version: 66.11
glider: 198
mission: 1
dive: 5
start: 4 30 113 14 50 40
data:
$ID,198
$MISSION,1
$DIVE,5
$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,-930.19525
$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,39
$R_STBD_OVSHOOT,27
$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
$GPS1,300413,213858,4743.785,-12225.175,39,0.8,39,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.3
$GPS2,300413,214758,4743.808,-12225.196,5,0.8,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.252,-0.001
$KALMAN_X,-358.8,36.2,56.7,90.2,-269.8
$KALMAN_Y,223.6,-24.6,24.5,1646.3,168.2
$MHEAD_RNG_PITCHd_Wd,74.0,522,-18.2,-10.000,-21.68,2069
$D_GRID,185
$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,-1.37,-136.3,205,2437,1657,1615,0.0,0.0,0,85,0.00,0.00,-66.22,0.000,16386,0.000,0.000,205,2438,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.38,-146.6,205,2438,3386,3287,3.1,-5.2,12,118,10.00,2.40,-10.18,0.000,18948,0.415,0.115,2357,1049,3790,3844,3737,0,0,0,0,0,0,14.50,14.60,14.83
$GC,348,-1.38,-146.6,1408,1048,3843,3736,50.2,-17.7,74,355,0.00,2.35,0.00,0.000,1030,0.000,0.093,2348,2439,3791,3846,3737,0,0,0,0,0,0,28.83,14.69,28.83
$GC,477,-1.38,-146.6,1408,2436,3843,3736,71.5,-17.2,105,484,0.00,2.35,0.00,0.000,516,0.000,0.090,2348,1039,3791,3845,3737,0,0,0,0,0,0,28.83,14.71,28.83
$GC,682,-1.38,-146.6,1408,1038,3843,3736,104.7,-15.7,154,689,0.00,2.38,0.00,0.000,1030,0.000,0.093,2347,2450,3791,3846,3737,0,0,0,0,0,0,28.83,14.75,28.83
$GC,813,-1.38,-146.6,1408,2448,3843,3736,124.2,-14.5,185,820,0.00,2.35,0.00,0.000,516,0.000,0.091,2348,1044,3791,3845,3737,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,974,begin apogee
$GC,980,-0.33,0.0,2347,2449,3846,3737,150.1,-15.4,223,1108,1.25,0.00,121.20,2.399,10246,0.259,0.000,2695,2450,3195,3279,3111,0,0,0,0,0,0,14.71,28.83,13.17
$STATE,1110,end apogee,CONTROL_FINISHED_OK
$STATE,1110,begin climb
$GC,1111,1.38,146.6,2695,2449,3280,3111,154.9,0.0,246,1241,1.70,0.00,122.05,2.321,10502,0.104,0.000,3249,2449,2597,2668,2526,0,0,0,0,0,0,13.99,28.83,13.20
$GC,1364,1.38,146.6,2240,2447,2627,2520,123.4,23.5,299,1370,0.00,2.33,0.00,0.000,260,0.000,0.096,3245,3790,2597,2668,2526,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1404,1.38,146.6,2240,3789,2628,2520,112.5,26.8,308,1411,0.00,2.22,0.00,0.000,1030,0.000,0.066,3260,2448,2597,2668,2526,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1533,1.38,146.6,2240,2444,2627,2520,83.2,25.1,339,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2446,2597,2667,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1661,1.38,146.6,2240,2444,2627,2520,51.7,23.4,370,1668,0.00,2.30,0.00,0.000,260,0.000,0.098,3260,3793,2597,2668,2526,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1766,1.38,146.6,2248,3792,2627,2520,31.3,18.4,395,1773,0.00,2.20,0.00,0.000,1030,0.000,0.066,3270,2436,2597,2669,2526,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1835,1.38,146.6,2272,2434,2628,2520,19.8,15.3,411,1842,0.00,2.30,0.00,0.000,260,0.000,0.098,3270,3791,2597,2668,2526,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,1939,end climb,SURFACE_DEPTH_REACHED
$STATE,1939,begin surface coast
$FINISH,0.6,1.021518
$STATE,1952,end surface coast,CONTROL_FINISHED_OK
$STATE,1953,begin surface
$SM_CCo,1970,114.12,0.148,0,0,1641,380.21
$SM_GC,1.56,9.23,2.25,114.12,0.118,0.064,0.148,199,2445,1641,-8.09,1.19,380.21,0,0,0,0,0,0,14.72,14.73,14.62
$IRIDIUM_FIX,4710.21,-12236.08,300413,212146
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.82
$INTERNAL_PRESSURE,8.89606
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.3,65.0
$SC_FREEKB,4018208
$24V_AH,13.2,1.187
$10V_AH,12.9,0.000
$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,22.175,27.850,243.250,114.125,0.000,46.862,106.463,209.113,3.250,0.000,8.373,922.188,158.263,418.748,1110.650,37.700,33.216,797.236,0.000,666.945,0.000,23.082,0.000
$DEVICE_MAMPS,415.395,114.750,2399.040,148.410,0.000,44.370,160.000,223.000,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1975.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.929,0.000,0.000,0.000
$MEM,322876
$DATA_FILE_SIZE,10091,439
$CAP_FILE_SIZE,70032,0
$CFSIZE,2097872896,2094858240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300413,222424,4744.028,-12224.862,2,0.8,2,16.3