version: 66.11
glider: 196
mission: 2
dive: 18
start: 5 2 113 9 8 28
data:
$ID,196
$MISSION,2
$DIVE,18
$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,-1882.928
$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,32
$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
$GPS1,020513,160103,4743.413,-12224.040,33,1.2,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-72.5
$GPS2,020513,160923,4743.333,-12224.040,4,0.8,4,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.184,-0.162
$KALMAN_X,-6520.8,1165.2,-12.2,6481.5,-49.0
$KALMAN_Y,-9098.3,1919.3,-206.9,8783.2,-329.5
$MHEAD_RNG_PITCHd_Wd,212.3,1506,-14.9,-8.498,-19.07,2610
$D_GRID,173
$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,-146.6,200,2351,1050,1165,0.0,0.0,0,107,0.00,0.00,-86.38,0.000,16390,0.000,0.000,200,2352,3427,3460,3395,0,0,0,0,0,0,28.83,28.83,14.64
$GC,109,-0.75,-146.6,200,2351,3460,3395,2.0,-4.7,16,129,11.98,2.40,0.00,0.000,2308,0.389,0.087,2757,3747,3429,3463,3395,0,0,0,0,0,0,14.32,14.42,28.83
$GC,359,-0.75,-146.6,1728,3746,3455,3392,45.6,-14.5,76,366,0.00,2.33,0.00,0.000,1030,0.000,0.060,2757,2327,3429,3465,3394,0,0,0,0,0,0,28.83,14.53,28.83
$GC,488,-0.75,-146.6,1728,2325,3456,3392,63.4,-13.0,107,495,0.00,2.45,0.00,0.000,260,0.000,0.099,2746,3747,3429,3464,3395,0,0,0,0,0,0,28.83,14.56,28.83
$GC,726,-0.75,-146.6,1696,3746,3456,3392,97.5,-14.2,165,734,0.12,2.30,0.00,0.000,3078,0.265,0.060,2772,2338,3430,3465,3395,0,0,0,0,0,0,14.56,14.65,28.83
$GC,856,-0.75,-146.6,1760,2336,3456,3392,114.1,-11.9,196,863,0.00,2.40,0.00,0.000,260,0.000,0.097,2763,3741,3430,3465,3395,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1017,-0.75,-146.6,1728,3740,3456,3391,135.1,-14.2,235,1024,0.00,2.28,0.00,0.000,1030,0.000,0.061,2763,2338,3430,3465,3395,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1146,-0.75,-146.6,1728,2336,3456,3392,151.6,-11.9,266,1153,0.00,2.40,0.00,0.000,260,0.000,0.099,2752,3739,3430,3465,3395,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1223,-0.75,-146.6,1728,3738,3456,3392,162.5,-15.1,284,1230,0.00,2.28,0.00,0.000,1030,0.000,0.061,2752,2339,3430,3465,3395,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1303,begin apogee
$GC,1307,-0.19,0.0,2753,2284,3465,3395,173.0,-12.4,303,1430,0.73,0.00,118.43,2.161,10246,0.244,0.000,2948,2283,2830,2856,2805,0,0,0,0,0,0,14.60,28.83,13.35
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1433,0.75,146.6,2948,2284,2856,2806,178.0,0.0,325,1559,1.05,2.62,114.03,1.643,10500,0.172,0.094,3251,3687,2232,2251,2214,0,0,0,0,0,0,13.85,13.80,13.31
$GC,1578,0.75,146.6,2304,3686,2205,2204,167.8,11.4,351,1584,0.00,2.40,0.00,0.000,1030,0.000,0.060,3260,2291,2233,2252,2214,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1707,0.75,146.6,2272,2288,2204,2203,153.3,9.9,382,1714,0.00,2.47,0.00,0.000,516,0.000,0.098,3271,883,2233,2252,2214,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1748,0.75,146.6,2336,883,2208,2204,148.7,10.4,391,1755,0.00,2.42,0.00,0.000,1030,0.000,0.085,3270,2283,2232,2251,2213,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1878,0.75,146.6,2272,2280,2210,2202,133.1,12.4,422,1884,0.00,2.47,0.00,0.000,260,0.000,0.098,3270,3702,2233,2252,2214,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1910,0.75,146.6,2304,3702,2205,2203,128.5,14.1,429,1917,0.00,2.38,0.00,0.000,1030,0.000,0.065,3277,2278,2232,2252,2213,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2039,0.75,146.6,2304,2276,2199,2206,112.2,12.2,460,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2277,2232,2252,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2167,0.75,146.6,2304,2275,2203,2203,97.8,10.8,491,2174,0.00,2.45,0.00,0.000,260,0.000,0.098,3277,3696,2232,2251,2213,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2200,0.75,146.6,2312,3694,2205,2203,93.6,12.4,498,2207,0.00,2.33,0.00,0.000,1030,0.000,0.064,3286,2285,2232,2252,2213,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2329,0.75,146.6,2304,2281,2204,2203,77.6,12.6,529,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2284,2232,2252,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2458,0.75,146.6,2304,2282,2211,2203,60.5,14.5,560,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2283,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2586,0.75,146.6,2304,2282,2204,2203,44.3,12.5,591,2593,0.00,2.42,0.00,0.000,260,0.000,0.096,3286,3698,2232,2252,2213,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2739,0.75,146.6,2304,3697,2203,2202,21.6,14.9,628,2747,0.15,2.33,0.00,0.000,5126,0.258,0.062,3263,2275,2229,2247,2212,0,0,0,0,0,0,14.55,14.62,28.83
$GC,2809,0.75,146.6,2272,2272,2204,2202,13.8,9.0,644,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2275,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2878,0.75,146.6,2272,2272,2205,2202,7.8,8.9,660,2884,0.00,2.45,0.00,0.000,260,0.000,0.097,3263,3700,2232,2251,2213,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2891,0.75,146.6,3264,3700,2252,2213,6.8,8.7,662,2897,0.00,2.33,0.00,0.000,1030,0.000,0.063,3272,2283,2232,2252,2213,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,2959,end climb,SURFACE_DEPTH_REACHED
$STATE,2959,begin surface coast
$FINISH,0.2,1.021929
$STATE,2984,end surface coast,CONTROL_FINISHED_OK
$STATE,2984,begin surface
$SM_CCo,3001,119.22,1.091,0,0,1116,420.20
$SM_GC,0.39,9.23,0.10,119.22,0.093,0.171,1.091,201,2351,1116,-8.76,-0.79,420.20,0,0,0,0,0,0,14.64,14.63,13.79
$IRIDIUM_FIX,4713.38,-12223.63,020513,151537
$TT8_MAMPS,0.024717,0.024717
$HUMID,30.42
$INTERNAL_PRESSURE,8.85578
$TCM_TEMP,17.30
$XPDR_PINGS,5
$SC_FREEKB,3931296
$24V_AH,13.3,5.059
$10V_AH,13.5,0.000
$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,23.250,48.075,232.450,119.225,0.000,0.000,0.000,367.350,1.250,0.000,8.708,1472.708,154.767,465.439,1465.258,62.840,33.215,1386.449,0.000,1033.715,0.000,0.545,0.000
$DEVICE_MAMPS,388.620,188.190,2161.125,1090.890,0.000,0.000,0.000,166.770,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3013.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.680,0.000,0.000,0.000
$MEM,323060
$DATA_FILE_SIZE,23386,684
$CAP_FILE_SIZE,105032,0
$CFSIZE,2097872896,2092630016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,170302,4742.980,-12224.541,2,1.0,2,16.3