version: 66.11
glider: 199
mission: 2
dive: 11
start: 5 2 113 8 32 38
data:
$ID,199
$MISSION,2
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,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,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,360
$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,-20729.434
$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,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,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,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,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
$GPS1,020513,082402,4743.398,-12224.816,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.8
$GPS2,020513,083140,4743.386,-12224.821,5,0.9,5,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,0.185
$KALMAN_X,-2058.6,-144.8,-212.8,2069.6,-143.8
$KALMAN_Y,-5743.7,-523.7,-382.9,8020.1,-283.2
$MHEAD_RNG_PITCHd_Wd,24.9,2232,-14.9,-8.498,-19.07,2610
$D_GRID,175
$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,-0.78,-146.6,196,2343,1600,1474,0.0,0.0,0,97,0.00,0.00,-77.22,0.000,16386,0.000,0.000,197,2342,3529,3561,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.78,-146.6,196,2343,3562,3497,3.6,-7.3,14,119,9.75,2.45,-0.82,0.000,18948,0.412,0.112,2254,939,3569,3615,3524,0,0,0,0,0,0,14.38,14.52,14.69
$GC,266,-0.78,-146.6,1376,939,3610,3523,34.3,-14.7,53,273,0.00,2.40,0.00,0.000,1030,0.000,0.091,2246,2348,3570,3615,3525,0,0,0,0,0,0,28.83,14.56,28.83
$GC,335,-0.78,-146.6,1344,2346,3610,3523,45.0,-16.7,69,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2348,3570,3615,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,463,-0.78,-146.6,1376,2346,3610,3523,64.5,-15.6,100,470,0.00,2.38,0.00,0.000,516,0.000,0.092,2246,945,3570,3615,3525,0,0,0,0,0,0,28.83,14.62,28.83
$GC,564,-0.78,-146.6,1344,944,3610,3523,78.3,-14.2,124,571,0.00,2.40,0.00,0.000,1030,0.000,0.093,2238,2357,3569,3614,3525,0,0,0,0,0,0,28.83,14.64,28.83
$GC,693,-0.78,-146.6,1328,2355,3610,3523,96.2,-13.2,155,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2357,3570,3615,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,821,-0.78,-146.6,1328,2355,3610,3523,113.0,-13.7,186,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2357,3570,3616,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,949,-0.78,-146.6,1328,2355,3610,3523,131.0,-13.3,217,956,0.00,2.45,0.00,0.000,260,0.000,0.117,2228,3769,3570,3616,3525,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1102,-0.78,-146.6,1320,3768,3610,3522,153.6,-14.6,254,1110,0.12,2.38,0.00,0.000,3078,0.288,0.082,2254,2350,3570,3616,3525,0,0,0,0,0,0,14.64,14.72,28.83
$GC,1232,-0.78,-146.6,1344,2348,3610,3523,170.6,-12.2,285,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2351,3570,3616,3525,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1270,-0.20,0.0,2254,2351,3616,3525,175.0,-12.6,293,1436,0.65,0.00,161.80,1.654,10246,0.235,0.000,2438,2351,2970,3048,2893,0,0,0,0,0,0,14.66,28.83,13.38
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1438,begin climb
$GC,1439,0.78,146.6,2438,2350,3048,2895,181.8,0.0,323,1624,1.08,0.00,167.75,1.603,11014,0.166,0.000,2754,2349,2372,2454,2291,0,0,0,0,2,0,13.91,28.83,13.33
$GC,1747,0.78,146.6,1712,2347,2411,2288,157.3,11.3,386,1754,0.00,2.53,0.00,0.000,260,0.000,0.116,2754,3747,2373,2454,2292,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1800,0.78,146.6,1728,3746,2412,2284,150.7,13.7,398,1807,0.00,2.40,0.00,0.000,1030,0.000,0.082,2764,2341,2373,2454,2292,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1929,0.78,146.6,1728,2338,2411,2284,135.2,11.7,429,1936,0.00,2.42,0.00,0.000,516,0.000,0.099,2766,938,2373,2454,2292,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2007,0.78,146.6,1728,937,2418,2284,126.2,11.6,447,2013,0.00,2.40,0.00,0.000,1030,0.000,0.087,2766,2357,2373,2454,2292,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2136,0.78,146.6,1712,2350,2411,2284,111.4,11.0,478,2142,0.00,2.42,0.00,0.000,260,0.000,0.115,2766,3750,2373,2454,2292,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2220,0.78,146.6,1728,3749,2412,2284,101.1,12.9,498,2227,0.00,2.35,0.00,0.000,1030,0.000,0.080,2774,2336,2373,2454,2292,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2349,0.78,146.6,1728,2338,2411,2284,86.7,10.3,529,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2337,2373,2454,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2478,0.80,165.7,1728,2332,2411,2285,74.2,7.7,560,2490,0.00,0.00,10.43,1.183,8198,0.000,0.000,2775,2337,2293,2376,2211,0,0,0,0,0,0,28.83,28.83,14.15
$GC,2613,0.80,165.7,1728,2335,2334,2205,63.1,9.7,592,2619,0.00,2.40,0.00,0.000,516,0.000,0.097,2779,927,2295,2377,2213,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2730,0.80,165.7,1728,926,2334,2205,52.6,9.3,620,2736,0.00,2.38,0.00,0.000,1030,0.000,0.088,2779,2338,2295,2377,2213,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2859,0.80,165.7,1728,2337,2334,2205,40.1,9.5,651,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2339,2294,2376,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2987,0.80,165.7,1728,2336,2334,2205,27.7,10.0,682,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2338,2295,2377,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,0.80,165.7,1728,2336,2334,2205,21.5,9.3,698,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2339,2294,2376,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,0.80,165.7,1728,2336,2334,2205,14.7,9.9,714,3130,0.00,2.38,0.00,0.000,516,0.000,0.093,2790,931,2295,2377,2213,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3228,0.80,165.7,1736,930,2334,2205,3.2,11.0,739,3235,0.00,2.38,0.00,0.000,1030,0.000,0.087,2790,2344,2294,2376,2213,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,3240,end climb,SURFACE_DEPTH_REACHED
$STATE,3240,begin surface coast
$FINISH,0.3,1.009932
$STATE,3258,end surface coast,CONTROL_FINISHED_OK
$STATE,3258,begin surface
$SM_CCo,3272,88.60,0.161,0,0,1500,360.10
$SM_GC,1.21,7.62,0.00,88.60,0.090,0.000,0.161,200,2343,1500,-7.18,-0.20,360.10,0,0,0,0,0,0,14.68,28.83,14.58
$IRIDIUM_FIX,4726.11,-12225.08,020513,070755
$TT8_MAMPS,0.025466,0.025466
$HUMID,30.66
$INTERNAL_PRESSURE,9.07099
$TCM_TEMP,16.70
$XPDR_PINGS,0
$SC_FREEKB,4015312
$24V_AH,13.3,4.591
$10V_AH,13.0,0.000
$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,19.225,38.500,339.975,88.600,0.000,0.000,0.000,328.400,0.000,0.000,6.816,1559.200,165.249,511.538,1524.465,56.359,33.215,1450.904,0.000,1122.981,0.000,0.543,0.000
$DEVICE_MAMPS,411.570,117.045,1653.930,161.415,0.000,0.000,0.000,184.365,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3284.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.598,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,23395,745
$CAP_FILE_SIZE,109844,0
$CFSIZE,2097872896,2093678592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,020513,092921,4743.854,-12224.472,6,0.8,6,16.3