version: 66.11
glider: 196
mission: 2
dive: 2
start: 5 1 113 16 30 24
data:
$ID,196
$MISSION,2
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,15
$T_MISSION,20
$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,53140
$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,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,-1336.3419
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2988
$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,-76.015923
$PRESSURE_SLOPE,0.0001164176
$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,0.75
$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,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010513,232535,4742.638,-12224.927,2,1.0,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.7
$GPS2,010513,233119,4742.589,-12224.944,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,0.259
$KALMAN_X,-6.1,-6.1,-6.1,10.3,-13.0
$KALMAN_Y,-50.9,-50.9,-50.9,182.5,-109.2
$MHEAD_RNG_PITCHd_Wd,349.1,2435,-17.5,-10.000,-21.04,2225
$D_GRID,183
$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,-0.88,-146.6,199,2342,1294,1409,0.0,0.0,0,101,0.00,0.00,-80.93,0.000,16390,0.000,0.000,199,2343,3586,3616,3556,0,0,0,0,0,0,28.83,28.83,14.91
$GC,103,-0.88,-146.6,199,2343,3617,3556,3.9,-11.5,15,117,11.18,0.00,0.00,0.000,2054,0.363,0.000,2750,2343,3587,3618,3557,0,0,0,0,0,0,14.57,28.83,28.83
$GC,179,-0.88,-146.6,1728,2340,3616,3553,20.6,-13.8,32,185,0.00,2.40,0.00,0.000,260,0.000,0.096,2742,3758,3586,3617,3556,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,318,begin apogee
$GC,324,-0.20,0.0,2741,2275,3621,3556,45.4,-17.7,66,397,0.80,0.00,66.85,1.483,10246,0.228,0.000,2964,2274,2986,3010,2963,0,0,0,0,0,0,14.67,28.83,13.88
$STATE,399,end apogee,CONTROL_FINISHED_OK
$STATE,399,begin climb
$GC,400,0.88,146.6,2964,2274,3015,2963,50.6,0.0,79,476,1.15,0.00,67.22,1.408,10758,0.153,0.000,3317,2274,2390,2400,2380,0,0,0,0,0,0,14.35,28.83,13.75
$GC,598,0.88,146.6,2320,2271,2348,2368,32.4,11.3,122,604,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2274,2389,2400,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,666,0.88,146.6,2320,2271,2348,2368,24.5,11.5,138,672,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2274,2389,2400,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,735,0.88,146.6,2320,2271,2349,2367,16.4,12.2,154,740,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2274,2389,2400,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,0.88,146.6,2320,2271,2349,2367,8.4,11.2,170,809,0.00,2.40,0.00,0.000,260,0.000,0.093,3314,3694,2389,2400,2379,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,850,end climb,SURFACE_DEPTH_REACHED
$STATE,850,begin surface coast
$FINISH,0.3,1.021070
$STATE,864,end surface coast,CONTROL_FINISHED_OK
$STATE,864,begin surface
$SM_CCo,883,107.45,1.029,0,0,1354,400.08
$SM_GC,0.66,9.10,2.28,107.45,0.078,0.064,1.029,206,2334,1354,-8.81,0.88,400.08,0,0,0,0,0,0,14.74,14.74,14.01
$IRIDIUM_FIX,4726.11,-12220.67,010513,232319
$TT8_MAMPS,0.023968,0.023968
$HUMID,29.56
$INTERNAL_PRESSURE,9.00227
$TCM_TEMP,17.80
$XPDR_PINGS,4
$SC_FREEKB,3937440
$24V_AH,13.7,1.227
$10V_AH,13.9,0.000
$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,22.225,9.550,134.075,107.450,0.000,0.000,0.000,249.825,1.000,0.000,8.829,404.272,35.793,313.928,576.981,27.313,30.073,756.129,0.000,288.199,0.000,1.015,0.000
$DEVICE_MAMPS,363.375,96.390,1482.570,1028.925,0.000,0.000,0.000,166.005,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,879.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,54.436,0.000,0.000,0.000
$MEM,322888
$DATA_FILE_SIZE,3507,184
$CAP_FILE_SIZE,37398,0
$CFSIZE,2097872896,2095316992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010513,234927,4742.625,-12224.962,3,0.9,3,16.3