version: 66.13
glider: 198
mission: 10
dive: 2
start: 6 6 117 17 19 30
data:
$ID,198
$MISSION,10
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$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,55112
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281
$HD_B,0.0107
$HD_C,1.91e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,642.49799
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,3160
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.36914
$PRESSURE_SLOPE,0.00010704049
$AD7714Ch0Gain,1
$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,10
$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
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,83
$LOGGERDEVICE3,135
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004407478
$SEABIRD_T_H,0.00064096908
$SEABIRD_T_I,2.5637486e-05
$SEABIRD_T_J,3.1305062e-06
$SEABIRD_C_G,-9.8934832
$SEABIRD_C_H,1.0879974
$SEABIRD_C_I,-0.0021788499
$SEABIRD_C_J,0.00021905446
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$CP_RECORDABOVE,200.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,2.0
$CP_NDIVE,1.0
$GPS1,060617,171317,4743.7964,-12224.0732,4,0.9,34,16.3,0.6,351.3,8,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-64.6
$GPS2,060617,171851,4743.7256,-12224.0537,6,0.9,34,16.3,0.4,169.0,9,9.7
$SPEED_LIMITS,0.173,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,246.3,1251,-17.5,-10.000,-21.42,2245
$D_GRID,173
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,35,-0.59,-146.6,202,1983,493,577,0.0,0.0,0,173,0.00,0.00,-135.95,0.000,16386,0.000,0.000,201,1983,2965,2955,2976,0,0,0,0,0,0,14.57,28.83,14.60
$GC,176,-0.59,-146.6,202,1984,2955,2980,3.2,-6.9,23,214,9.77,2.67,-21.95,0.000,18724,0.452,2.127,2060,3408,3757,3634,3880,0,0,0,0,0,0,14.19,13.52,14.54
$GC,439,-0.51,-146.6,2061,3410,3634,3882,39.1,-15.5,74,445,0.17,2.28,0.00,0.000,3206,0.265,0.048,2100,1990,3756,3633,3880,0,0,0,0,0,0,14.16,14.36,14.39
$GC,625,-0.56,-146.6,2100,1990,3634,3883,61.4,-11.4,111,632,0.00,2.42,0.00,0.000,388,0.000,0.099,2093,3402,3757,3633,3882,0,0,0,0,0,0,14.72,14.38,14.74
$GC,857,-0.63,-146.6,2093,3403,3632,3882,87.7,-10.7,157,863,0.00,2.25,0.00,0.000,1158,0.000,0.047,2093,2000,3757,3633,3882,0,0,0,0,0,0,14.48,14.38,14.52
$GC,1043,-0.71,-146.6,2094,1999,3634,3882,104.9,-10.0,194,1050,0.17,2.42,0.00,0.000,4484,0.093,0.100,1992,3401,3757,3632,3882,0,0,0,0,0,0,14.54,14.30,14.58
$GC,1275,-0.60,-146.6,1992,3402,3633,3881,146.5,-17.7,240,1281,0.32,2.28,0.00,0.000,3206,0.262,0.049,2071,1978,3756,3631,3881,0,0,0,0,0,0,14.19,14.43,14.46
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1304,-0.14,0.0,2072,1978,3632,3883,150.4,-15.3,245,1420,0.52,0.00,111.38,0.987,10246,0.207,0.000,2222,1977,3155,3065,3246,0,0,0,0,0,0,14.29,14.19,13.72
$STATE,1426,end apogee,CONTROL_FINISHED_OK
$STATE,1426,begin climb
$GC,1428,0.59,146.6,2222,1978,3065,3246,153.8,0.0,265,1550,0.73,2.35,113.20,0.954,10756,0.099,0.066,2471,590,2555,2480,2631,0,0,0,0,0,0,14.21,13.98,13.62
$GC,1667,0.42,152.5,2471,590,2480,2613,145.5,9.7,304,1673,0.25,2.38,0.00,0.000,5286,0.262,0.072,2411,1997,2546,2479,2613,0,0,0,0,0,0,14.04,14.22,14.28
$GC,1853,0.34,185.7,2412,1997,2474,2612,129.3,8.5,341,1890,0.12,2.50,30.98,0.965,12708,0.280,0.097,2379,3402,2396,2320,2473,0,0,0,0,0,0,14.16,14.29,13.85
$GC,2115,0.31,203.7,2382,3404,2316,2461,106.3,9.2,392,2139,0.00,2.28,14.70,0.999,9382,0.000,0.052,2382,1993,2323,2249,2397,0,0,0,0,0,0,14.47,14.39,13.93
$GC,2320,0.37,263.4,2382,1994,2245,2392,89.6,7.3,432,2361,0.00,2.47,36.00,0.410,8612,0.000,0.093,2382,3402,2089,2007,2171,0,0,0,0,0,0,14.66,14.32,14.09
$GC,2526,0.37,270.9,2387,3403,2010,2170,71.0,9.7,472,2538,0.00,2.28,5.47,0.327,9254,0.000,0.054,2382,1999,2059,1980,2138,0,0,0,0,0,0,14.49,14.40,14.12
$GC,2718,0.47,316.9,2383,2000,1983,2140,55.2,7.9,510,2755,0.12,2.45,32.30,0.304,10660,0.125,0.090,2450,3402,1869,1788,1950,0,0,0,0,0,0,14.47,14.39,14.18
$GC,2901,0.42,316.9,2450,3402,1791,1950,30.2,13.5,545,2907,0.17,2.28,0.00,0.000,5254,0.262,0.054,2409,1993,1869,1789,1950,0,0,0,0,0,0,14.19,14.36,14.40
$GC,3087,0.49,334.2,2414,1994,1788,1949,12.7,9.2,582,3105,0.00,2.45,10.57,0.188,8612,0.000,0.092,2409,3401,1798,1721,1876,0,0,0,0,0,0,14.66,14.31,14.29
$GC,3121,0.54,335.2,2410,3401,1723,1876,9.6,10.0,588,3127,0.10,2.28,0.00,0.000,3238,0.142,0.054,2462,1990,1799,1722,1876,0,0,0,0,0,0,14.40,14.39,14.48
$STATE,3210,end climb,SURFACE_DEPTH_REACHED
$STATE,3210,begin surface coast
$FINISH,0.1,1.018409
$STATE,3250,end surface coast,CONTROL_FINISHED_OK
$STATE,3250,begin surface
$SM_CCo,3267,167.07,0.151,0,0,539,642.69
$SM_GC,0.95,6.50,0.00,167.07,0.074,0.000,0.151,196,1988,539,-6.39,-0.06,642.69,0,0,0,0,0,0,14.52,14.75,14.33
$RAFOS_CLK,146
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4746.23,-12321.85,060617,170925
$TT8_MAMPS,0.041195,0.757988
$HUMID,44.13
$INTERNAL_PRESSURE,8.10502
$TCM_TEMP,18.00
$XPDR_PINGS,7
$SC_FREEKB,4019296
$PM_FREEKB,62294016
$CP_FREE,0.000000
$24V_AH,13.52,48.977
$10V_AH,13.36,0.000
$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,18.975,38.025,354.600,167.075,0.000,0.000,0.000,0.000,1.750,0.000,35.274,0.000,1526.061,614.628,1335.038,81.969,0.000,1136.857,0.000,929.795,0.000,0.543,0.000
$DEVICE_MAMPS,452.115,2126.700,999.090,150.705,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3238.000,3234.000,3231.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.428,16.329,111.000,0.000
$MEM,301772
$DATA_FILE_SIZE,20118,614
$CAP_FILE_SIZE,78798,0
$CFSIZE,2097872896,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1484.7
$CURRENT,0.067,213.40,1
$GPS,060617,181802,4743.672,-12224.550,31,0.8,32,16.3,0.0,0.0,9,6.8