version: 66.11
glider: 196
mission: 2
dive: 13
start: 5 2 113 3 57 26
data:
$ID,196
$MISSION,2
$DIVE,13
$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,-1742.5874
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,020513,105047,4743.300,-12224.603,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-72.8
$GPS2,020513,105821,4743.306,-12224.598,4,1.0,5,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,0.165
$KALMAN_X,-5495.4,-75.1,108.5,5884.3,-174.1
$KALMAN_Y,-6726.4,-26.6,176.2,7927.3,15.3
$MHEAD_RNG_PITCHd_Wd,31.4,2147,-14.9,-8.498,-19.07,2610
$D_GRID,176
$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,-0.75,-146.6,199,2361,1051,1164,0.0,0.0,0,107,0.00,0.00,-85.75,0.000,16390,0.000,0.000,203,2364,3429,3461,3397,0,0,0,0,0,0,28.83,28.83,14.65
$GC,109,-0.75,-146.6,199,2361,3461,3397,2.4,-6.4,16,127,12.00,0.00,0.00,0.000,2054,0.389,0.000,2768,2361,3431,3465,3397,0,0,0,0,0,0,14.32,28.83,28.83
$GC,190,-0.75,-146.6,1760,2359,3457,3393,21.1,-16.1,34,196,0.00,2.47,0.00,0.000,516,0.000,0.093,2768,932,3431,3467,3396,0,0,0,0,0,0,28.83,14.47,28.83
$GC,214,-0.75,-146.6,1792,931,3458,3392,24.5,-13.9,39,221,0.00,2.40,0.00,0.000,1030,0.000,0.089,2760,2328,3431,3467,3396,0,0,0,0,0,0,28.83,14.48,28.83
$GC,283,-0.75,-146.6,1736,2326,3458,3392,33.7,-14.7,55,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2328,3431,3467,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,352,-0.75,-146.6,1736,2326,3457,3392,44.7,-13.9,71,358,0.00,2.47,0.00,0.000,260,0.000,0.099,2749,3753,3431,3467,3396,0,0,0,0,0,0,28.83,14.51,28.83
$GC,424,-0.75,-146.6,1728,3752,3457,3393,55.8,-15.3,88,431,0.00,2.33,0.00,0.000,1030,0.000,0.062,2748,2338,3431,3467,3396,0,0,0,0,0,0,28.83,14.57,28.83
$GC,554,-0.75,-146.6,1728,2334,3458,3392,74.7,-14.3,119,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2337,3432,3468,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,682,-0.75,-146.6,1712,2334,3457,3392,92.8,-14.1,150,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2336,3431,3467,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,810,-0.75,-146.6,1712,2334,3457,3392,110.0,-14.0,181,817,0.00,2.42,0.00,0.000,260,0.000,0.100,2738,3751,3431,3467,3395,0,0,0,0,0,0,28.83,14.62,28.83
$GC,943,-0.75,-146.6,1704,3751,3458,3392,130.3,-15.3,213,951,0.15,2.30,0.00,0.000,3078,0.274,0.063,2770,2337,3431,3467,3396,0,0,0,0,0,0,14.58,14.67,28.83
$GC,1073,-0.75,-146.6,1744,2334,3458,3392,146.3,-11.8,244,1080,0.00,2.38,0.00,0.000,516,0.000,0.096,2770,938,3431,3468,3395,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1174,-0.75,-146.6,1744,938,3457,3392,158.9,-12.6,268,1181,0.00,2.38,0.00,0.000,1030,0.000,0.090,2761,2341,3432,3468,3396,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1303,-0.75,-146.6,1728,2339,3457,3392,174.8,-12.7,299,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2341,3431,3467,3396,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1318,-0.19,0.0,2760,2286,3467,3396,176.2,-12.3,301,1446,0.68,0.00,122.40,2.328,10246,0.234,0.000,2947,2286,2828,2855,2802,0,0,0,0,0,0,14.62,28.83,13.15
$STATE,1447,end apogee,CONTROL_FINISHED_OK
$STATE,1447,begin climb
$GC,1449,0.75,146.6,2947,2285,2858,2806,181.5,0.0,324,1574,1.05,0.00,118.12,1.941,10246,0.167,0.000,3251,2285,2233,2252,2214,0,0,0,0,0,0,13.81,28.83,13.33
$GC,1696,0.75,146.6,2248,2283,2203,2203,160.5,10.8,376,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2285,2233,2252,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,0.75,146.6,2240,2283,2203,2201,147.1,9.5,407,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2286,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,0.75,146.6,2240,2283,2203,2203,134.8,9.9,438,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2285,2233,2252,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,0.75,146.6,2240,2283,2203,2203,121.8,9.8,469,2087,0.00,2.42,0.00,0.000,516,0.000,0.099,3261,881,2233,2252,2214,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2166,0.75,146.6,2272,880,2204,2202,113.2,9.2,489,2172,0.00,2.40,0.00,0.000,1030,0.000,0.086,3266,2294,2232,2252,2213,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2294,0.75,146.6,2272,2292,2203,2202,99.2,11.1,520,2301,0.00,2.40,0.00,0.000,260,0.000,0.097,3261,3694,2232,2252,2213,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2407,0.75,146.6,2272,3693,2204,2202,84.7,12.6,547,2414,0.00,2.30,0.00,0.000,1030,0.000,0.063,3271,2290,2232,2252,2213,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2536,0.78,167.0,2272,2288,2203,2202,72.4,7.7,578,2549,0.00,0.00,9.50,1.681,8198,0.000,0.000,3270,2290,2147,2163,2132,0,0,0,0,0,0,28.83,28.83,13.99
$GC,2671,0.78,167.0,2272,2287,2119,2122,58.4,10.3,610,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2290,2149,2166,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,0.78,167.0,2272,2288,2120,2122,45.4,9.6,641,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2290,2149,2166,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2928,0.78,167.0,2272,2287,2120,2122,32.7,8.8,672,2934,0.00,2.42,0.00,0.000,260,0.000,0.099,3271,3694,2149,2166,2132,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3012,0.78,167.0,2272,3695,2120,2122,23.2,11.3,692,3019,0.00,2.33,0.00,0.000,1030,0.000,0.063,3279,2279,2149,2166,2132,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3081,0.78,167.0,2304,2277,2121,2122,16.4,9.5,708,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2280,2149,2166,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3149,0.78,167.0,2304,2277,2120,2122,9.7,10.2,724,3156,0.00,2.40,0.00,0.000,516,0.000,0.099,3288,879,2149,2166,2132,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3217,end climb,SURFACE_DEPTH_REACHED
$STATE,3217,begin surface coast
$FINISH,-0.0,1.022063
$STATE,3235,end surface coast,CONTROL_FINISHED_OK
$STATE,3235,begin surface
$SM_CCo,3254,110.80,1.105,0,0,1115,420.20
$SM_GC,0.39,9.12,2.55,110.80,0.079,0.087,1.105,200,2341,1115,-8.76,-0.68,420.20,0,0,0,0,0,0,14.64,14.62,13.80
$IRIDIUM_FIX,4722.92,-12223.37,020513,090910
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.98
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.40
$XPDR_PINGS,9
$SC_FREEKB,3933216
$24V_AH,13.2,3.876
$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,23.000,38.450,250.025,110.800,0.000,0.000,0.000,320.575,2.250,0.000,8.625,1593.905,170.695,479.926,1516.267,57.122,33.220,1400.568,0.000,1121.504,0.000,0.544,0.000
$DEVICE_MAMPS,389.385,185.130,2327.895,1104.660,0.000,0.000,0.000,179.010,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.133,0.000,0.000,0.000
$MEM,322912
$DATA_FILE_SIZE,23387,744
$CAP_FILE_SIZE,111376,0
$CFSIZE,2097872896,2093449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,115605,4743.651,-12224.016,4,0.8,4,16.3