version: 66.11
glider: 196
mission: 2
dive: 19
start: 5 2 113 10 10 6
data:
$ID,196
$MISSION,2
$DIVE,19
$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,-1900.0115
$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,34
$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
$GPS1,020513,170302,4742.980,-12224.541,2,1.0,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-71.3
$GPS2,020513,171101,4742.884,-12224.549,4,1.0,5,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,-0.006
$KALMAN_X,-6480.4,1296.3,-56.1,5722.3,-22.1
$KALMAN_Y,-9310.6,2016.1,-251.2,8114.0,-326.2
$MHEAD_RNG_PITCHd_Wd,251.4,462,-27.0,-8.498,-30.00,888
$D_GRID,179
$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,-1.10,-49.5,201,2351,1052,1162,0.0,0.0,0,96,0.00,0.00,-72.00,0.000,16390,0.000,0.000,201,2351,3030,3075,2986,0,0,0,0,0,0,28.83,28.83,14.64
$GC,98,-1.16,-95.9,201,2351,3075,2987,1.5,-3.2,14,123,11.43,2.42,-5.03,0.000,18692,0.389,0.120,2630,3741,3222,3272,3173,0,0,0,0,0,0,14.31,14.42,14.62
$GC,354,-1.16,-95.9,1624,3740,3255,3170,46.9,-19.3,75,360,0.00,2.30,0.00,0.000,1030,0.000,0.059,2630,2336,3223,3272,3175,0,0,0,0,0,0,28.83,14.54,28.83
$GC,483,-1.16,-95.9,1632,2333,3255,3170,65.9,-12.7,106,489,0.00,2.42,0.00,0.000,260,0.000,0.095,2619,3747,3222,3272,3173,0,0,0,0,0,0,28.83,14.56,28.83
$GC,720,-1.16,-95.9,1616,3745,3262,3171,104.9,-17.3,164,728,0.12,2.30,0.00,0.000,3078,0.321,0.060,2641,2327,3224,3272,3176,0,0,0,0,0,0,14.52,14.63,28.83
$GC,851,-1.16,-95.9,1632,2324,3255,3171,124.2,-13.6,195,857,0.00,2.42,0.00,0.000,260,0.000,0.093,2633,3748,3224,3272,3176,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1088,-1.16,-95.9,1632,3747,3255,3171,161.2,-14.9,253,1095,0.00,2.28,0.00,0.000,1030,0.000,0.060,2633,2340,3224,3272,3176,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1218,-1.16,-95.9,1632,2337,3255,3171,178.3,-13.6,284,1224,0.00,2.40,0.00,0.000,260,0.000,0.095,2621,3748,3224,3272,3176,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1235,-0.19,0.0,2621,2284,3272,3176,180.0,-14.2,286,1321,1.27,0.00,79.50,2.368,10246,0.285,0.000,2951,2284,2832,2872,2793,0,0,0,0,0,0,14.57,28.83,13.23
$STATE,1322,end apogee,CONTROL_FINISHED_OK
$STATE,1322,begin climb
$GC,1324,1.16,95.9,2951,2283,2872,2793,184.2,0.0,301,1417,1.48,2.60,81.15,2.245,10756,0.164,0.096,3391,891,2440,2458,2422,0,0,0,0,0,0,13.90,13.74,13.10
$GC,1649,1.16,95.9,2464,890,2409,2411,141.0,15.2,374,1655,0.00,2.38,0.00,0.000,1030,0.000,0.083,3391,2275,2439,2458,2421,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1778,1.16,95.9,2448,2274,2409,2411,119.9,16.3,405,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2276,2440,2458,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1906,1.16,95.9,2448,2274,2409,2411,97.0,17.0,436,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2276,2439,2458,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2034,1.16,95.9,2464,2274,2409,2411,76.8,16.7,467,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2276,2440,2458,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,1.16,95.9,2448,2274,2409,2411,56.0,16.7,498,2168,0.00,2.45,0.00,0.000,260,0.000,0.096,3391,3701,2439,2458,2421,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2214,1.16,95.9,2464,3701,2410,2411,47.9,15.3,510,2221,0.00,2.33,0.00,0.000,1030,0.000,0.061,3402,2283,2439,2458,2421,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2344,1.16,95.9,2496,2280,2410,2411,29.2,13.3,541,2350,0.00,2.42,0.00,0.000,260,0.000,0.094,3402,3695,2439,2458,2421,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2425,1.16,95.9,2496,3695,2411,2411,16.9,14.6,560,2432,0.00,2.30,0.00,0.000,1030,0.000,0.060,3412,2286,2439,2458,2421,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2494,1.16,95.9,2496,2283,2410,2410,7.9,10.4,576,2501,0.00,2.42,0.00,0.000,260,0.000,0.093,3413,3700,2439,2458,2421,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2570,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FINISH,0.6,1.021508
$STATE,2600,end surface coast,CONTROL_FINISHED_OK
$STATE,2600,begin surface
$SM_CCo,2619,142.00,1.076,0,0,1115,420.20
$SM_GC,0.49,10.27,2.30,142.00,0.142,0.059,1.076,206,2326,1115,-8.75,0.82,420.20,0,0,0,0,0,0,14.60,14.64,13.73
$IRIDIUM_FIX,4726.11,-12227.78,020513,161641
$TT8_MAMPS,0.023968,0.023968
$HUMID,29.99
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.30
$XPDR_PINGS,4
$SC_FREEKB,3930912
$24V_AH,13.1,5.268
$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,24.575,38.200,160.650,142.000,0.000,0.000,0.000,347.375,1.000,0.000,8.727,1314.708,139.328,411.190,1318.661,57.129,33.203,1232.424,0.000,911.097,0.000,0.544,0.000
$DEVICE_MAMPS,389.385,120.105,2367.675,1076.355,0.000,0.000,0.000,172.890,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.303,0.000,0.000,0.000
$MEM,322980
$DATA_FILE_SIZE,20104,601
$CAP_FILE_SIZE,91159,0
$CFSIZE,2097872896,2092498944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,175842,4742.843,-12224.936,3,1.3,3,16.3