version: 66.13
glider: 198
mission: 6
dive: 2
start: 7 29 116 16 21 36
data:
$ID,198
$MISSION,6
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,130
$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,30
$T_MISSION,45
$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,53373
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.83997
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2600
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.6378
$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,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
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,87
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043050982
$SEABIRD_T_H,0.00061941822
$SEABIRD_T_I,2.1629137e-05
$SEABIRD_T_J,2.164825e-06
$SEABIRD_C_G,-9.9284992
$SEABIRD_C_H,1.1529615
$SEABIRD_C_I,-0.0017988096
$SEABIRD_C_J,0.00021813816
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,290716,161551,4743.5522,-12223.9346,6,1.1,9,16.3,0.0,0.0,7,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-58.1
$GPS2,290716,162110,4743.5127,-12223.9248,7,1.1,12,16.3,0.0,0.0,7,9.4
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,252.7,1339,-18.1,-10.000,-23.98,2246
$D_GRID,171
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.61,-146.6,199,1998,530,546,0.0,0.0,0,167,0.00,0.00,-152.93,0.000,16386,0.000,0.000,199,1999,3639,3619,3660,0,0,0,0,0,0,15.02,28.83,15.04
$GC,170,-0.61,-146.6,199,1998,3589,3695,3.2,-7.7,31,195,10.05,2.53,-6.25,0.000,18724,0.407,2.162,2385,3389,3898,3754,4043,0,0,0,0,0,0,14.52,13.75,14.76
$GC,420,-0.74,-146.6,2384,3390,3759,4047,26.9,-7.4,80,426,0.00,2.15,0.00,0.000,1190,0.000,0.035,2385,1984,3900,3754,4046,0,0,0,0,0,0,14.79,14.71,14.78
$GC,488,-0.89,-146.6,2385,1984,3753,4046,31.8,-7.4,93,495,0.17,2.33,0.00,0.000,4516,0.093,0.079,2274,3401,3899,3753,4045,0,0,0,0,0,0,14.74,14.67,14.76
$GC,722,-0.86,-146.6,2273,3402,3753,4047,68.8,-15.6,139,728,0.17,2.15,0.00,0.000,3206,0.255,0.035,2317,1987,3898,3753,4043,0,0,0,0,0,0,14.61,14.76,14.78
$GC,850,-0.93,-146.6,2318,1988,3753,4047,84.4,-12.1,164,856,0.00,2.33,0.00,0.000,388,0.000,0.081,2307,3407,3899,3753,4046,0,0,0,0,0,0,14.94,14.73,14.96
$STATE,894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,894,begin apogee
$GC,901,-0.14,0.0,2304,2366,3753,4047,90.4,-12.9,173,974,0.80,0.00,67.57,0.437,10246,0.196,0.000,2548,2365,3303,3197,3410,0,0,0,0,0,0,14.66,14.67,14.42
$STATE,976,end apogee,CONTROL_FINISHED_OK
$STATE,977,begin climb
$GC,979,0.61,146.6,2548,2366,3205,3418,92.7,0.0,185,1055,0.70,2.17,69.32,0.444,10756,0.085,0.045,2816,1024,2704,2626,2783,0,0,0,0,0,0,14.66,14.56,14.33
$GC,1282,0.54,206.9,2816,1023,2645,2786,77.2,7.3,241,1319,0.17,2.22,29.65,0.377,13478,0.283,0.060,2777,2398,2459,2379,2539,0,0,0,0,0,0,14.58,14.70,14.47
$GC,1439,0.51,221.9,2777,2399,2398,2544,63.2,9.3,271,1453,0.00,2.40,8.52,0.319,8612,0.000,0.089,2777,3792,2396,2319,2474,0,0,0,0,0,0,14.89,14.67,14.50
$GC,1488,0.42,221.9,2777,3793,2338,2477,57.8,12.1,280,1495,0.20,2.10,1.65,0.210,13446,0.270,0.034,2739,2419,2396,2324,2468,0,0,0,0,0,0,14.59,14.74,14.59
$GC,1615,0.47,240.4,2739,2419,2336,2481,46.1,9.2,305,1634,0.00,2.25,10.57,0.278,8868,0.000,0.049,2747,1013,2321,2250,2393,0,0,0,0,0,0,14.91,14.72,14.57
$GC,1711,0.56,282.6,2749,1012,2263,2395,37.7,8.1,323,1742,0.10,2.25,22.77,0.256,11430,0.148,0.060,2813,2413,2146,2070,2223,0,0,0,0,0,0,14.74,14.71,14.58
$GC,1802,0.52,282.6,2812,2413,2079,2224,27.1,12.6,340,1809,0.17,0.00,0.00,0.000,4230,0.258,0.000,2767,2413,2150,2077,2223,0,0,0,0,0,0,14.59,14.75,14.69
$GC,1869,0.55,282.6,2767,2414,2076,2223,19.7,10.7,353,1875,0.00,2.28,0.00,0.000,388,0.000,0.089,2767,3780,2150,2077,2224,0,0,0,0,0,0,14.91,14.70,14.93
$GC,1930,0.55,282.6,2767,3787,2078,2221,12.1,12.5,365,1937,0.00,2.12,0.00,0.000,1030,0.000,0.036,2774,2387,2150,2078,2223,0,0,0,0,0,0,14.81,14.76,14.82
$GC,1997,0.57,282.6,2774,2388,2077,2224,5.1,10.3,378,2003,0.00,0.00,0.00,0.000,134,0.000,0.000,2774,2387,2150,2077,2223,0,0,0,0,0,0,14.93,14.95,14.95
$STATE,2025,end climb,SURFACE_DEPTH_REACHED
$STATE,2025,begin surface coast
$FINISH,0.4,1.021859
$STATE,2041,end surface coast,CONTROL_FINISHED_OK
$STATE,2041,begin surface
$SM_CCo,2058,198.65,0.148,0,0,539,677.03
$SM_GC,0.77,7.18,0.57,198.65,0.065,0.047,0.148,200,1972,539,-7.41,1.61,677.03,0,0,0,0,0,0,14.80,14.83,14.65
$RAFOS_CLK,95
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12217.96,290716,161631
$TT8_MAMPS,0.038199,0.890561
$HUMID,55.35
$INTERNAL_PRESSURE,9.02302
$TCM_TEMP,19.00
$XPDR_PINGS,2
$SC_FREEKB,4019168
$PM_FREEKB,62308928
$24V_AH,13.75,0.546
$10V_AH,14.03,0.000
$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,19.725,31.425,210.075,198.650,0.000,0.000,0.000,0.000,0.500,0.000,12.898,0.000,904.271,443.098,915.441,76.466,0.000,894.924,0.000,564.593,486.000,0.545,0.000
$DEVICE_MAMPS,406.980,2161.890,444.465,147.645,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2031.000,2025.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,45.500,18.419,0.000,0.000
$MEM,310448
$DATA_FILE_SIZE,13465,387
$CAP_FILE_SIZE,76134,0
$CFSIZE,2097872896,2093645824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1493.2
$GPS,290716,170008,4743.410,-12224.278,6,1.4,15,16.3,0.0,203.3,5,9.0