version: 66.11
glider: 199
mission: 2
dive: 8
start: 5 2 113 5 9 4
data:
$ID,199
$MISSION,2
$DIVE,8
$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,-20725.561
$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,2970
$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
$GPS1,020513,050004,4742.983,-12225.241,3,1.8,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.5
$GPS2,020513,050803,4742.834,-12225.230,5,1.9,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,0.239
$KALMAN_X,-1276.2,-105.0,-153.7,680.7,-365.7
$KALMAN_Y,-3872.5,-678.4,-211.4,5120.6,-836.2
$MHEAD_RNG_PITCHd_Wd,7.1,2045,-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,-146.6,196,2350,1945,1823,0.0,0.0,0,80,0.00,0.00,-61.47,0.000,16386,0.000,0.000,196,2351,3475,3498,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.88,-146.6,196,2351,3498,3453,3.4,-7.4,11,102,9.68,2.40,-1.88,0.000,18948,0.418,0.112,2219,940,3566,3616,3517,0,0,0,0,0,0,14.40,14.54,14.73
$GC,333,-0.88,-146.6,1312,939,3612,3515,52.4,-18.0,71,340,0.00,2.40,0.00,0.000,1030,0.000,0.090,2210,2356,3567,3617,3517,0,0,0,0,0,0,28.83,14.62,28.83
$GC,462,-0.88,-146.6,1312,2353,3612,3515,74.7,-17.1,102,469,0.00,2.42,0.00,0.000,260,0.000,0.116,2199,3764,3567,3617,3517,0,0,0,0,0,0,28.83,14.63,28.83
$GC,539,-0.88,-146.6,1312,3763,3612,3515,88.2,-17.1,120,546,0.00,2.35,0.00,0.000,1030,0.000,0.080,2199,2343,3567,3617,3517,0,0,0,0,0,0,28.83,14.69,28.83
$GC,669,-0.88,-146.6,1312,2340,3613,3515,107.8,-16.6,151,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2342,3567,3617,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,799,-0.88,-146.6,1296,2340,3613,3515,129.6,-17.3,182,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2342,3568,3618,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,927,-0.88,-146.6,1304,2340,3613,3516,152.1,-16.8,213,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2342,3568,3618,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1055,-0.88,-146.6,1304,2340,3613,3515,172.0,-15.9,244,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2342,3568,3618,3518,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1114,begin apogee
$GC,1117,-0.20,0.0,2199,2342,3618,3517,180.4,-14.5,258,1284,0.88,0.00,160.20,1.652,10246,0.261,0.000,2437,2343,2970,3045,2896,0,0,0,0,0,0,14.64,28.83,13.42
$STATE,1285,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1287,0.88,146.6,2437,2342,3046,2897,187.4,0.0,288,1467,1.20,2.60,164.40,1.609,10500,0.175,0.114,2785,3746,2373,2452,2295,0,0,0,0,1,0,13.94,13.87,13.36
$GC,1481,0.88,146.6,1792,3745,2411,2288,173.8,10.9,323,1488,0.00,2.45,0.00,0.000,1030,0.000,0.080,2796,2341,2374,2452,2296,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1611,0.88,146.6,1744,2338,2408,2288,159.8,11.1,354,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2340,2374,2452,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,0.88,146.6,1736,2338,2408,2288,144.4,12.2,385,1745,0.00,2.40,0.00,0.000,516,0.000,0.096,2806,933,2374,2452,2296,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1783,0.88,146.6,1768,933,2409,2288,138.9,12.1,395,1790,0.00,2.40,0.00,0.000,1030,0.000,0.086,2806,2348,2374,2452,2296,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1912,0.88,146.6,1760,2346,2408,2288,121.5,12.3,426,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2348,2373,2451,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,0.88,146.6,1760,2346,2408,2288,105.6,12.9,457,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2348,2373,2451,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,0.88,146.6,1760,2346,2408,2288,88.2,14.0,488,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2348,2374,2452,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2296,0.88,146.6,1760,2346,2408,2288,73.1,10.6,519,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2348,2374,2452,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,0.88,146.6,1760,2347,2408,2288,59.1,11.1,550,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2348,2374,2452,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2553,0.91,172.5,1760,2346,2408,2288,46.0,8.8,581,2570,0.00,0.00,13.68,1.082,8198,0.000,0.000,2806,2348,2264,2345,2184,0,0,0,0,0,0,28.83,28.83,14.23
$GC,2693,0.91,172.5,1760,2346,2300,2177,28.4,13.6,614,2700,0.00,2.40,0.00,0.000,516,0.000,0.093,2816,930,2265,2345,2185,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2842,0.91,172.5,1760,930,2300,2177,9.5,12.1,650,2849,0.00,2.38,0.00,0.000,1030,0.000,0.088,2817,2340,2264,2344,2185,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,2906,end climb,SURFACE_DEPTH_REACHED
$STATE,2906,begin surface coast
$FINISH,0.4,1.013437
$STATE,2919,end surface coast,CONTROL_FINISHED_OK
$STATE,2920,begin surface
$SM_CCo,2933,81.25,0.161,0,0,1541,350.04
$SM_GC,1.25,7.75,0.00,81.25,0.093,0.000,0.161,192,2340,1541,-7.20,-0.28,350.04,0,0,0,0,0,0,14.67,28.83,14.58
$IRIDIUM_FIX,4726.11,-12223.37,020513,040420
$TT8_MAMPS,0.024717,0.024717
$HUMID,30.54
$INTERNAL_PRESSURE,9.08076
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,86.1
$SC_FREEKB,4015648
$24V_AH,13.4,3.861
$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,19.500,24.200,338.275,81.250,0.000,0.000,0.000,347.250,0.500,0.000,6.685,1391.916,148.683,472.154,1431.657,51.186,33.231,1369.291,0.000,1008.162,0.000,5.666,0.000
$DEVICE_MAMPS,417.690,115.515,1652.400,161.415,0.000,0.000,0.000,179.775,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.775,0.000,0.000,0.000
$MEM,322924
$DATA_FILE_SIZE,23383,668
$CAP_FILE_SIZE,97747,0
$CFSIZE,2097872896,2094202880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,020513,060000,4742.904,-12225.262,5,0.9,6,16.3