version: 66.11
glider: 196
mission: 2
dive: 11
start: 5 2 113 1 42 39
data:
$ID,196
$MISSION,2
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,71
$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,-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,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,-1674.3989
$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,28
$R_STBD_OVSHOOT,29
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,020513,083534,4742.407,-12225.685,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-72.7
$GPS2,020513,084334,4742.380,-12225.679,4,1.2,4,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,0.171
$KALMAN_X,-4687.1,-624.8,6.6,4378.4,-486.4
$KALMAN_Y,-6003.0,-969.0,108.7,6494.6,-394.5
$MHEAD_RNG_PITCHd_Wd,29.7,4327,-14.9,-8.498,-19.07,2610
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.75,-146.6,202,2346,1052,1162,0.0,0.0,0,108,0.00,0.00,-83.57,0.000,16390,0.000,0.000,202,2347,3428,3462,3394,0,0,0,0,0,0,28.83,28.83,14.66
$GC,110,-0.75,-146.6,202,2347,3462,3395,3.7,-11.4,16,129,11.95,2.45,0.00,0.000,2564,0.389,0.085,2771,928,3429,3465,3394,0,0,0,0,0,0,14.33,14.45,28.83
$GC,167,-0.75,-146.6,1760,927,3456,3391,18.4,-16.1,28,174,0.00,2.40,0.00,0.000,1030,0.000,0.086,2762,2335,3429,3465,3394,0,0,0,0,0,0,28.83,14.47,28.83
$GC,237,-0.75,-146.6,1736,2333,3457,3391,30.0,-16.6,44,243,0.00,2.45,0.00,0.000,260,0.000,0.101,2752,3745,3430,3466,3394,0,0,0,0,0,0,28.83,14.48,28.83
$GC,401,-0.75,-146.6,1712,3745,3457,3391,54.0,-16.1,84,408,0.00,2.33,0.00,0.000,1030,0.000,0.063,2752,2330,3430,3467,3394,0,0,0,0,0,0,28.83,14.56,28.83
$GC,530,-0.75,-146.6,1712,2327,3457,3391,72.8,-14.2,115,537,0.00,2.38,0.00,0.000,516,0.000,0.093,2752,938,3430,3467,3394,0,0,0,0,0,0,28.83,14.59,28.83
$GC,768,-0.75,-146.6,1712,937,3456,3391,105.5,-12.5,173,776,0.15,2.38,0.00,0.000,3078,0.290,0.088,2772,2341,3430,3467,3394,0,0,0,0,0,0,14.57,14.66,28.83
$GC,898,-0.75,-146.6,1760,2339,3457,3391,120.1,-12.0,204,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2341,3430,3467,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1026,-0.75,-146.6,1744,2339,3457,3390,135.3,-11.8,235,1033,0.00,2.42,0.00,0.000,260,0.000,0.099,2763,3758,3430,3467,3394,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1075,-0.75,-146.6,1760,3757,3457,3391,141.5,-13.1,246,1082,0.00,2.33,0.00,0.000,1030,0.000,0.063,2763,2328,3430,3467,3394,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1204,-0.75,-146.6,1736,2326,3457,3390,156.9,-11.9,277,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2328,3429,3464,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1332,-0.75,-146.6,1736,2326,3457,3390,171.5,-12.1,308,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2328,3433,3473,3394,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1411,begin apogee
$GC,1414,-0.19,0.0,2763,2327,3467,3394,181.5,-11.9,327,1542,0.68,0.00,121.95,2.332,10246,0.236,0.000,2947,2327,2831,2858,2805,0,0,0,0,0,0,14.64,28.83,13.17
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1545,0.75,146.6,2948,2328,2858,2805,185.6,0.0,350,1670,1.05,0.00,119.07,1.997,10758,0.169,0.000,3251,2328,2232,2251,2214,0,0,0,0,0,0,13.83,28.83,13.32
$GC,1793,0.75,146.6,2256,2325,2203,2203,163.4,11.2,402,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2328,2233,2252,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1921,0.75,146.6,2248,2325,2203,2203,147.7,12.7,433,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2328,2232,2251,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,0.75,146.6,2256,2325,2203,2202,131.8,11.6,464,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2328,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2177,0.75,146.6,2272,2325,2204,2203,117.0,11.2,495,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2328,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,0.75,146.6,2248,2325,2203,2202,103.2,9.2,526,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2328,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2434,0.75,146.6,2248,2325,2203,2202,90.2,11.0,557,2440,0.00,2.38,0.00,0.000,260,0.000,0.099,3251,3706,2232,2251,2213,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2534,0.75,146.6,2240,3705,2203,2202,78.3,11.5,581,2541,0.00,2.33,0.00,0.000,1030,0.000,0.066,3259,2289,2232,2251,2213,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2663,0.75,146.6,2256,2284,2203,2202,66.2,8.5,612,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2289,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,0.75,146.6,2256,2287,2203,2202,54.2,8.6,643,2798,0.00,2.40,0.00,0.000,516,0.000,0.099,3269,882,2231,2251,2212,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2924,0.75,146.6,2272,881,2203,2202,41.3,9.7,675,2931,0.00,2.38,0.00,0.000,1030,0.000,0.086,3269,2291,2232,2251,2213,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3053,0.75,146.6,2272,2289,2203,2202,29.0,8.6,706,3060,0.00,2.40,0.00,0.000,260,0.000,0.099,3269,3697,2231,2251,2212,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3134,0.75,146.6,2272,3696,2203,2202,21.7,10.0,725,3141,0.00,2.33,0.00,0.000,1030,0.000,0.065,3275,2279,2233,2254,2212,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3203,0.76,147.6,2304,2276,2204,2202,15.8,8.5,741,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2278,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3272,0.76,147.6,2304,2276,2204,2202,9.3,9.8,757,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2278,2232,2252,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,0.76,147.6,2304,2276,2203,2201,2.8,8.7,773,3347,0.00,2.38,0.00,0.000,516,0.000,0.098,3285,885,2231,2251,2212,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3352,begin surface coast
$FINISH,-0.3,1.021579
$STATE,3373,end surface coast,CONTROL_FINISHED_OK
$STATE,3373,begin surface
$SM_CCo,3392,119.75,1.138,0,0,1115,420.20
$SM_GC,0.29,9.18,2.53,119.75,0.086,0.086,1.138,205,2339,1115,-8.75,-0.76,420.20,0,0,0,0,0,0,14.66,14.66,13.78
$IRIDIUM_FIX,4722.92,-12223.37,020513,070745
$TT8_MAMPS,0.024717,0.024717
$HUMID,30.94
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.40
$XPDR_PINGS,4
$SC_FREEKB,3933984
$24V_AH,13.2,3.384
$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,23.000,38.225,241.025,119.750,0.000,0.000,0.000,346.450,1.000,0.000,8.682,1672.782,180.114,481.043,1598.148,58.420,33.206,1445.721,0.000,1175.841,0.000,0.545,0.000
$DEVICE_MAMPS,388.620,100.980,2332.485,1138.320,0.000,0.000,0.000,175.185,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3403.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.963,0.000,0.000,0.000
$MEM,322884
$DATA_FILE_SIZE,26719,780
$CAP_FILE_SIZE,113858,0
$CFSIZE,2097872896,2093776896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,094349,4742.902,-12225.379,8,0.9,8,16.3