version: 66.11
glider: 198
mission: 1
dive: 3
start: 4 30 113 13 19 22
data:
$ID,198
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-853.47516
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.146109
$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,2441
$C_ROLL_CLIMB,2441
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3193
$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,-84.248444
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$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
$GPS1,300413,201323,4743.144,-12224.944,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.1
$GPS2,300413,201641,4743.174,-12224.934,6,1.2,6,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,0.259
$KALMAN_X,60.3,77.3,76.6,-64.5,47.5
$KALMAN_Y,215.5,24.8,22.5,407.3,74.3
$MHEAD_RNG_PITCHd_Wd,347.5,1355,-17.5,-10.000,-21.04,2225
$D_GRID,177
$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,-1.33,-146.6,200,2439,1153,1131,0.0,0.0,0,113,0.00,0.00,-93.12,0.000,16386,0.000,0.000,200,2439,3541,3591,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.33,-146.6,200,2439,3586,3491,3.3,-7.3,17,140,10.02,2.40,-5.22,0.000,18948,0.418,0.118,2374,1039,3792,3833,3752,0,0,0,0,0,0,14.62,14.76,14.98
$GC,370,-1.33,-146.6,1408,1038,3835,3749,48.2,-15.2,78,377,0.00,2.38,0.00,0.000,1030,0.000,0.096,2374,2446,3794,3838,3750,0,0,0,0,0,0,28.83,14.76,28.83
$GC,499,-1.33,-146.6,1416,2444,3836,3748,65.9,-14.1,109,506,0.00,2.35,0.00,0.000,516,0.000,0.093,2374,1041,3793,3838,3749,0,0,0,0,0,0,28.83,14.77,28.83
$GC,738,-1.33,-146.6,1424,1039,3836,3754,100.8,-13.7,167,745,0.00,2.38,0.00,0.000,1030,0.000,0.096,2373,2445,3794,3839,3749,0,0,0,0,0,0,28.83,14.78,28.83
$GC,870,-1.33,-146.6,1424,2443,3837,3748,119.1,-14.7,198,876,0.00,2.35,0.00,0.000,516,0.000,0.091,2373,1035,3794,3839,3749,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1012,-1.33,-146.6,1408,1034,3837,3747,140.1,-14.2,231,1019,0.00,2.38,0.00,0.000,1030,0.000,0.095,2374,2444,3794,3839,3749,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,1092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1092,begin apogee
$GC,1095,-0.33,0.0,2374,2444,3839,3749,150.5,-11.8,250,1217,1.12,0.00,117.20,2.111,10246,0.250,0.000,2693,2444,3192,3279,3106,0,0,0,0,0,0,14.72,28.83,13.40
$STATE,1219,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1220,1.33,146.6,2693,2444,3281,3106,152.5,0.0,272,1351,1.67,2.50,120.38,2.233,10756,0.113,0.086,3242,1038,2595,2670,2521,0,0,0,0,0,0,14.08,13.93,13.26
$GC,1490,1.33,146.6,2208,1037,2629,2514,111.2,24.4,329,1497,0.00,2.40,0.00,0.000,1030,0.000,0.085,3242,2442,2596,2671,2521,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1619,1.33,146.6,2208,2440,2629,2514,78.4,22.7,360,1626,0.00,2.33,0.00,0.000,260,0.000,0.101,3242,3796,2595,2670,2521,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1676,1.33,146.6,2224,3795,2630,2514,65.0,23.6,373,1683,0.00,2.22,0.00,0.000,1030,0.000,0.067,3252,2433,2595,2670,2521,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1805,1.33,146.6,2240,2431,2629,2514,38.8,18.6,404,1812,0.00,2.33,0.00,0.000,516,0.000,0.090,3260,1041,2595,2670,2520,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1818,1.33,146.6,3260,1041,2670,2520,36.5,18.5,406,1824,0.00,2.35,0.00,0.000,1030,0.000,0.086,3260,2441,2596,2671,2521,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1886,1.33,146.6,2256,2438,2630,2514,24.8,15.6,422,1893,0.00,2.35,0.00,0.000,516,0.000,0.088,3270,1040,2595,2670,2520,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1967,1.33,146.6,2256,1039,2630,2514,13.9,13.4,441,1974,0.15,2.35,0.00,0.000,5126,0.371,0.087,3242,2441,2595,2670,2521,0,0,0,0,0,0,14.55,14.69,28.83
$GC,2037,1.36,170.5,2184,2439,2630,2514,5.4,8.9,457,2055,0.00,2.30,11.65,0.181,8452,0.000,0.098,3242,3790,2495,2572,2418,0,0,0,0,0,0,28.83,14.69,14.62
$STATE,2072,end climb,SURFACE_DEPTH_REACHED
$STATE,2072,begin surface coast
$FINISH,0.5,1.020373
$STATE,2093,end surface coast,CONTROL_FINISHED_OK
$STATE,2094,begin surface
$SM_CCo,2112,100.00,0.149,0,0,1640,380.21
$SM_GC,1.43,9.77,2.25,100.00,0.174,0.065,0.149,202,2445,1640,-8.09,1.24,380.21,0,0,0,0,0,0,14.72,14.73,14.64
$IRIDIUM_FIX,4722.92,-12226.07,300413,202011
$TT8_MAMPS,0.023219,0.023219
$HUMID,30.50
$INTERNAL_PRESSURE,8.90583
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,135.1,63.3
$SC_FREEKB,4018976
$24V_AH,13.3,0.794
$10V_AH,13.0,0.000
$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,22.750,37.600,249.225,100.000,0.000,0.000,0.000,0.000,3.750,0.000,9.388,977.012,101.433,433.778,744.786,26.198,31.304,835.497,0.000,708.447,0.000,22.529,0.000
$DEVICE_MAMPS,418.455,117.810,2233.035,149.175,0.000,0.000,0.000,0.000,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2076.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.621,0.000,0.000,0.000
$MEM,322916
$DATA_FILE_SIZE,10099,469
$CAP_FILE_SIZE,115678,0
$CFSIZE,2097872896,2095153152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300413,205516,4743.556,-12224.883,5,0.8,5,16.3