version: 66.11
glider: 198
mission: 1
dive: 4
start: 4 30 113 14 4 59
data:
$ID,198
$MISSION,1
$DIVE,4
$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,-877.20447
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,300413,205516,4743.556,-12224.883,5,0.8,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.8
$GPS2,300413,210218,4743.619,-12224.878,9,1.0,9,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,0.164
$KALMAN_X,41.4,103.1,85.2,-17.3,-23.8
$KALMAN_Y,324.2,1.0,4.3,1184.4,157.4
$MHEAD_RNG_PITCHd_Wd,2.0,530,-27.2,-10.000,-30.00,962
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.88,-63.1,202,2438,1661,1610,0.0,0.0,0,90,0.00,0.00,-71.22,0.000,16390,0.000,0.000,202,2439,3452,3505,3399,0,0,0,0,0,0,28.83,28.83,14.84
$GC,93,-1.92,-102.0,202,2439,3505,3398,3.3,-5.9,13,112,9.32,2.45,-3.55,0.000,18948,0.423,0.117,2183,1034,3607,3666,3549,0,0,0,0,0,0,14.47,14.62,14.82
$GC,343,-1.92,-102.0,1296,1032,3648,3566,68.6,-21.3,73,350,0.00,2.40,0.00,0.000,1030,0.000,0.094,2181,2445,3611,3653,3569,0,0,0,0,0,0,28.83,14.71,28.83
$GC,473,-1.92,-102.0,1296,2443,3648,3567,98.4,-25.0,104,480,0.00,2.38,0.00,0.000,516,0.000,0.093,2182,1031,3610,3652,3569,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,714,begin apogee
$GC,720,-0.33,0.0,2171,2449,3652,3569,150.8,-23.3,160,810,2.00,0.00,82.70,2.200,10246,0.313,0.000,2698,2449,3195,3280,3111,0,0,0,0,0,0,14.66,28.83,13.33
$STATE,811,end apogee,CONTROL_FINISHED_OK
$STATE,811,begin climb
$GC,813,1.92,102.0,2699,2449,3280,3111,154.0,0.0,176,911,2.22,2.45,86.30,2.375,10500,0.115,0.096,3427,3785,2779,2853,2705,0,0,0,0,0,0,14.12,13.94,13.21
$GC,1142,1.92,102.0,2496,3783,2818,2698,99.6,23.1,250,1149,0.00,2.22,0.00,0.000,1030,0.000,0.064,3437,2436,2779,2853,2705,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1271,1.92,102.0,2496,2432,2817,2698,75.1,16.7,281,1278,0.00,2.33,0.00,0.000,260,0.000,0.094,3437,3792,2779,2853,2705,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1432,1.92,102.0,2496,3791,2818,2699,46.8,16.6,320,1439,0.00,2.20,0.00,0.000,1030,0.000,0.063,3447,2439,2779,2853,2705,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1561,1.93,103.9,2504,2436,2818,2698,33.0,9.8,351,1569,0.00,2.35,1.40,0.339,8708,0.000,0.085,3458,1037,2768,2840,2696,0,0,0,0,0,0,28.83,14.70,14.62
$GC,1732,1.97,136.3,2528,1037,2805,2690,17.5,6.6,392,1756,0.00,2.35,16.40,0.219,9222,0.000,0.082,3458,2446,2635,2709,2562,0,0,0,0,0,0,28.83,14.73,14.62
$GC,1818,1.97,136.3,2560,2443,2671,2555,9.6,12.0,411,1825,0.00,2.30,0.00,0.000,260,0.000,0.097,3458,3794,2635,2709,2562,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,1906,end climb,SURFACE_DEPTH_REACHED
$STATE,1906,begin surface coast
$FINISH,0.8,1.020523
$STATE,1927,end surface coast,CONTROL_FINISHED_OK
$STATE,1928,begin surface
$SM_CCo,1948,115.80,0.145,0,0,1643,380.21
$SM_GC,1.64,10.80,2.25,115.80,0.197,0.063,0.145,204,2439,1643,-8.10,1.13,380.21,0,0,0,0,0,0,14.73,14.76,14.64
$IRIDIUM_FIX,4726.11,-12225.08,300413,202001
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.86
$INTERNAL_PRESSURE,8.89606
$TCM_TEMP,17.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,150.8,65.4
$SC_FREEKB,4018592
$24V_AH,13.2,0.964
$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,24.350,28.125,186.800,115.800,0.000,19.049,31.070,235.652,6.250,0.000,12.347,947.563,99.676,371.672,1036.601,36.972,32.215,732.981,0.000,667.076,0.000,24.320,0.000
$DEVICE_MAMPS,423.045,117.045,2374.560,145.350,0.000,44.370,160.000,223.000,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.952,0.000,0.000,0.000
$MEM,322836
$DATA_FILE_SIZE,10097,437
$CAP_FILE_SIZE,69716,0
$CFSIZE,2097872896,2095022080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300413,213858,4743.785,-12225.175,39,0.8,39,16.3