version: 66.11
glider: 196
mission: 2
dive: 10
start: 5 2 113 0 35 27
data:
$ID,196
$MISSION,2
$DIVE,10
$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,-1656.4088
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,020513,072824,4742.024,-12225.932,12,5.4,31,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-72.8
$GPS2,020513,073622,4742.002,-12225.951,4,1.0,4,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,0.190
$KALMAN_X,-4200.1,-741.4,16.7,3657.6,-687.2
$KALMAN_Y,-5771.5,-1122.9,197.6,5628.0,-830.8
$MHEAD_RNG_PITCHd_Wd,23.1,5089,-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,-146.6,204,2345,1052,1162,0.0,0.0,0,107,0.00,0.00,-83.75,0.000,16390,0.000,0.000,202,2342,3428,3462,3394,0,0,0,0,0,0,28.83,28.83,14.68
$GC,109,-0.76,-146.6,204,2345,3462,3394,3.6,-12.2,16,128,11.93,2.45,0.00,0.000,2564,0.388,0.092,2772,933,3429,3465,3394,0,0,0,0,0,0,14.34,14.45,28.83
$GC,358,-0.76,-146.6,1736,931,3457,3390,47.4,-14.2,76,365,0.00,2.40,0.00,0.000,1030,0.000,0.088,2764,2338,3430,3467,3394,0,0,0,0,0,0,28.83,14.54,28.83
$GC,488,-0.76,-146.6,1728,2333,3457,3390,64.6,-12.4,107,495,0.00,2.40,0.00,0.000,516,0.000,0.093,2764,932,3430,3466,3394,0,0,0,0,0,0,28.83,14.57,28.83
$GC,726,-0.76,-146.6,1728,931,3457,3390,94.4,-12.2,165,733,0.00,2.40,0.00,0.000,1030,0.000,0.090,2753,2346,3430,3467,3394,0,0,0,0,0,0,28.83,14.63,28.83
$GC,855,-0.76,-146.6,1728,2345,3457,3390,112.5,-13.8,196,862,0.00,2.42,0.00,0.000,516,0.000,0.093,2753,924,3430,3467,3394,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1011,-0.76,-146.6,1712,924,3457,3390,136.5,-15.2,233,1019,0.15,2.40,0.00,0.000,3078,0.290,0.090,2773,2342,3430,3467,3394,0,0,0,0,0,0,14.61,14.69,28.83
$GC,1141,-0.76,-146.6,1744,2340,3457,3390,153.0,-12.8,264,1148,0.00,2.42,0.00,0.000,260,0.000,0.103,2764,3755,3430,3467,3393,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1226,-0.76,-146.6,1744,3754,3457,3390,163.9,-13.2,284,1233,0.00,2.33,0.00,0.000,1030,0.000,0.064,2764,2329,3430,3466,3394,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1355,-0.76,-146.6,1728,2327,3457,3390,179.7,-11.6,315,1362,0.00,2.45,0.00,0.000,260,0.000,0.103,2753,3755,3430,3467,3393,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,1424,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1424,begin apogee
$GC,1430,-0.19,0.0,2753,2283,3467,3394,188.8,-12.6,331,1558,0.73,0.00,120.03,2.237,10246,0.246,0.000,2948,2282,2831,2858,2804,0,0,0,0,0,0,14.63,28.83,13.33
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1560,0.76,146.6,2948,2282,2858,2804,193.7,0.0,354,1680,1.05,0.00,114.40,1.697,10502,0.166,0.000,3254,2282,2232,2251,2214,0,0,0,0,0,0,13.88,28.83,13.33
$GC,1803,0.76,146.6,2272,2279,2205,2203,171.8,11.8,405,1810,0.00,2.50,0.00,0.000,260,0.000,0.099,3254,3692,2233,2253,2214,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1892,0.76,146.6,2272,3691,2206,2203,160.1,13.9,426,1899,0.00,2.35,0.00,0.000,1030,0.000,0.064,3263,2284,2233,2252,2214,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2021,0.76,146.6,2272,2281,2205,2203,145.1,11.0,457,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2284,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2149,0.76,146.6,2272,2282,2205,2202,132.0,10.3,488,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2284,2233,2253,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2278,0.76,146.6,2272,2282,2205,2202,119.8,9.6,519,2284,0.00,2.45,0.00,0.000,260,0.000,0.100,3263,3700,2233,2253,2213,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2375,0.76,146.6,2272,3699,2205,2202,108.6,11.9,542,2381,0.00,2.33,0.00,0.000,1030,0.000,0.064,3272,2285,2233,2253,2213,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2503,0.76,146.6,2272,2282,2205,2203,94.0,12.3,573,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2284,2233,2253,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2631,0.76,146.6,2272,2281,2205,2203,79.3,10.9,604,2638,0.00,2.42,0.00,0.000,260,0.000,0.099,3273,3698,2233,2253,2213,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2700,0.76,146.6,2272,3697,2205,2202,70.0,13.6,620,2707,0.00,2.33,0.00,0.000,1030,0.000,0.065,3281,2280,2233,2253,2213,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2829,0.76,146.6,2304,2277,2206,2202,53.8,10.8,651,2836,0.00,2.38,0.00,0.000,516,0.000,0.099,3291,882,2231,2250,2213,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2975,0.76,146.6,2304,882,2205,2201,38.0,12.1,686,2981,0.00,2.38,0.00,0.000,1030,0.000,0.086,3291,2294,2233,2253,2213,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3043,0.76,146.6,2304,2292,2206,2201,29.0,12.5,702,3050,0.00,2.40,0.00,0.000,260,0.000,0.100,3291,3695,2233,2253,2213,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3080,0.76,146.6,2320,3694,2207,2202,24.3,13.1,710,3087,0.15,2.33,0.00,0.000,5126,0.265,0.067,3269,2282,2232,2253,2212,0,0,0,0,0,0,14.59,14.67,28.83
$GC,3150,0.76,147.8,2272,2279,2206,2202,18.1,8.5,726,3156,0.00,2.42,0.00,0.000,260,0.000,0.099,3268,3694,2232,2253,2212,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3290,0.76,147.8,2256,3693,2205,2201,3.5,12.6,760,3297,0.00,2.33,0.00,0.000,1030,0.000,0.067,3274,2282,2232,2253,2212,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,3302,end climb,SURFACE_DEPTH_REACHED
$STATE,3302,begin surface coast
$FINISH,0.4,1.021384
$STATE,3316,end surface coast,CONTROL_FINISHED_OK
$STATE,3316,begin surface
$SM_CCo,3332,120.32,1.195,0,0,1116,420.20
$SM_GC,0.39,9.10,0.10,120.32,0.083,0.174,1.195,202,2345,1116,-8.76,-0.85,420.20,0,0,0,0,0,0,14.68,14.66,13.76
$IRIDIUM_FIX,4726.11,-12227.78,020513,060622
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.13
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,125.0,78.4
$SC_FREEKB,3934368
$24V_AH,13.3,3.128
$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,23.100,52.850,234.425,120.325,0.000,0.000,0.000,342.550,1.500,0.000,8.314,1647.007,175.637,471.355,1579.221,57.224,33.201,1417.298,0.000,1155.245,0.000,7.239,0.000
$DEVICE_MAMPS,387.855,173.655,2236.860,1194.930,0.000,0.000,0.000,175.185,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3348.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.195,0.000,0.000,0.000
$MEM,322880
$DATA_FILE_SIZE,26649,765
$CAP_FILE_SIZE,113496,0
$CFSIZE,2097872896,2093940736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,083534,4742.407,-12225.685,3,1.2,3,16.3