version: 66.11
glider: 196
mission: 2
dive: 9
start: 5 1 113 23 29 2
data:
$ID,196
$MISSION,2
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$T_MISSION,84
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,420
$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,-1609.2856
$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,3020
$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,26
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2830
$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,15
$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
$GPS1,020513,062207,4741.833,-12226.118,3,1.7,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-72.1
$GPS2,020513,062957,4741.766,-12226.192,4,1.9,4,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,0.188
$KALMAN_X,-3762.5,-718.2,-6.6,2924.2,-799.9
$KALMAN_Y,-5257.7,-1127.9,117.7,4768.2,-950.5
$MHEAD_RNG_PITCHd_Wd,24.1,5618,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,-0.76,-146.6,201,2344,1053,1159,0.0,0.0,0,107,0.00,0.00,-83.65,0.000,16390,0.000,0.000,201,2344,3428,3463,3393,0,0,0,0,0,0,28.83,28.83,14.69
$GC,109,-0.76,-146.6,201,2344,3463,3394,3.5,-11.4,16,127,11.93,0.00,0.00,0.000,2566,0.389,0.000,2763,2343,3429,3465,3393,0,0,0,0,0,0,14.34,28.83,28.83
$GC,190,-0.76,-146.6,1744,2341,3456,3390,19.5,-12.4,34,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2343,3430,3467,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,258,-0.76,-146.6,1744,2341,3457,3390,28.7,-14.1,50,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2343,3430,3467,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,325,-0.76,-146.6,1744,2341,3457,3390,37.4,-12.7,66,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2344,3430,3467,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,393,-0.76,-146.6,1744,2341,3456,3389,46.1,-13.2,82,400,0.00,2.45,0.00,0.000,260,0.000,0.102,2754,3758,3430,3467,3393,0,0,0,0,0,0,28.83,14.54,28.83
$GC,426,-0.76,-146.6,1752,3758,3457,3390,50.7,-14.1,89,433,0.00,2.35,0.00,0.000,1030,0.000,0.065,2754,2333,3430,3468,3393,0,0,0,0,0,0,28.83,14.57,28.83
$GC,556,-0.76,-146.6,1728,2330,3457,3389,69.2,-13.2,120,562,0.00,2.40,0.00,0.000,516,0.000,0.097,2754,931,3430,3467,3393,0,0,0,0,0,0,28.83,14.59,28.83
$GC,794,-0.76,-146.6,1728,931,3458,3389,104.6,-14.0,178,801,0.12,2.40,0.00,0.000,3078,0.299,0.091,2768,2346,3430,3468,3393,0,0,0,0,0,0,14.57,14.66,28.83
$GC,925,-0.76,-146.6,1744,2344,3458,3389,121.3,-12.1,209,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2346,3428,3464,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.76,-146.6,1744,2344,3458,3389,138.6,-12.7,240,1063,0.00,2.40,0.00,0.000,260,0.000,0.100,2759,3750,3431,3468,3394,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1127,-0.76,-146.6,1736,3749,3458,3389,148.3,-14.0,256,1134,0.00,2.30,0.00,0.000,1030,0.000,0.064,2759,2338,3430,3468,3393,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1263,-0.76,-146.6,1712,2336,3457,3389,165.0,-13.2,287,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2338,3430,3468,3393,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1334,begin apogee
$GC,1338,-0.19,0.0,2759,2283,3467,3393,174.2,-11.9,304,1466,0.70,0.00,120.65,2.274,10246,0.237,0.000,2950,2281,2831,2859,2803,0,0,0,0,0,0,14.62,28.83,13.20
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1469,0.76,146.6,2950,2282,2858,2803,179.1,0.0,327,1594,1.05,0.00,119.78,2.037,10758,0.168,0.000,3255,2282,2233,2252,2214,0,0,0,0,0,0,13.87,28.83,13.33
$GC,1717,0.76,146.6,2272,2279,2205,2203,159.7,9.8,379,1723,0.00,2.50,0.00,0.000,260,0.000,0.099,3255,3692,2233,2253,2214,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1774,0.76,146.6,2272,3692,2205,2203,153.0,12.4,392,1780,0.00,2.38,0.00,0.000,1030,0.000,0.065,3264,2282,2233,2253,2214,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1903,0.76,146.6,2272,2279,2205,2203,139.7,10.4,423,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2281,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,0.76,146.6,2272,2279,2205,2203,127.4,8.9,454,2037,0.00,2.45,0.00,0.000,260,0.000,0.099,3264,3694,2233,2253,2214,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2123,0.76,146.6,2272,3693,2205,2203,116.7,11.9,476,2130,0.00,2.33,0.00,0.000,1030,0.000,0.064,3273,2284,2233,2253,2214,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2252,0.76,146.6,2304,2282,2205,2203,102.5,11.2,507,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2284,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,0.76,146.6,2304,2282,2205,2203,87.9,10.7,538,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2284,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2508,0.76,146.6,2304,2282,2205,2203,74.4,11.7,569,2515,0.00,2.42,0.00,0.000,260,0.000,0.099,3273,3698,2233,2253,2214,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2549,0.76,146.6,2304,3697,2206,2203,69.1,13.2,578,2556,0.00,2.33,0.00,0.000,1030,0.000,0.064,3281,2277,2233,2253,2214,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2678,0.76,146.6,2304,2274,2205,2203,56.0,9.2,609,2685,0.00,2.40,0.00,0.000,516,0.000,0.101,3291,872,2233,2253,2213,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2795,0.76,146.6,2304,871,2205,2202,45.1,9.4,637,2802,0.00,2.38,0.00,0.000,1030,0.000,0.086,3291,2285,2233,2253,2213,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2924,0.76,146.6,2312,2282,2206,2202,32.0,11.0,668,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2285,2233,2253,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2992,0.76,146.6,2304,2283,2206,2202,24.8,10.6,684,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2285,2233,2253,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,0.76,146.6,2304,2283,2206,2202,18.1,10.2,700,3067,0.00,2.40,0.00,0.000,260,0.000,0.100,3290,3694,2233,2253,2213,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3109,0.76,146.6,2320,3693,2207,2202,13.1,11.4,711,3117,0.15,2.33,0.00,0.000,5126,0.264,0.065,3274,2277,2233,2253,2213,0,0,0,0,0,0,14.59,14.67,28.83
$GC,3179,0.84,209.7,2272,2274,2206,2202,7.6,6.1,727,3214,0.00,2.47,27.15,1.252,8452,0.000,0.098,3268,3697,1971,1981,1962,0,0,0,0,0,0,28.83,14.47,14.12
$GC,3240,0.84,209.7,2304,3696,1939,1953,2.8,10.2,739,3247,0.00,2.38,0.00,0.000,1030,0.000,0.070,3273,2283,1971,1980,1962,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,3252,end climb,SURFACE_DEPTH_REACHED
$STATE,3252,begin surface coast
$FINISH,-0.4,1.021449
$STATE,3269,end surface coast,CONTROL_FINISHED_OK
$STATE,3270,begin surface
$SM_CCo,3286,92.20,1.073,0,0,1116,420.20
$SM_GC,0.19,9.20,0.10,92.20,0.084,0.174,1.073,204,2344,1116,-8.75,-0.82,420.20,0,0,0,0,0,0,14.53,14.52,13.83
$IRIDIUM_FIX,4729.30,-12159.30,020513,050542
$TT8_MAMPS,0.024717,0.024717
$HUMID,30.98
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.30
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,165.0,23.8
$SC_FREEKB,3934752
$24V_AH,13.2,2.887
$10V_AH,13.4,0.000
$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,23.150,43.225,267.575,92.200,0.000,0.000,0.000,340.650,5.000,0.000,8.496,1593.883,168.672,482.012,1540.723,62.297,33.217,1430.304,0.000,1121.994,0.000,22.691,0.000
$DEVICE_MAMPS,389.385,194.310,2273.580,1073.295,0.000,0.000,0.000,173.655,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3297.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.849,0.000,0.000,0.000
$MEM,322952
$DATA_FILE_SIZE,23347,745
$CAP_FILE_SIZE,114841,0
$CFSIZE,2097872896,2094104576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,072824,4742.024,-12225.932,12,5.4,31,16.3