version: 66.11
glider: 198
mission: 2
dive: 13
start: 5 2 113 3 6 12
data:
$ID,198
$MISSION,2
$DIVE,13
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,71
$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,-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,350
$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,-1613.5759
$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,37
$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,2990
$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,0
$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
$GPS1,020513,100328,4744.069,-12224.310,34,1.0,34,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.5
$GPS2,020513,101122,4744.097,-12224.367,5,1.7,5,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.245,-0.023
$KALMAN_X,-3729.8,-205.5,78.0,4225.2,-286.8
$KALMAN_Y,-6244.3,8.8,47.8,8777.8,223.3
$MHEAD_RNG_PITCHd_Wd,79.0,1097,-14.9,-8.498,-19.07,2610
$D_GRID,174
$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,-0.80,-146.6,197,2405,1560,1540,0.0,0.0,0,96,0.00,0.00,-77.28,0.000,16386,0.000,0.000,197,2405,3530,3586,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.80,-146.6,197,2406,3587,3475,3.0,-5.4,14,118,10.20,2.38,-1.30,0.000,18948,0.418,0.116,2369,1012,3589,3653,3525,0,0,0,0,0,0,14.45,14.57,14.73
$GC,209,-0.80,-146.6,1424,1011,3637,3538,24.1,-16.3,39,216,0.00,2.38,0.00,0.000,1030,0.000,0.088,2361,2416,3591,3642,3540,0,0,0,0,0,0,28.83,14.62,28.83
$GC,278,-0.80,-146.6,1424,2414,3637,3539,35.1,-15.9,55,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2416,3591,3642,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,347,-0.80,-146.6,1416,2414,3637,3539,45.4,-15.5,71,353,0.00,2.38,0.00,0.000,516,0.000,0.090,2361,1011,3591,3642,3541,0,0,0,0,0,0,28.83,14.64,28.83
$GC,387,-0.80,-146.6,1428,1010,3637,3540,52.2,-16.2,80,394,0.00,2.38,0.00,0.000,1030,0.000,0.091,2361,2415,3592,3642,3542,0,0,0,0,0,0,28.83,14.65,28.83
$GC,516,-0.80,-146.6,1408,2413,3637,3540,70.1,-13.9,111,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2415,3592,3642,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,644,-0.80,-146.6,1408,2413,3637,3540,87.2,-13.5,142,651,0.00,2.35,0.00,0.000,260,0.000,0.107,2361,3788,3592,3642,3542,0,0,0,0,0,0,28.83,14.69,28.83
$GC,725,-0.80,-146.6,1416,3787,3637,3540,98.1,-13.3,161,732,0.00,2.22,0.00,0.000,1030,0.000,0.063,2361,2404,3591,3641,3542,0,0,0,0,0,0,28.83,14.76,28.83
$GC,854,-0.80,-146.6,1408,2402,3637,3545,116.4,-15.8,192,861,0.00,2.38,0.00,0.000,260,0.000,0.107,2361,3789,3591,3641,3542,0,0,0,0,0,0,28.83,14.73,28.83
$GC,923,-0.80,-146.6,1424,3788,3636,3540,128.0,-16.5,208,930,0.00,2.22,0.00,0.000,1030,0.000,0.064,2361,2402,3591,3641,3542,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1052,-0.80,-146.6,1408,2399,3636,3540,147.5,-13.8,239,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2401,3591,3641,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1180,-0.80,-146.6,1408,2399,3637,3541,164.4,-12.4,270,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2401,3591,3640,3542,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1262,-0.21,0.0,2361,2401,3641,3543,174.2,-12.1,289,1396,0.73,0.00,128.80,2.880,10246,0.268,0.000,2558,2401,2991,3073,2909,0,0,0,0,0,0,14.72,28.83,13.00
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1399,0.80,146.6,2558,2401,3076,2910,179.9,0.0,313,1537,1.15,2.62,128.25,2.703,10500,0.197,0.102,2881,3783,2394,2468,2320,0,0,0,0,0,0,13.81,13.76,13.02
$GC,1595,0.80,146.6,1832,3784,2426,2314,165.0,12.0,351,1602,0.00,2.33,0.00,0.000,1030,0.000,0.062,2887,2407,2394,2468,2320,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1724,0.80,146.6,1824,2404,2424,2313,152.0,10.0,382,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2406,2394,2468,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,0.80,146.6,1824,2405,2424,2313,139.7,9.7,413,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2406,2393,2467,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1980,0.80,146.6,1824,2404,2424,2313,126.8,10.7,444,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2407,2393,2467,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2109,0.80,146.6,1824,2404,2424,2313,113.9,9.5,475,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2407,2394,2468,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2236,0.80,146.6,1824,2404,2426,2313,101.4,9.5,506,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2407,2393,2467,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,0.80,146.6,1824,2404,2424,2313,89.5,8.6,537,2371,0.00,2.38,0.00,0.000,260,0.000,0.103,2887,3793,2393,2467,2320,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2417,0.80,146.6,1840,3793,2426,2313,84.1,10.1,549,2424,0.00,2.25,0.00,0.000,1030,0.000,0.064,2891,2402,2393,2467,2320,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2546,0.80,146.6,1824,2398,2424,2313,68.9,10.2,580,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2401,2393,2467,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2675,0.80,146.6,1824,2398,2424,2313,55.0,10.4,611,2681,0.00,2.38,0.00,0.000,260,0.000,0.103,2891,3792,2393,2467,2320,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2795,0.80,146.6,1832,3792,2425,2313,40.3,12.7,640,2802,0.00,2.22,0.00,0.000,1030,0.000,0.063,2899,2414,2393,2467,2320,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2924,0.80,146.6,1840,2411,2424,2314,24.3,11.1,671,2931,0.00,2.35,0.00,0.000,516,0.000,0.093,2904,1010,2393,2467,2320,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2985,0.80,146.6,1856,1010,2426,2314,17.3,11.0,685,2992,0.00,2.35,0.00,0.000,1030,0.000,0.084,2905,2421,2393,2467,2320,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3054,0.80,146.6,1856,2418,2425,2314,9.8,10.1,701,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2421,2393,2467,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3122,0.80,146.6,1856,2418,2425,2313,3.4,9.6,717,3129,0.00,2.33,0.00,0.000,260,0.000,0.102,2905,3790,2393,2467,2320,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,3138,end climb,SURFACE_DEPTH_REACHED
$STATE,3138,begin surface coast
$FINISH,0.4,1.021735
$STATE,3159,end surface coast,CONTROL_FINISHED_OK
$STATE,3159,begin surface
$SM_CCo,3177,102.32,0.144,0,0,1562,350.04
$SM_GC,1.35,7.82,2.30,102.32,0.087,0.064,0.144,202,2415,1562,-7.54,1.07,350.04,0,0,0,0,0,0,14.76,14.75,14.65
$IRIDIUM_FIX,4726.11,-12202.02,020513,080842
$TT8_MAMPS,0.023219,0.023219
$HUMID,31.13
$INTERNAL_PRESSURE,8.87653
$TCM_TEMP,17.10
$XPDR_PINGS,0
$SC_FREEKB,4015264
$24V_AH,13.0,4.795
$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,19.900,42.175,257.050,102.325,0.000,0.000,0.000,339.650,0.000,0.000,8.283,1551.767,163.059,470.878,1509.548,58.178,33.226,1399.828,0.000,1093.766,0.000,0.539,0.000
$DEVICE_MAMPS,418.455,116.280,2880.225,143.820,0.000,0.000,0.000,186.660,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.952,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,23408,725
$CAP_FILE_SIZE,109669,0
$CFSIZE,2097872896,2093187072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,110752,4744.422,-12223.799,15,0.9,15,16.3