version: 66.11
glider: 198
mission: 2
dive: 14
start: 5 2 113 4 10 31
data:
$ID,198
$MISSION,2
$DIVE,14
$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,-1654.2933
$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,29
$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,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
$GPS1,020513,110752,4744.422,-12223.799,15,0.9,15,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.4
$GPS2,020513,111540,4744.574,-12223.996,14,0.9,15,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,-0.165
$KALMAN_X,-4569.7,-197.6,375.6,5230.2,-441.2
$KALMAN_Y,-6060.6,414.2,439.0,8675.7,344.7
$MHEAD_RNG_PITCHd_Wd,115.9,927,-14.9,-8.498,-19.07,2610
$D_GRID,168
$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,-146.6,202,2414,1560,1544,0.0,0.0,0,102,0.00,0.00,-80.12,0.000,16390,0.000,0.000,202,2415,3588,3619,3558,0,0,0,0,0,0,28.83,28.83,14.81
$GC,104,-0.80,-146.6,202,2414,3617,3559,3.3,-6.7,15,123,10.20,2.42,0.00,0.000,2564,0.420,0.089,2370,1003,3590,3622,3558,0,0,0,0,0,0,14.45,14.57,28.83
$GC,353,-0.80,-146.6,1412,1001,3620,3555,51.0,-15.0,75,360,0.00,2.38,0.00,0.000,1030,0.000,0.088,2361,2410,3590,3624,3557,0,0,0,0,0,0,28.83,14.66,28.83
$GC,482,-0.80,-146.6,1408,2408,3620,3555,69.8,-12.4,106,489,0.00,2.38,0.00,0.000,516,0.000,0.090,2362,1000,3590,3624,3557,0,0,0,0,0,0,28.83,14.70,28.83
$GC,719,-0.80,-146.6,1408,1000,3619,3554,104.3,-13.7,164,726,0.00,2.38,0.00,0.000,1030,0.000,0.092,2362,2413,3591,3625,3557,0,0,0,0,0,0,28.83,14.75,28.83
$GC,848,-0.80,-146.6,1408,2411,3620,3556,121.4,-13.9,195,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2413,3590,3624,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.80,-146.6,1408,2411,3620,3555,137.2,-12.8,226,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2413,3591,3625,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1104,-0.80,-146.6,1408,2411,3620,3555,152.0,-11.2,257,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2413,3591,3625,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-0.80,-146.6,1408,2411,3620,3555,159.1,0.4,288,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2413,3590,3625,3556,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1295,end dive,NO_VERTICAL_VELOCITY
$STATE,1296,begin apogee
$GC,1298,-0.21,0.0,2361,2414,3625,3557,159.1,0.0,303,1432,0.65,0.00,124.47,2.649,10246,0.197,0.000,2559,2413,2992,3074,2910,0,0,0,0,0,0,14.76,28.83,13.07
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1435,0.80,146.6,2559,2413,3074,2910,159.4,0.0,327,1572,1.10,2.53,127.53,2.664,10500,0.171,0.100,2881,3784,2395,2469,2321,0,0,0,0,0,0,13.86,13.76,13.03
$GC,1803,0.80,146.6,1824,3784,2426,2314,131.7,10.6,408,1810,0.00,2.30,0.00,0.000,1030,0.000,0.064,2886,2395,2394,2468,2321,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1932,0.80,146.6,1824,2393,2426,2315,119.9,8.9,439,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2395,2395,2469,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,0.80,146.6,1824,2393,2426,2314,108.4,9.4,470,2067,0.00,2.40,0.00,0.000,260,0.000,0.103,2886,3785,2395,2469,2321,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2197,0.80,146.6,1824,3785,2426,2314,94.4,10.3,503,2204,0.00,2.25,0.00,0.000,1030,0.000,0.064,2891,2401,2394,2468,2321,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2327,0.80,146.6,1824,2399,2426,2315,82.2,10.0,534,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2401,2394,2468,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2455,0.80,146.6,1824,2398,2426,2315,70.6,9.9,565,2461,0.00,2.33,0.00,0.000,516,0.000,0.092,2898,1013,2394,2468,2321,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2503,0.80,146.6,1856,1013,2427,2315,66.0,10.4,576,2510,0.00,2.35,0.00,0.000,1030,0.000,0.084,2898,2419,2394,2468,2321,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2632,0.80,146.6,1840,2417,2426,2314,53.9,8.9,607,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2419,2394,2468,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,0.80,146.6,1840,2418,2426,2314,42.0,9.6,638,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2420,2394,2468,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,0.80,146.6,1840,2418,2426,2315,31.2,9.1,669,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2420,2394,2468,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,0.80,146.6,1856,2418,2426,2315,25.5,9.0,685,2963,0.00,2.38,0.00,0.000,516,0.000,0.093,2902,1010,2394,2468,2321,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3018,0.86,192.4,1856,1010,2425,2314,21.3,6.7,699,3048,0.00,2.35,24.30,0.218,9222,0.000,0.083,2902,2420,2204,2277,2131,0,0,0,0,0,0,28.83,14.71,14.63
$GC,3111,0.88,213.2,1856,2418,2236,2125,15.0,7.7,719,3129,0.00,2.38,11.00,0.198,8708,0.000,0.090,2905,1015,2119,2194,2044,0,0,0,0,0,0,28.83,14.66,14.63
$GC,3179,0.95,267.2,1856,1012,2153,2039,10.4,6.4,734,3215,0.12,2.35,29.27,0.174,11270,0.148,0.083,2956,2417,1898,1966,1830,0,0,0,0,0,0,14.71,14.69,14.61
$STATE,3260,end climb,SURFACE_DEPTH_REACHED
$STATE,3260,begin surface coast
$FINISH,0.4,1.022111
$STATE,3274,end surface coast,CONTROL_FINISHED_OK
$STATE,3274,begin surface
$SM_CCo,3288,41.75,0.148,0,0,1562,350.04
$SM_GC,1.34,8.00,0.00,41.75,0.086,0.000,0.148,204,2417,1562,-7.54,0.20,350.04,0,0,0,0,0,0,14.70,28.83,14.63
$IRIDIUM_FIX,4726.11,-12225.08,020513,101050
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.41
$INTERNAL_PRESSURE,8.86676
$TCM_TEMP,17.00
$XPDR_PINGS,0
$SC_FREEKB,4014880
$24V_AH,13.0,5.063
$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,20.075,33.150,316.575,41.750,0.000,0.000,0.000,324.425,0.000,0.000,19.482,1591.792,165.723,436.742,1546.350,57.522,33.227,1366.608,0.000,1136.214,0.000,0.540,0.000
$DEVICE_MAMPS,419.985,102.510,2664.495,148.410,0.000,0.000,0.000,185.895,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3303.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.914,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,23357,754
$CAP_FILE_SIZE,109125,0
$CFSIZE,2097872896,2093023232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,121322,4744.406,-12223.321,34,1.0,34,16.3