version: 66.13
glider: 198
mission: 10
dive: 3
start: 6 6 117 18 41 21
data:
$ID,198
$MISSION,10
$DIVE,3
$N_DIVES,3
$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,3000
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,35
$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,4.0
$CP_NDIVE,1.0
$GPS1,060617,183510,4743.4785,-12224.6357,4,0.8,8,16.3,0.0,153.6,10,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.9
$GPS2,060617,184049,4743.4150,-12224.6631,9,0.8,11,16.3,0.0,103.3,10,9.2
$SPEED_LIMITS,0.173,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,296.4,448,-26.9,-10.000,-30.00,1021
$D_GRID,175
$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,-0.79,-66.6,201,3011,510,571,0.0,0.0,0,173,0.00,0.00,-134.23,0.000,16386,0.000,0.000,200,3008,2883,2878,2888,0,0,0,0,0,0,14.66,28.83,14.68
$GC,176,-0.82,-97.3,202,3011,2881,2888,3.0,-6.9,26,206,9.40,0.00,-17.20,0.000,18470,0.452,0.000,1999,3010,3557,3478,3637,0,0,0,0,0,0,14.07,13.23,14.45
$GC,388,-0.76,-97.3,1999,3011,3478,3642,44.7,-20.1,67,394,0.00,0.00,0.00,0.000,134,0.000,0.000,1999,3010,3559,3477,3641,0,0,0,0,0,0,14.64,14.66,14.66
$GC,574,-0.73,-97.3,1999,3011,3478,3640,80.3,-19.6,104,581,0.12,0.00,0.00,0.000,2182,0.343,0.000,2026,3010,3559,3477,3641,0,0,0,0,0,0,14.07,14.28,14.21
$GC,761,-0.79,-97.3,2027,3011,3477,3643,110.3,-15.1,141,767,0.00,0.00,0.00,0.000,134,0.000,0.000,2027,3010,3559,3476,3642,0,0,0,0,0,0,14.66,14.69,14.69
$GC,947,-0.89,-97.3,2027,3012,3476,3643,136.7,-13.4,178,952,0.15,0.00,0.00,0.000,4230,0.116,0.000,1963,3011,3559,3476,3642,0,0,0,0,0,0,14.46,14.52,14.50
$STATE,1020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1020,begin apogee
$GC,1025,-0.14,0.0,1964,3011,3476,3642,150.2,-18.8,193,1106,1.00,0.00,77.62,0.996,10246,0.289,0.000,2212,3011,3157,3074,3241,0,0,0,0,0,0,14.09,14.22,13.74
$STATE,1110,end apogee,CONTROL_FINISHED_OK
$STATE,1110,begin climb
$GC,1112,0.82,97.3,2213,3011,3072,3235,153.1,0.0,207,1194,0.95,0.00,77.15,0.961,10246,0.114,0.000,2529,3010,2758,2682,2835,0,0,0,0,0,0,14.21,14.08,13.63
$GC,1374,0.59,109.9,2528,3011,2678,2808,137.9,8.7,252,1388,0.28,0.00,9.18,0.967,12454,0.329,0.000,2467,3010,2708,2639,2778,0,0,0,0,0,0,13.93,14.31,13.80
$GC,1568,0.49,112.1,2466,3011,2635,2768,118.2,9.8,290,1574,0.15,0.00,0.00,0.000,4262,0.304,0.000,2429,3010,2700,2634,2767,0,0,0,0,0,0,14.09,14.35,14.26
$GC,1754,0.48,143.2,2429,3011,2636,2767,104.0,6.9,327,1789,0.00,0.00,28.92,0.942,8358,0.000,0.000,2430,3011,2567,2495,2640,0,0,0,0,0,0,14.66,14.25,13.90
$GC,1969,0.48,146.9,2429,3010,2489,2631,86.2,9.6,369,1975,0.00,0.00,0.00,0.000,38,0.000,0.000,2429,3010,2559,2488,2631,0,0,0,0,0,0,14.60,14.66,14.62
$GC,2155,0.49,160.5,2429,3011,2488,2630,68.4,8.6,406,2167,0.00,0.00,8.73,0.322,8230,0.000,0.000,2428,3009,2508,2437,2579,0,0,0,0,0,0,14.62,14.45,14.14
$GC,2347,0.50,174.1,2429,3011,2444,2581,51.2,8.6,444,2360,0.00,0.00,10.27,0.291,8230,0.000,0.000,2429,3011,2450,2379,2522,0,0,0,0,0,0,14.63,14.45,14.18
$GC,2540,0.57,189.0,2429,3012,2388,2524,32.5,8.5,482,2552,0.00,0.00,10.73,0.239,8358,0.000,0.000,2429,3010,2389,2318,2460,0,0,0,0,0,0,14.64,14.46,14.22
$GC,2732,0.65,211.5,2429,3011,2328,2460,16.6,7.7,520,2751,0.15,0.00,14.75,0.191,10406,0.105,0.000,2497,3010,2300,2229,2371,0,0,0,0,0,0,14.44,14.47,14.27
$GC,2931,0.74,349.0,2497,3011,2232,2367,6.0,-3.8,559,3014,0.00,0.00,79.18,0.162,8230,0.000,0.000,2496,3010,1735,1646,1825,0,0,0,0,0,0,14.63,14.45,14.29
$STATE,3047,end climb,SURFACE_DEPTH_REACHED
$STATE,3047,begin surface coast
$FINISH,0.2,1.018074
$STATE,3068,end surface coast,CONTROL_FINISHED_OK
$STATE,3069,begin surface
$SM_CCo,3087,157.90,0.145,0,0,538,642.69
$SM_GC,0.93,6.65,0.00,157.90,0.076,0.000,0.145,192,3011,538,-6.39,0.28,642.69,0,0,0,0,0,0,14.47,14.68,14.31
$RAFOS_CLK,135
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4744.48,-12222.38,060617,183557
$TT8_MAMPS,0.041944,0.796936
$HUMID,44.21
$INTERNAL_PRESSURE,8.10502
$TCM_TEMP,18.10
$XPDR_PINGS,4
$SC_FREEKB,4018912
$PM_FREEKB,62266688
$CP_FREE,0.000000
$24V_AH,13.23,49.143
$10V_AH,13.40,0.000
$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,18.850,0.000,316.525,157.900,0.000,0.000,0.000,0.000,1.000,0.000,11.587,0.000,1466.990,540.709,1240.506,78.832,0.000,1037.836,0.000,900.337,0.000,0.543,0.000
$DEVICE_MAMPS,452.115,0.000,996.030,144.585,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3058.000,3054.000,3051.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.460,16.307,111.000,0.000
$MEM,301772
$DATA_FILE_SIZE,20065,584
$CAP_FILE_SIZE,72685,0
$CFSIZE,2097872896,2091188224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1403.4
$CURRENT,0.164,206.05,1
$GPS,060617,193610,4743.162,-12225.070,4,0.9,9,16.3,0.0,199.7,9,9.4