version: 66.11
glider: 196
mission: 2
dive: 16
start: 5 2 113 7 7 38
data:
$ID,196
$MISSION,2
$DIVE,16
$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,-1816.9773
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,020513,140045,4744.200,-12223.383,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-72.1
$GPS2,020513,140833,4744.165,-12223.361,5,0.9,5,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.195
$KALMAN_X,-6850.7,894.8,258.2,7658.7,-321.7
$KALMAN_Y,-9138.6,1586.2,240.2,10254.1,-596.8
$MHEAD_RNG_PITCHd_Wd,201.0,3251,-14.9,-8.498,-19.07,2610
$D_GRID,153
$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,-146.6,207,2359,1050,1166,0.0,0.0,0,107,0.00,0.00,-86.70,0.000,16390,0.000,0.000,207,2359,3429,3462,3396,0,0,0,0,0,0,28.83,28.83,14.65
$GC,109,-0.75,-146.6,207,2359,3462,3397,1.9,-3.9,16,128,11.93,2.40,0.00,0.000,2308,0.387,0.085,2759,3746,3431,3465,3397,0,0,0,0,0,0,14.31,14.43,28.83
$GC,359,-0.75,-146.6,1728,3745,3457,3394,44.0,-16.8,76,366,0.00,2.33,0.00,0.000,1030,0.000,0.061,2759,2330,3431,3466,3397,0,0,0,0,0,0,28.83,14.53,28.83
$GC,488,-0.75,-146.6,1728,2327,3457,3390,63.4,-13.0,107,495,0.00,2.45,0.00,0.000,260,0.000,0.097,2748,3748,3431,3467,3396,0,0,0,0,0,0,28.83,14.53,28.83
$GC,726,-0.75,-146.6,1712,3745,3457,3393,95.8,-10.3,165,732,0.00,2.33,0.00,0.000,1030,0.000,0.062,2747,2330,3431,3467,3396,0,0,0,0,0,0,28.83,14.65,28.83
$GC,855,-0.75,-146.6,1728,2327,3457,3393,112.5,-12.1,196,861,0.00,2.42,0.00,0.000,260,0.000,0.099,2736,3741,3431,3467,3396,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1092,-0.75,-146.6,1712,3740,3457,3393,148.4,-15.7,254,1100,0.15,2.28,0.00,0.000,3078,0.272,0.061,2769,2337,3431,3467,3395,0,0,0,0,0,0,14.60,14.69,28.83
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1133,-0.19,0.0,2769,2292,3467,3396,153.2,-11.3,262,1262,0.65,0.00,121.05,2.269,10246,0.231,0.000,2950,2292,2830,2856,2805,0,0,0,0,0,0,14.60,28.83,13.30
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$GC,1265,0.75,146.6,2950,2292,2856,2806,155.5,0.0,285,1385,1.05,0.00,113.12,1.632,10758,0.167,0.000,3254,2292,2232,2250,2214,0,0,0,0,0,0,13.83,28.83,13.31
$GC,1508,0.75,146.6,2256,2289,2203,2203,132.8,8.7,336,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2291,2232,2251,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,0.75,146.6,2248,2290,2202,2203,120.0,8.7,367,1642,0.00,2.45,0.00,0.000,260,0.000,0.098,3254,3690,2232,2251,2213,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1664,0.75,146.6,2272,3690,2205,2203,117.3,10.0,373,1671,0.00,2.35,0.00,0.000,1030,0.000,0.062,3264,2278,2232,2251,2213,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1793,0.75,146.6,2272,2275,2203,2202,103.8,10.4,404,1800,0.00,2.42,0.00,0.000,516,0.000,0.099,3274,877,2232,2251,2213,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1822,0.75,146.6,2312,877,2205,2203,100.8,9.9,410,1829,0.00,2.40,0.00,0.000,1030,0.000,0.086,3273,2280,2232,2251,2213,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1952,0.75,146.6,2304,2277,2203,2202,87.0,10.2,441,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2280,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,0.75,146.6,2304,2277,2202,2202,73.5,11.1,472,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2280,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,0.75,146.6,2304,2277,2203,2202,59.3,9.5,503,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2280,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,0.75,146.6,2304,2277,2203,2202,46.1,11.2,534,2343,0.00,2.40,0.00,0.000,516,0.000,0.096,3281,881,2231,2251,2212,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2433,0.75,146.6,2304,880,2203,2202,35.1,10.5,557,2440,0.00,2.38,0.00,0.000,1030,0.000,0.085,3281,2288,2231,2251,2212,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2502,0.75,146.6,2304,2285,2205,2201,27.9,9.8,573,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2288,2231,2251,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2571,0.75,146.6,2304,2285,2203,2201,21.3,9.2,589,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2288,2231,2251,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,0.75,146.6,2304,2285,2203,2202,14.3,11.0,605,2646,0.00,2.42,0.00,0.000,260,0.000,0.097,3281,3698,2231,2251,2212,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2712,0.75,146.6,3281,3698,2251,2212,5.8,11.1,622,2719,0.00,2.33,0.00,0.000,1030,0.000,0.063,3290,2285,2231,2251,2212,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,2748,end climb,SURFACE_DEPTH_REACHED
$STATE,2748,begin surface coast
$FINISH,0.4,1.022088
$STATE,2766,end surface coast,CONTROL_FINISHED_OK
$STATE,2766,begin surface
$SM_CCo,2782,119.65,1.091,0,0,1114,420.20
$SM_GC,0.36,9.20,0.10,119.65,0.086,0.173,1.091,200,2349,1114,-8.76,-0.76,420.20,0,0,0,0,0,0,14.63,14.63,13.80
$IRIDIUM_FIX,4729.30,-12225.08,020513,131334
$TT8_MAMPS,0.024717,0.024717
$HUMID,30.42
$INTERNAL_PRESSURE,8.85578
$TCM_TEMP,17.40
$XPDR_PINGS,8
$SC_FREEKB,3932064
$24V_AH,13.3,4.600
$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,22.975,33.500,234.175,119.650,0.000,0.000,0.000,338.725,2.000,0.000,8.613,1357.088,143.188,453.343,1363.987,54.155,33.222,1308.841,0.000,960.308,0.000,0.545,0.000
$DEVICE_MAMPS,387.090,234.855,2268.990,1090.890,0.000,0.000,0.000,174.420,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.772,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,20073,634
$CAP_FILE_SIZE,96031,0
$CFSIZE,2097872896,2092990464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,145835,4743.868,-12223.680,3,1.2,3,16.3