version: 66.11
glider: 196
mission: 2
dive: 5
start: 5 1 113 19 32 43
data:
$ID,196
$MISSION,2
$DIVE,5
$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,-1499.0281
$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,28
$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
$GPS1,020513,022320,4741.951,-12225.764,3,0.8,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-74.4
$GPS2,020513,023335,4741.825,-12225.891,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,0.220
$KALMAN_X,-1072.3,-527.8,-274.3,691.4,-422.8
$KALMAN_Y,-1728.9,-886.7,-486.9,1719.4,-616.2
$MHEAD_RNG_PITCHd_Wd,15.9,4077,-17.5,-10.000,-21.04,2225
$D_GRID,169
$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,-0.85,-146.6,203,2338,1628,1732,0.0,0.0,0,90,0.00,0.00,-68.32,0.000,16390,0.000,0.000,204,2338,3586,3621,3552,0,0,0,0,0,0,28.83,28.83,14.77
$GC,92,-0.85,-146.6,204,2338,3618,3550,4.5,-15.2,13,110,11.68,0.00,0.00,0.000,2566,0.381,0.000,2765,2338,3589,3625,3553,0,0,0,0,0,0,14.45,28.83,28.83
$GC,173,-0.85,-146.6,1744,2336,3621,3550,25.3,-16.0,31,179,0.00,2.45,0.00,0.000,260,0.000,0.101,2757,3756,3589,3626,3553,0,0,0,0,0,0,28.83,14.57,28.83
$GC,257,-0.85,-146.6,1728,3755,3621,3550,40.0,-17.2,51,264,0.00,2.35,0.00,0.000,1030,0.000,0.065,2757,2330,3589,3626,3552,0,0,0,0,0,0,28.83,14.62,28.83
$GC,386,-0.85,-146.6,1728,2327,3621,3550,60.8,-14.8,82,393,0.00,2.38,0.00,0.000,516,0.000,0.099,2757,940,3589,3627,3552,0,0,0,0,0,0,28.83,14.64,28.83
$GC,487,-0.85,-146.6,1728,938,3621,3550,76.7,-14.4,106,494,0.00,2.40,0.00,0.000,1030,0.000,0.093,2746,2345,3589,3627,3552,0,0,0,0,0,0,28.83,14.69,28.83
$GC,616,-0.85,-146.6,1728,2342,3621,3550,93.8,-13.0,137,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2345,3589,3626,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-0.85,-146.6,1712,2342,3621,3550,111.6,-14.9,168,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2345,3589,3627,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-0.85,-146.6,1696,2343,3621,3550,130.0,-14.1,199,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2345,3589,3627,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.85,-146.6,1704,2342,3621,3549,147.6,-14.0,230,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2345,3589,3627,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1132,-0.85,-146.6,1704,2342,3621,3550,165.9,-14.0,261,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2345,3589,3627,3552,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1154,begin apogee
$GC,1158,-0.19,0.0,2746,2274,3624,3552,169.3,-14.1,266,1286,0.82,0.00,118.53,2.233,10246,0.233,0.000,2976,2274,2990,3017,2963,0,0,0,0,0,0,14.69,28.83,13.29
$STATE,1287,end apogee,CONTROL_FINISHED_OK
$STATE,1287,begin climb
$GC,1289,0.85,146.6,2975,2274,3018,2963,174.5,0.0,289,1414,1.12,0.00,117.72,2.058,10246,0.141,0.000,3315,2274,2391,2405,2377,0,0,0,0,0,0,14.00,28.83,13.41
$GC,1536,0.85,146.6,2320,2271,2355,2365,150.0,15.1,341,1543,0.00,2.50,0.00,0.000,260,0.000,0.098,3315,3698,2391,2405,2377,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1601,0.85,146.6,2336,3697,2356,2366,138.8,18.4,356,1608,0.00,2.35,0.00,0.000,1030,0.000,0.065,3326,2288,2391,2405,2377,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1730,0.85,146.6,2336,2285,2355,2365,118.7,12.1,387,1737,0.00,2.42,0.00,0.000,516,0.000,0.101,3337,882,2391,2405,2377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1819,0.85,146.6,2368,881,2355,2365,105.6,15.5,408,1826,0.00,2.40,0.00,0.000,1030,0.000,0.088,3337,2294,2390,2405,2376,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1948,0.85,146.6,2368,2292,2356,2365,85.7,14.9,439,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2295,2390,2405,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,0.85,146.6,2368,2292,2355,2365,67.5,14.1,470,2083,0.00,2.40,0.00,0.000,260,0.000,0.099,3337,3699,2390,2405,2376,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2137,0.85,146.6,2368,3698,2356,2365,58.6,14.7,484,2144,0.00,2.33,0.00,0.000,1030,0.000,0.065,3347,2277,2390,2405,2376,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2266,0.85,146.6,2376,2275,2354,2365,42.6,10.2,515,2273,0.00,2.38,0.00,0.000,516,0.000,0.101,3357,884,2390,2405,2375,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2347,0.85,146.6,2400,883,2356,2365,33.7,11.3,534,2354,0.15,2.38,0.00,0.000,5126,0.268,0.088,3324,2295,2390,2405,2376,0,0,0,0,0,0,14.63,14.69,28.83
$GC,2417,0.87,157.3,2336,2293,2355,2365,26.7,9.5,550,2430,0.00,2.45,4.93,1.188,8708,0.000,0.102,3333,878,2344,2356,2332,0,0,0,0,0,0,28.83,14.64,14.13
$GC,2464,0.87,157.3,2384,877,2309,2321,21.4,11.8,560,2471,0.00,2.38,0.00,0.000,1030,0.000,0.089,3333,2284,2344,2357,2332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2533,0.87,157.3,3333,2284,2357,2331,12.6,13.7,576,2540,0.00,2.42,0.00,0.000,260,0.000,0.099,3333,3697,2344,2357,2332,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,2653,end climb,SURFACE_DEPTH_REACHED
$STATE,2653,begin surface coast
$FINISH,-0.5,1.021413
$STATE,2671,end surface coast,CONTROL_FINISHED_OK
$STATE,2671,begin surface
$SM_CCo,2689,69.03,1.064,0,0,1682,320.12
$SM_GC,0.26,9.12,2.30,69.03,0.070,0.064,1.064,200,2333,1682,-8.86,0.74,320.12,0,0,0,0,0,0,14.69,14.70,14.04
$IRIDIUM_FIX,4726.11,-12227.78,020513,020217
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.12
$INTERNAL_PRESSURE,8.93391
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,120.0,55.0
$SC_FREEKB,3936288
$24V_AH,13.3,1.935
$10V_AH,13.5,0.000
$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,22.900,38.375,241.175,69.025,0.000,0.000,0.000,444.850,1.250,0.000,8.343,1304.610,199.287,407.347,1430.340,49.621,33.213,1356.577,0.000,921.663,0.000,5.587,0.000
$DEVICE_MAMPS,380.970,167.535,2233.035,1064.115,0.000,0.000,0.000,159.120,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2694.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.635,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,20095,609
$CAP_FILE_SIZE,95749,0
$CFSIZE,2097872896,2094792704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,032125,4741.802,-12225.938,13,0.8,13,16.3