version: 66.13
glider: 198
mission: 10
dive: 4
start: 6 6 117 20 1 57
data:
$ID,198
$MISSION,10
$DIVE,4
$N_DIVES,4
$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,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$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,2970
$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,1.0
$CP_XMITPROFILE,1.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,6.0
$CP_NDIVE,1.0
$GPS1,060617,195808,4742.8452,-12225.2139,5,0.8,11,16.3,0.5,206.5,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.6
$GPS2,060617,200125,4742.7983,-12225.2402,5,0.8,12,16.3,0.0,203.8,10,10.0
$SPEED_LIMITS,0.173,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,5.0,1333,-17.5,-10.000,-21.42,2245
$D_GRID,186
$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,-146.6,200,2581,486,526,0.0,0.0,0,161,0.00,0.00,-122.90,0.000,16386,0.000,0.000,201,2583,2708,2699,2718,0,0,0,0,0,0,14.62,28.83,14.65
$GC,164,-0.59,-146.6,201,2582,2695,2713,3.0,-6.3,25,203,9.57,2.28,-23.90,0.000,19236,0.440,2.136,2062,3769,3567,3481,3654,0,0,0,0,0,0,14.03,13.38,14.38
$GC,213,-0.44,-146.6,2062,3769,3481,3659,9.7,-11.9,34,220,0.25,1.85,0.00,0.000,3206,0.261,0.046,2119,2594,3568,3481,3655,0,0,0,0,0,0,14.18,14.33,14.35
$GC,400,-0.44,-146.6,2123,2594,3476,3657,27.9,-9.8,71,406,0.00,0.00,0.00,0.000,38,0.000,0.000,2121,2594,3569,3481,3657,0,0,0,0,0,0,14.51,14.53,14.52
$GC,586,-0.47,-146.6,2122,2594,3482,3657,46.3,-9.5,108,592,0.00,2.28,0.00,0.000,676,0.000,0.057,2123,1207,3566,3480,3653,0,0,0,0,0,0,14.52,14.29,14.54
$GC,732,-0.52,-146.6,2122,1207,3481,3658,59.8,-8.3,137,738,0.00,2.40,0.00,0.000,1190,0.000,0.087,2117,2585,3568,3480,3656,0,0,0,0,0,0,14.36,14.24,14.38
$GC,919,-0.59,-146.6,2118,2586,3476,3658,76.5,-8.5,174,926,0.12,2.28,0.00,0.000,4772,0.119,0.054,2045,1210,3568,3479,3657,0,0,0,0,0,0,14.33,14.28,14.35
$GC,998,-0.54,-146.6,2045,1210,3480,3657,86.1,-13.0,189,1004,0.22,2.40,0.00,0.000,3206,0.281,0.087,2089,2601,3568,3479,3658,0,0,0,0,0,0,14.04,14.19,14.27
$GC,1184,-0.57,-146.6,2090,2601,3480,3657,107.2,-11.4,226,1190,0.00,0.00,0.00,0.000,134,0.000,0.000,2089,2601,3567,3478,3657,0,0,0,0,0,0,14.54,14.56,14.56
$GC,1371,-0.62,-146.6,2090,2602,3479,3658,125.2,-8.9,263,1376,0.00,0.00,0.00,0.000,166,0.000,0.000,2090,2600,3568,3478,3659,0,0,0,0,0,0,14.54,14.57,14.56
$GC,1556,-0.66,-146.6,2089,2601,3478,3658,141.6,-8.5,300,1562,0.00,2.30,0.00,0.000,676,0.000,0.057,2089,1202,3567,3477,3657,0,0,0,0,0,0,14.54,14.30,14.56
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1658,-0.14,0.0,2087,2599,3476,3658,150.1,-9.2,319,1780,0.47,0.00,116.22,0.975,10246,0.216,0.000,2216,2599,2965,2894,3036,0,0,0,0,0,0,14.14,14.04,13.59
$STATE,1785,end apogee,CONTROL_FINISHED_OK
$STATE,1785,begin climb
$GC,1787,0.59,146.6,2217,2599,2893,3032,156.3,0.0,340,1915,0.75,0.00,121.07,0.935,10502,0.127,0.000,2455,2599,2362,2285,2439,0,0,0,0,0,0,14.05,13.88,13.54
$GC,2097,0.43,146.6,2455,2599,2276,2422,127.5,14.8,397,2104,0.15,0.00,0.00,0.000,4230,0.264,0.000,2416,2599,2348,2275,2422,0,0,0,0,0,0,14.00,14.19,14.14
$GC,2286,0.35,146.6,2422,2599,2274,2420,105.5,10.8,434,2292,0.12,0.00,0.00,0.000,4230,0.275,0.000,2385,2599,2346,2273,2420,0,0,0,0,0,0,14.07,14.28,14.21
$GC,2474,0.37,169.9,2384,2602,2272,2419,89.1,8.9,471,2492,0.00,0.00,13.80,0.312,8742,0.000,0.000,2384,2599,2280,2206,2354,0,0,0,0,0,0,14.51,14.35,14.04
$GC,2672,0.38,191.3,2385,2599,2215,2356,71.8,9.0,510,2696,0.00,2.35,15.88,0.348,8740,0.000,0.064,2394,1213,2193,2120,2267,0,0,0,0,0,0,14.63,14.34,14.12
$GC,2793,0.45,224.5,2388,1214,2126,2268,61.5,8.5,533,2824,0.00,2.38,23.40,0.321,9382,0.000,0.085,2389,2601,2057,1978,2137,0,0,0,0,0,0,14.41,14.26,14.10
$GC,3004,0.55,274.3,2389,2602,1983,2139,43.4,7.7,574,3045,0.15,2.30,34.75,0.264,10916,0.109,0.063,2478,1215,1854,1774,1934,0,0,0,0,0,0,14.39,14.31,14.14
$GC,3087,0.49,274.3,2477,1214,1778,1934,33.0,13.1,589,3094,0.20,2.35,0.00,0.000,5254,0.243,0.080,2429,2601,1855,1776,1934,0,0,0,0,0,0,14.14,14.28,14.37
$GC,3274,0.49,274.3,2430,2602,1774,1935,12.7,10.0,626,3280,0.00,2.30,0.00,0.000,516,0.000,0.066,2431,1214,1853,1773,1934,0,0,0,0,0,0,14.64,14.36,14.66
$GC,3325,0.60,296.2,2430,1214,1774,1931,7.8,9.0,636,3344,0.00,2.38,12.93,0.164,9382,0.000,0.084,2430,2602,1762,1682,1842,0,0,0,0,0,0,14.46,14.33,14.26
$STATE,3422,end climb,SURFACE_DEPTH_REACHED
$STATE,3422,begin surface coast
$FINISH,0.1,1.008262
$STATE,3457,end surface coast,CONTROL_FINISHED_OK
$STATE,3457,begin surface
$SM_CCo,3473,170.80,0.146,0,0,498,605.89
$SM_CCo,3648,-0.17,0.000,0,0,500,605.89
$SM_CCo,3651,0.00,0.000,0,0,500,605.89
$SM_GC,0.95,6.35,0.00,0.00,0.065,0.000,0.000,191,2601,500,-6.39,0.03,605.89,0,0,0,0,0,0,14.50,14.72,14.65
$RAFOS_CLK,156
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4744.97,-12226.80,060617,195454
$TT8_MAMPS,0.040446,0.839629
$HUMID,43.38
$INTERNAL_PRESSURE,8.08548
$TCM_TEMP,18.00
$XPDR_PINGS,2
$SC_FREEKB,4018528
$PM_FREEKB,62229888
$CP_FREE,16006610944.000000
$24V_AH,13.15,49.363
$10V_AH,13.34,0.000
$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,18.375,32.325,338.050,170.800,0.000,0.000,0.000,0.000,0.500,0.000,13.384,0.000,1645.665,542.109,1453.824,101.034,0.000,1167.936,0.000,989.977,2003.000,0.544,0.000
$DEVICE_MAMPS,439.875,2135.880,974.610,146.115,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.670,30.150,35.390,0.000,10.300,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3446.000,3441.000,1781.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.492,16.432,111.000,0.000
$MEM,301760
$DATA_FILE_SIZE,23375,662
$CAP_FILE_SIZE,91422,0
$CFSIZE,2097872896,2090860544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.9
$CURRENT,0.301,219.87,1
$GPS,060617,210343,4742.765,-12225.643,8,0.8,13,16.3,0.5,195.5,10,9.3