version: 66.11
glider: 199
mission: 2
dive: 3
start: 5 1 113 23 49 17
data:
$ID,199
$MISSION,2
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,60
$T_MISSION,80
$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,53051
$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,350
$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,-20710.76
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2520
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3314
$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,-64.539497
$PRESSURE_SLOPE,0.0001159754
$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,120
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010513,234503,4742.839,-12224.633,25,1.1,25,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.5
$GPS2,010513,234818,4742.813,-12224.650,7,0.7,7,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.027,0.259
$KALMAN_X,36.6,38.3,41.9,-244.9,31.1
$KALMAN_Y,-201.3,-194.3,-176.2,888.2,-218.7
$MHEAD_RNG_PITCHd_Wd,337.7,2021,-17.5,-10.000,-21.04,2225
$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,16,begin dive
$GC,17,-0.88,-146.6,196,2348,1942,1826,0.0,0.0,0,80,0.00,0.00,-60.67,0.000,16386,0.000,0.000,196,2348,3427,3454,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.88,-146.6,196,2348,3453,3402,3.1,-6.0,11,107,9.43,0.00,-10.18,0.000,18694,0.412,0.000,2227,2348,3912,3967,3858,0,0,0,0,0,0,14.59,28.83,14.95
$GC,169,-0.88,-146.6,1328,2346,3966,3859,21.7,-18.3,30,176,0.00,2.42,0.00,0.000,260,0.000,0.113,2217,3755,3914,3967,3861,0,0,0,0,0,0,28.83,14.72,28.83
$GC,242,-0.88,-146.6,1320,3754,3966,3860,35.8,-19.4,47,249,0.00,2.33,0.00,0.000,1030,0.000,0.081,2217,2345,3914,3967,3861,0,0,0,0,0,0,28.83,14.76,28.83
$GC,311,-0.88,-146.6,1312,2342,3966,3860,49.0,-18.0,63,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2344,3914,3967,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,439,-0.88,-146.6,1312,2342,3966,3861,72.6,-19.7,94,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2344,3914,3967,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,567,-0.88,-146.6,1312,2342,3966,3862,96.4,-19.1,125,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2344,3915,3967,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,695,-0.88,-146.6,1312,2342,3966,3862,118.9,-16.0,156,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2344,3914,3967,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,826,-0.88,-146.6,1312,2341,3966,3862,139.6,-15.9,187,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2344,3915,3967,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,954,-0.88,-146.6,1320,2342,3966,3862,160.7,-16.2,218,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2344,3915,3967,3863,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1065,begin apogee
$GC,1068,-0.20,0.0,2217,2345,3966,3863,179.1,-16.3,245,1236,0.80,0.00,161.23,1.716,10246,0.238,0.000,2444,2344,3315,3381,3249,0,0,0,0,0,0,14.74,28.83,13.53
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1239,0.88,146.6,2444,2344,3381,3250,186.1,0.0,275,1410,1.12,2.58,162.12,1.690,10756,0.132,0.096,2805,928,2717,2783,2651,0,0,0,0,0,0,14.09,14.02,13.47
$GC,1573,0.93,186.4,1744,927,2746,2645,172.2,8.2,345,1624,0.00,2.42,43.75,1.647,9222,0.000,0.089,2805,2345,2555,2629,2481,0,0,0,0,0,0,28.83,14.52,13.70
$GC,1747,0.93,186.4,1792,2343,2590,2474,154.0,11.0,384,1754,0.00,2.45,0.00,0.000,260,0.000,0.114,2805,3755,2555,2629,2481,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1812,0.93,186.4,1760,3750,2589,2474,145.8,12.9,399,1819,0.00,2.38,0.00,0.000,1030,0.000,0.080,2814,2330,2555,2629,2481,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1941,0.93,186.4,1760,2328,2588,2473,130.7,11.6,430,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2330,2555,2629,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2069,0.93,186.4,1760,2328,2588,2473,115.1,12.7,461,2076,0.00,2.35,0.00,0.000,516,0.000,0.096,2825,926,2555,2629,2481,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2170,0.93,186.4,1792,925,2588,2473,103.4,11.9,485,2177,0.00,2.38,0.00,0.000,1030,0.000,0.087,2825,2348,2555,2629,2481,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2299,0.93,186.4,1760,2346,2588,2474,87.4,12.9,516,2306,0.00,2.38,0.00,0.000,260,0.000,0.112,2825,3748,2555,2629,2481,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2484,0.93,186.4,1760,3748,2587,2473,61.8,13.9,561,2491,0.00,2.30,0.00,0.000,1030,0.000,0.077,2834,2338,2555,2629,2481,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2613,0.93,186.4,1760,2335,2588,2473,47.5,10.2,592,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2338,2555,2629,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2742,0.96,214.2,1760,2335,2587,2473,33.7,8.7,623,2766,0.00,2.40,14.45,1.043,8708,0.000,0.094,2845,936,2439,2515,2363,0,0,0,0,0,0,28.83,14.70,14.32
$GC,2788,0.96,214.2,1856,935,2476,2356,29.1,10.6,632,2795,0.00,2.35,0.00,0.000,1030,0.000,0.086,2848,2341,2439,2515,2363,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2857,0.96,214.2,1792,2339,2472,2355,20.5,12.5,648,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2341,2439,2515,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,0.96,214.2,1792,2339,2472,2356,12.3,11.5,664,2932,0.00,2.40,0.00,0.000,260,0.000,0.112,2845,3751,2439,2515,2363,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2983,0.96,214.2,1792,3750,2473,2355,5.1,12.4,677,2990,0.00,2.33,0.00,0.000,1030,0.000,0.079,2854,2341,2439,2515,2363,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3006,begin surface coast
$FINISH,0.2,1.015656
$STATE,3024,end surface coast,CONTROL_FINISHED_OK
$STATE,3025,begin surface
$SM_CCo,3039,61.33,0.169,0,0,1885,350.04
$SM_GC,1.92,7.72,0.00,61.33,0.083,0.000,0.169,193,2341,1885,-7.22,-0.25,350.04,0,0,0,0,0,0,14.74,28.83,14.66
$IRIDIUM_FIX,4726.11,-12223.37,010513,232307
$TT8_MAMPS,0.024717,0.024717
$HUMID,31.37
$INTERNAL_PRESSURE,9.14912
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.8,70.7
$SC_FREEKB,4016164
$24V_AH,13.5,2.603
$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,19.075,33.450,381.550,61.325,0.000,0.000,0.000,0.000,0.500,0.000,7.738,1417.438,147.456,497.094,1070.512,36.935,31.303,1068.667,0.000,1033.663,0.000,5.623,0.000
$DEVICE_MAMPS,412.335,113.985,1715.895,169.065,0.000,0.000,0.000,0.000,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.944,0.000,0.000,0.000
$MEM,322932
$DATA_FILE_SIZE,23371,686
$CAP_FILE_SIZE,112530,0
$CFSIZE,2097872896,2094989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,004137,4743.142,-12224.762,3,1.0,3,16.3