version: 66.11
glider: 196
mission: 2
dive: 4
start: 5 1 113 18 34 30
data:
$ID,196
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,60
$T_MISSION,80
$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,53140
$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,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1481.3394
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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,2988
$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,-76.015923
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$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,120
$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,0.75
$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,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020513,012754,4742.066,-12225.615,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-74.4
$GPS2,020513,013523,4741.958,-12225.726,5,1.1,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,0.228
$KALMAN_X,-598.2,-366.3,-289.9,278.0,-368.8
$KALMAN_Y,-989.1,-611.1,-507.1,967.3,-584.3
$MHEAD_RNG_PITCHd_Wd,12.6,3778,-17.5,-10.000,-21.04,2225
$D_GRID,172
$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,16,begin dive
$GC,17,-0.85,-146.6,205,2338,1629,1730,0.0,0.0,0,90,0.00,0.00,-68.60,0.000,16390,0.000,0.000,205,2338,3586,3619,3554,0,0,0,0,0,0,28.83,28.83,14.81
$GC,92,-0.85,-146.6,205,2338,3619,3555,4.1,-13.9,13,111,11.57,2.42,0.00,0.000,2308,0.379,0.090,2750,3760,3588,3622,3555,0,0,0,0,0,0,14.45,14.58,28.83
$GC,242,-0.85,-146.6,1728,3759,3618,3553,36.3,-17.2,48,248,0.00,2.33,0.00,0.000,1030,0.000,0.064,2753,2340,3589,3624,3555,0,0,0,0,0,0,28.83,14.65,28.83
$GC,311,-0.85,-146.6,1728,2337,3619,3552,47.3,-14.5,64,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2340,3589,3624,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,439,-0.85,-146.6,1712,2337,3619,3553,65.7,-14.5,95,446,0.00,2.40,0.00,0.000,516,0.000,0.102,2753,938,3589,3625,3554,0,0,0,0,0,0,28.83,14.69,28.83
$GC,504,-0.85,-146.6,1728,937,3620,3549,74.8,-13.1,110,512,0.12,2.38,0.00,0.000,3078,0.286,0.093,2767,2339,3589,3625,3554,0,0,0,0,0,0,14.63,14.71,28.83
$GC,634,-0.85,-146.6,1728,2337,3620,3552,90.6,-12.4,141,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2339,3589,3625,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,761,-0.85,-146.6,1728,2337,3620,3552,107.6,-14.1,172,768,0.00,2.40,0.00,0.000,516,0.000,0.102,2767,934,3589,3625,3553,0,0,0,0,0,0,28.83,14.73,28.83
$GC,818,-0.85,-146.6,1744,934,3620,3552,115.6,-14.3,185,825,0.00,2.38,0.00,0.000,1030,0.000,0.095,2759,2340,3589,3625,3554,0,0,0,0,0,0,28.83,14.76,28.83
$GC,950,-0.85,-146.6,1728,2337,3620,3551,133.9,-14.0,216,957,0.00,2.40,0.00,0.000,260,0.000,0.103,2748,3748,3589,3625,3554,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1031,-0.85,-146.6,1728,3747,3620,3552,146.2,-15.0,235,1038,0.00,2.30,0.00,0.000,1030,0.000,0.067,2748,2332,3590,3626,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1161,-0.85,-146.6,1712,2329,3620,3551,159.7,0.2,266,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2332,3590,3626,3554,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1255,end dive,NO_VERTICAL_VELOCITY
$STATE,1256,begin apogee
$GC,1259,-0.19,0.0,2748,2285,3626,3554,159.7,0.0,289,1382,0.73,0.00,118.20,2.226,10246,0.135,0.000,2983,2284,2990,3016,2965,0,0,0,0,0,0,14.78,28.83,13.34
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1385,0.85,146.6,2983,2284,3019,2965,159.6,0.0,311,1511,1.08,2.53,116.93,1.995,10756,0.125,0.100,3327,887,2391,2404,2379,0,0,0,0,0,0,14.01,13.97,13.47
$GC,1642,0.85,146.6,2352,886,2354,2366,133.9,13.1,365,1649,0.00,2.42,0.00,0.000,1030,0.000,0.089,3330,2294,2391,2405,2378,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1771,0.85,146.6,2344,2293,2354,2366,115.5,14.8,396,1778,0.00,2.42,0.00,0.000,260,0.000,0.098,3328,3701,2391,2405,2378,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1840,0.85,146.6,2368,3701,2355,2367,104.4,16.2,412,1847,0.00,2.35,0.00,0.000,1030,0.000,0.067,3337,2281,2391,2405,2378,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1969,0.85,146.6,2368,2278,2354,2366,86.0,14.4,443,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2280,2391,2405,2378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2097,0.85,146.6,2368,2278,2354,2366,68.7,12.0,474,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2281,2391,2405,2378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,0.85,146.6,2368,2278,2354,2366,52.6,11.9,505,2232,0.00,2.42,0.00,0.000,260,0.000,0.098,3337,3705,2391,2405,2378,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2258,0.85,146.6,2384,3705,2356,2367,48.1,15.0,512,2265,0.00,2.35,0.00,0.000,1030,0.000,0.067,3348,2273,2391,2405,2377,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2387,0.85,146.6,2400,2271,2355,2366,33.0,10.8,543,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2273,2391,2405,2378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2455,0.85,146.6,2400,2270,2355,2366,24.9,11.4,559,2462,0.00,2.38,0.00,0.000,516,0.000,0.102,3358,880,2391,2405,2377,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2525,0.85,146.6,2408,879,2355,2366,16.8,11.6,575,2532,0.15,2.38,0.00,0.000,5126,0.267,0.087,3325,2293,2391,2405,2377,0,0,0,0,0,0,14.64,14.72,28.83
$GC,2594,0.85,146.6,2352,2291,2356,2365,8.9,11.4,591,2601,0.00,2.40,0.00,0.000,260,0.000,0.099,3325,3700,2391,2405,2377,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,2662,end climb,SURFACE_DEPTH_REACHED
$STATE,2662,begin surface coast
$FINISH,-0.5,1.021211
$STATE,2684,end surface coast,CONTROL_FINISHED_OK
$STATE,2684,begin surface
$SM_CCo,2702,73.88,1.108,0,0,1679,320.12
$SM_GC,0.23,9.15,2.28,73.88,0.079,0.063,1.108,203,2339,1679,-8.84,1.02,320.12,0,0,0,0,0,0,14.73,14.74,14.04
$IRIDIUM_FIX,4726.11,-12202.02,020513,000037
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.04
$INTERNAL_PRESSURE,8.93391
$TCM_TEMP,17.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,120.2,40.8
$SC_FREEKB,3936672
$24V_AH,13.3,1.704
$10V_AH,13.6,0.000
$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,22.800,42.975,235.125,73.875,0.000,0.000,0.000,329.400,2.250,0.000,8.360,1317.322,140.408,405.638,1319.484,47.331,32.223,1239.094,0.000,924.171,0.000,5.551,0.000
$DEVICE_MAMPS,378.675,245.565,2226.150,1108.485,0.000,0.000,0.000,169.065,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2705.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.910,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,20072,612
$CAP_FILE_SIZE,95007,0
$CFSIZE,2097872896,2094956544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,022320,4741.951,-12225.764,3,0.8,3,16.3