version: 66.11
glider: 199
mission: 1
dive: 2
start: 4 30 113 20 7 44
data:
$ID,199
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-426.06046
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.817049
$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,2352
$C_ROLL_CLIMB,2352
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,-64.157822
$PRESSURE_SLOPE,0.0001159754
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$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
$GPS1,300413,200323,4743.080,-12225.097,11,1.0,11,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.9
$GPS2,300413,200647,4743.105,-12225.111,18,1.0,18,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,0.206
$KALMAN_X,-141.2,-141.2,-141.2,-161.2,-240.5
$KALMAN_Y,182.5,182.5,182.5,415.6,310.8
$MHEAD_RNG_PITCHd_Wd,21.1,1523,-17.5,-10.000,-21.04,2225
$D_GRID,178
$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,-0.98,-146.6,191,2350,1740,1617,0.0,0.0,0,85,0.00,0.00,-65.75,0.000,16386,0.000,0.000,191,2350,3358,3386,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.98,-146.6,191,2350,3387,3331,3.1,-7.2,12,118,9.20,2.35,-13.40,0.000,19204,0.412,0.116,2176,944,3912,3968,3857,0,0,0,0,0,0,14.58,14.72,14.95
$GC,349,-0.98,-146.6,1320,943,3967,3856,61.1,-22.0,74,356,0.00,2.38,0.00,0.000,1030,0.000,0.094,2167,2350,3913,3968,3858,0,0,0,0,0,0,28.83,14.71,28.83
$GC,478,-0.98,-146.6,1280,2350,3970,3856,87.9,-20.9,105,485,0.00,2.38,0.00,0.000,516,0.000,0.096,2167,942,3911,3966,3857,0,0,0,0,0,0,28.83,14.73,28.83
$GC,726,-0.98,-146.6,1296,942,3967,3857,141.6,-22.2,163,733,0.00,2.38,0.00,0.000,1030,0.000,0.096,2157,2354,3913,3968,3858,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,766,begin apogee
$GC,769,-0.23,0.0,2157,2354,3968,3858,150.5,-21.6,172,940,0.93,0.00,159.50,1.736,10246,0.267,0.000,2408,2354,3317,3383,3251,0,0,0,0,1,0,14.66,28.83,13.49
$STATE,941,end apogee,CONTROL_FINISHED_OK
$STATE,941,begin climb
$GC,942,0.98,146.6,2407,2354,3384,3252,161.4,0.0,203,1123,1.35,2.55,164.77,1.672,10500,0.174,0.114,2805,3763,2717,2784,2651,0,0,0,0,1,0,14.06,13.98,13.46
$GC,1354,0.98,146.6,1744,3762,2747,2645,135.7,10.9,292,1361,0.00,2.38,0.00,0.000,1030,0.000,0.080,2816,2344,2718,2785,2652,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1484,1.02,175.5,1744,2341,2747,2645,124.6,8.7,323,1513,0.00,2.55,20.05,1.525,8452,0.000,0.113,2816,3763,2599,2671,2528,0,0,0,0,0,0,28.83,14.45,13.93
$GC,1743,1.02,175.5,1744,3763,2631,2520,92.9,13.5,385,1750,0.00,2.35,0.00,0.000,1030,0.000,0.079,2826,2343,2600,2672,2529,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1872,1.02,175.5,1760,2340,2632,2521,78.3,10.8,416,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2343,2600,2672,2529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2000,1.02,175.5,1760,2340,2632,2520,65.0,10.3,447,2007,0.00,2.45,0.00,0.000,260,0.000,0.112,2826,3764,2600,2672,2529,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2053,1.02,175.5,1792,3764,2633,2521,59.2,11.1,459,2060,0.00,2.33,0.00,0.000,1030,0.000,0.080,2834,2352,2600,2672,2528,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2183,1.09,231.9,1792,2350,2633,2517,48.0,7.4,490,2217,0.00,0.00,30.70,1.134,8710,0.000,0.000,2834,2352,2368,2445,2291,0,0,0,0,0,0,28.83,28.83,14.15
$GC,2340,1.09,231.9,1768,2350,2397,2283,33.2,11.4,526,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2352,2368,2445,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2408,1.09,231.9,1792,2349,2398,2283,26.1,11.4,542,2414,0.00,2.38,0.00,0.000,516,0.000,0.096,2836,943,2368,2445,2291,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2437,1.13,265.6,1800,943,2399,2283,23.3,8.5,548,2461,0.00,2.38,16.80,0.226,9222,0.000,0.089,2836,2356,2229,2313,2146,0,0,0,0,0,0,28.83,14.62,14.55
$GC,2523,1.13,265.6,1792,2353,2271,2138,13.8,10.8,567,2530,0.00,2.42,0.00,0.000,260,0.000,0.113,2836,3762,2229,2313,2146,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,2603,end climb,SURFACE_DEPTH_REACHED
$STATE,2603,begin surface coast
$FINISH,0.5,1.009239
$STATE,2617,end surface coast,CONTROL_FINISHED_OK
$STATE,2617,begin surface
$SM_CCo,2634,61.10,0.163,0,0,1680,400.08
$SM_GC,1.46,7.82,2.42,61.10,0.096,0.083,0.163,196,2351,1680,-7.15,0.74,400.08,0,0,0,0,0,0,14.66,14.66,14.59
$IRIDIUM_FIX,4726.11,-12226.07,300413,191910
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.82
$INTERNAL_PRESSURE,9.11005
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,135.0,66.9
$SC_FREEKB,4016272
$24V_AH,13.5,1.049
$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,19.300,33.675,391.825,61.100,0.000,0.000,0.000,0.000,3.000,0.000,19.206,1186.202,130.241,491.296,936.188,31.191,30.075,990.036,0.000,885.927,0.000,20.024,0.000
$DEVICE_MAMPS,411.570,116.280,1735.785,162.945,0.000,0.000,0.000,0.000,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.449,0.000,0.000,0.000
$MEM,322912
$DATA_FILE_SIZE,13405,589
$CAP_FILE_SIZE,125775,0
$CFSIZE,2097872896,2095448064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,300413,205352,4743.554,-12225.002,36,1.0,36,16.3