3763,3626,0,0,0,0,0,0,28.83,14.69,28.83
$GC,659,-0.81,-146.6,1408,1010,3760,3624,99.5,-14.2,149,666,0.00,2.35,0.00,0.000,1030,0.000,0.091,2361,2414,3694,3763,3626,0,0,0,0,0,0,28.83,14.76,28.83
$GC,788,-0.81,-146.6,1408,2412,3760,3625,115.9,-12.4,180,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2414,3694,3763,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,923,-0.81,-146.6,1424,2412,3760,3625,134.8,-15.0,211,930,0.00,2.35,0.00,0.000,260,0.000,0.109,2361,3790,3694,3763,3626,0,0,0,0,0,0,28.83,14.76,28.83
$GC,989,-0.81,-146.6,1424,3790,3760,3625,144.3,-14.6,226,995,0.00,2.22,0.00,0.000,1030,0.000,0.064,2361,2402,3694,3762,3626,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1117,-0.81,-146.6,1408,2399,3760,3625,161.4,-12.8,257,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2401,3694,3763,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1245,-0.81,-146.6,1408,2399,3760,3625,178.8,-13.4,288,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2398,3694,3763,3626,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1357,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1357,begin apogee
$GC,1360,-0.21,0.0,2361,2401,3762,3626,193.2,-12.2,315,1499,0.73,0.00,133.62,3.058,10246,0.263,0.000,2561,2401,3094,3180,3009,0,0,0,0,0,0,14.73,28.83,12.98
$STATE,1501,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1502,0.81,146.6,2561,2401,3180,3009,199.1,0.0,340,1644,1.12,0.00,134.32,3.029,10758,0.190,0.000,2880,2401,2497,2572,2423,0,0,0,0,0,0,13.81,28.83,12.94
$GC,1767,0.81,146.6,1824,2399,2531,2416,180.8,9.9,395,1773,0.00,2.45,0.00,0.000,260,0.000,0.103,2880,3784,2497,2572,2423,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1851,0.81,146.6,1824,3784,2531,2416,171.2,12.1,415,1858,0.00,2.28,0.00,0.000,1030,0.000,0.063,2887,2417,2496,2571,2422,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1980,0.81,146.6,1824,2413,2531,2417,158.7,9.7,446,1987,0.00,2.38,0.00,0.000,260,0.000,0.103,2887,3784,2497,2571,2423,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2041,0.81,146.6,1824,3784,2532,2417,152.0,11.6,460,2048,0.00,2.25,0.00,0.000,1030,0.000,0.063,2893,2406,2497,2572,2423,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2170,0.81,146.6,1824,2403,2531,2417,138.4,10.6,491,2177,0.00,2.35,0.00,0.000,516,0.000,0.092,2903,1013,2497,2572,2422,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2219,0.81,146.6,1856,1013,2532,2416,133.1,11.0,502,2226,0.00,2.35,0.00,0.000,1030,0.000,0.084,2902,2411,2497,2572,2423,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2348,0.83,166.0,1856,2409,2531,2417,119.6,7.8,533,2366,0.00,0.00,11.57,2.173,8198,0.000,0.000,2900,2412,2417,2492,2342,0,0,0,0,0,0,28.83,28.83,13.78
$GC,2488,0.83,166.0,1856,2409,2451,2335,105.8,10.9,566,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2412,2417,2493,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,0.83,166.0,1856,2409,2451,2335,91.6,10.9,597,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2412,2417,2492,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2744,0.83,166.0,1856,2410,2451,2335,76.9,12.1,628,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2412,2417,2492,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2872,0.83,166.0,1856,2409,2451,2335,62.8,9.8,659,2879,0.00,2.35,0.00,0.000,260,0.000,0.103,2903,3792,2417,2493,2342,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2934,0.83,166.0,1856,3792,2451,2335,55.6,11.9,673,2940,0.00,2.22,0.00,0.000,1030,0.000,0.064,2910,2411,2417,2492,2342,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3062,0.83,166.0,1856,2409,2451,2335,41.8,10.9,704,3069,0.00,2.35,0.00,0.000,516,0.000,0.093,2918,1008,2417,2492,2342,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3159,0.83,166.0,1856,1007,2452,2335,32.7,8.6,727,3166,0.00,2.35,0.00,0.000,1030,0.000,0.084,2918,2417,2416,2492,2341,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3229,0.83,168.8,1856,2415,2452,2335,26.6,8.4,743,3235,0.00,0.00,1.80,0.308,8198,0.000,0.000,2918,2417,2404,2478,2331,0,0,0,0,0,0,28.83,28.83,14.65
$GC,3297,0.83,168.8,1856,2414,2435,2325,20.0,10.3,759,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2417,2404,2478,2331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3366,0.84,176.9,1856,2415,2435,2325,13.9,8.2,775,3373,0.00,0.00,4.32,0.220,8198,0.000,0.000,2918,2414,2372,2448,2297,0,0,0,0,0,0,28.83,28.83,14.66
$GC,3435,0.89,214.9,1856,2415,2401,2288,9.3,7.1,791,3465,0.00,2.40,19.45,0.174,8452,0.000,0.104,2918,3789,2215,2287,2143,0,0,0,0,0,0,28.83,14.68,14.65
$STATE,3510,end climb,SURFACE_DEPTH_REACHED
$STATE,3511,begin surface coast
$FINISH,0.4,1.020462
$STATE,3528,end surface coast,CONTROL_FINISHED_OK
$STATE,3528,begin surface
$SM_CCo,3545,42.53,0.148,0,0,1867,300.00
$SM_GC,1.49,7.88,2.30,42.53,0.089,0.064,0.148,204,2414,1867,-7.52,1.13,300.00,0,0,0,0,0,0,14.74,14.73,14.66
$IRIDIUM_FIX,4726.11,-12225.08,020513,050544
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.80
$INTERNAL_PRESSURE,8.90583
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,82.5
$SC_FREEKB,4016416
$24V_AH,12.9,3.866
$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,20.050,42.050,305.100,42.525,0.000,0.000,0.000,335.725,1.000,0.000,8.575,1731.343,183.345,439.143,1640.894,59.679,33.201,1423.546,0.000,1221.609,0.000,10.167,0.000
$DEVICE_MAMPS,427.635,108.630,3057.705,148.410,0.000,0.000,0.000,187.425,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3557.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.501,0.000,0.000,0.000
$MEM,322880
$DATA_FILE_SIZE,26748,811
$CAP_FILE_SIZE,119692,0
$CFSIZE,2097872896,2093678592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,074817,4743.257,-12225.380,4,1.0,4,16.3