version: 66.11
glider: 199
mission: 2
dive: 7
start: 5 2 113 4 6 45
data:
$ID,199
$MISSION,2
$DIVE,7
$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,-20724.305
$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,2512
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,020513,035808,4743.103,-12225.199,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.6
$GPS2,020513,040544,4742.997,-12225.240,6,1.1,6,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,0.233
$KALMAN_X,-1001.3,-93.8,-32.9,265.1,-387.6
$KALMAN_Y,-2851.1,-729.1,-69.7,4309.9,-747.8
$MHEAD_RNG_PITCHd_Wd,10.2,1761,-17.5,-10.000,-21.04,2225
$D_GRID,186
$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,16,-0.88,-146.6,193,2352,1946,1820,0.0,0.0,0,80,0.00,0.00,-61.22,0.000,16386,0.000,0.000,193,2353,3465,3488,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.88,-146.6,193,2353,3487,3442,3.4,-6.7,11,107,9.70,0.00,-9.38,0.000,18950,0.418,0.000,2221,2353,3913,3965,3861,0,0,0,0,0,0,14.40,28.83,14.74
$GC,169,-0.88,-146.6,1376,2350,3964,3862,21.5,-17.4,30,176,0.00,2.40,0.00,0.000,516,0.000,0.092,2221,939,3914,3965,3863,0,0,0,0,0,0,28.83,14.55,28.83
$GC,210,-0.88,-146.6,1344,938,3963,3862,29.5,-19.1,39,217,0.00,2.40,0.00,0.000,1030,0.000,0.093,2211,2347,3914,3965,3863,0,0,0,0,0,0,28.83,14.58,28.83
$GC,279,-0.88,-146.6,1320,2345,3964,3862,43.1,-19.9,55,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2347,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,407,-0.88,-146.6,1312,2345,3964,3863,68.4,-18.4,86,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2345,3913,3964,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,535,-0.88,-146.6,1312,2346,3965,3863,92.1,-18.4,117,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2348,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,663,-0.88,-146.6,1312,2345,3964,3863,114.0,-14.8,148,670,0.00,2.35,0.00,0.000,516,0.000,0.094,2211,951,3914,3965,3864,0,0,0,0,0,0,28.83,14.69,28.83
$GC,735,-0.88,-146.6,1344,950,3964,3863,127.3,-19.0,164,742,0.00,2.38,0.00,0.000,1030,0.000,0.093,2200,2354,3914,3965,3864,0,0,0,0,0,0,28.83,14.71,28.83
$GC,864,-0.88,-146.6,2202,2354,3965,3864,151.9,-18.4,195,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2354,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,992,-0.88,-146.6,1312,2352,3964,3863,175.8,-17.1,226,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2355,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1015,begin apogee
$GC,1018,-0.20,0.0,2202,2354,3965,3865,180.1,-17.2,231,1194,0.85,0.00,163.20,1.676,10246,0.253,0.000,2436,2355,3317,3383,3251,0,0,0,0,1,0,14.65,28.83,13.42
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1198,0.88,146.6,2436,2355,3383,3252,190.2,0.0,263,1379,1.17,2.60,166.60,1.653,10756,0.161,0.092,2797,937,2717,2785,2650,0,0,0,0,1,0,13.97,13.93,13.36
$GC,1428,0.98,224.5,1744,937,2748,2644,188.2,6.4,306,1529,0.00,2.45,89.05,1.603,9222,0.000,0.086,2796,2344,2398,2476,2320,0,0,0,0,1,0,28.83,14.18,13.40
$GC,1652,0.98,224.5,1744,2341,2434,2313,164.6,11.9,354,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2343,2399,2477,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,0.98,224.5,1744,2341,2434,2313,149.5,12.1,385,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2344,2399,2478,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1908,0.98,224.5,1744,2342,2434,2313,131.6,15.5,416,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2344,2399,2478,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,0.98,224.5,1736,2341,2434,2313,114.6,14.0,447,2043,0.00,2.40,0.00,0.000,516,0.000,0.096,2807,933,2399,2478,2321,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2173,0.98,224.5,1760,933,2434,2313,96.0,13.0,480,2180,0.00,2.38,0.00,0.000,1030,0.000,0.087,2806,2346,2399,2478,2321,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2302,0.98,224.5,1760,2344,2434,2313,79.1,12.2,511,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2346,2399,2478,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2430,0.98,224.5,1760,2344,2434,2313,62.7,12.7,542,2437,0.00,2.38,0.00,0.000,516,0.000,0.094,2817,937,2399,2478,2321,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2463,0.98,224.5,1792,937,2436,2313,58.7,12.2,549,2470,0.00,2.35,0.00,0.000,1030,0.000,0.086,2817,2341,2399,2477,2321,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2592,0.98,224.5,1760,2339,2434,2313,43.7,11.9,580,2599,0.00,2.42,0.00,0.000,260,0.000,0.113,2817,3754,2399,2478,2321,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2657,0.98,224.5,1768,3753,2434,2313,35.9,11.3,595,2664,0.00,2.33,0.00,0.000,1030,0.000,0.077,2828,2339,2399,2478,2321,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2726,0.99,233.3,1792,2337,2434,2313,28.6,9.6,611,2733,0.00,0.00,4.55,0.261,8198,0.000,0.000,2825,2339,2361,2440,2283,0,0,0,0,0,0,28.83,28.83,14.62
$GC,2795,0.99,233.3,1792,2336,2397,2276,21.1,11.4,627,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2339,2361,2439,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2863,0.99,233.3,1792,2337,2397,2276,13.7,10.3,643,2870,0.00,2.35,0.00,0.000,516,0.000,0.094,2838,936,2362,2440,2284,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3019,begin surface coast
$FINISH,0.4,1.008878
$STATE,3089,end surface coast,CONTROL_FINISHED_OK
$STATE,3090,begin surface
$SM_CCo,3106,53.40,0.165,0,0,1885,350.04
$SM_GC,1.60,7.82,2.45,53.40,0.097,0.093,0.165,196,2349,1885,-7.18,-0.85,350.04,0,0,0,0,0,0,14.71,14.69,14.62
$IRIDIUM_FIX,4726.11,-12223.37,020513,020201
$TT8_MAMPS,0.025466,0.025466
$HUMID,31.76
$INTERNAL_PRESSURE,9.11005
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,83.3
$SC_FREEKB,4015756
$24V_AH,13.4,3.633
$10V_AH,13.1,0.000
$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,19.550,33.625,423.400,53.400,0.000,0.000,0.000,330.050,0.500,0.000,6.734,1422.772,152.258,533.104,1455.653,53.538,33.231,1456.371,0.000,1051.397,0.000,5.656,0.000
$DEVICE_MAMPS,417.690,113.220,1676.115,165.240,0.000,0.000,0.000,183.600,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.030,0.000,0.000,0.000
$MEM,322876
$DATA_FILE_SIZE,23377,698
$CAP_FILE_SIZE,103619,0
$CFSIZE,2097872896,2094333952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,020513,050004,4742.983,-12225.241,3,1.8,3,16.3