version: 66.11
glider: 196
mission: 2
dive: 3
start: 5 1 113 17 43 16
data:
$ID,196
$MISSION,2
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,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,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,320
$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,-1463.6357
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,33
$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
$GPS1,020513,003533,4742.110,-12225.457,23,1.9,23,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-73.2
$GPS2,020513,004410,4741.993,-12225.569,5,1.7,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,0.233
$KALMAN_X,-338.8,-193.2,-189.5,-49.3,-310.4
$KALMAN_Y,-612.8,-367.6,-361.3,287.5,-560.3
$MHEAD_RNG_PITCHd_Wd,10.2,3660,-17.5,-10.000,-21.04,2225
$D_GRID,167
$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,-0.85,-146.6,206,2333,1303,1403,0.0,0.0,0,106,0.00,0.00,-82.80,0.000,16390,0.000,0.000,206,2333,3585,3616,3554,0,0,0,0,0,0,28.83,28.83,15.00
$GC,109,-0.85,-146.6,207,2334,3616,3554,4.0,-13.2,16,127,11.25,2.38,0.00,0.000,2308,0.372,0.087,2757,3752,3587,3619,3555,0,0,0,0,0,0,14.62,14.76,28.83
$GC,274,-0.85,-146.6,2757,3752,3621,3551,36.8,-17.6,55,281,0.00,2.30,0.00,0.000,1030,0.000,0.065,2757,2334,3587,3621,3554,0,0,0,0,0,0,28.83,14.79,28.83
$GC,343,-0.85,-146.6,1728,2331,3616,3552,47.3,-15.5,71,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2334,3587,3621,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,471,-0.85,-146.6,1728,2335,3615,3552,66.4,-14.4,102,478,0.00,2.38,0.00,0.000,516,0.000,0.101,2756,931,3587,3621,3554,0,0,0,0,0,0,28.83,14.76,28.83
$GC,520,-0.85,-146.6,1728,931,3616,3551,73.5,-13.8,113,527,0.00,2.38,0.00,0.000,1030,0.000,0.092,2746,2344,3587,3621,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,649,-0.85,-146.6,1696,2342,3612,3547,91.5,-13.4,144,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2345,3587,3621,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,777,-0.85,-146.6,1696,2342,3616,3551,109.3,-12.7,175,784,0.00,2.38,0.00,0.000,260,0.000,0.099,2735,3751,3587,3621,3554,0,0,0,0,0,0,28.83,14.81,28.83
$GC,884,-0.85,-146.6,1696,3750,3616,3551,125.5,-14.8,200,891,0.15,2.30,0.00,0.000,3078,0.270,0.066,2768,2328,3588,3622,3554,0,0,0,0,0,0,14.73,14.82,28.83
$GC,1018,-0.85,-146.6,1728,2325,3615,3551,143.0,-13.3,231,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2327,3587,3621,3553,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1072,begin apogee
$GC,1076,-0.19,0.0,2768,2280,3622,3554,150.3,-12.4,244,1199,0.73,0.00,117.90,2.231,10246,0.216,0.000,2977,2282,2988,3014,2963,0,0,0,0,0,0,14.73,28.83,13.40
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1201,0.85,146.6,2977,2282,3018,2963,153.9,0.0,266,1327,1.10,0.00,118.07,2.129,10246,0.134,0.000,3317,2282,2395,2408,2382,0,0,0,0,0,0,14.07,28.83,13.38
$GC,1449,0.85,146.6,2336,2279,2358,2370,131.3,13.4,318,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2282,2394,2407,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,0.85,146.6,2320,2279,2358,2369,112.9,14.1,349,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2282,2394,2408,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,0.85,146.6,2320,2279,2357,2369,95.6,13.2,380,1712,0.00,2.42,0.00,0.000,260,0.000,0.096,3317,3704,2394,2408,2381,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1846,0.85,146.6,2320,3703,2357,2369,73.5,14.9,414,1853,0.00,2.33,0.00,0.000,1030,0.000,0.066,3327,2278,2394,2408,2380,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1975,0.85,146.6,2336,2275,2357,2369,57.2,13.2,445,1981,0.00,2.42,0.00,0.000,260,0.000,0.098,3328,3703,2394,2408,2381,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2032,0.85,146.6,2368,3702,2358,2369,48.9,13.5,458,2039,0.00,2.33,0.52,0.481,9222,0.000,0.067,3337,2279,2390,2403,2377,0,0,0,0,0,0,28.83,14.74,14.63
$GC,2161,0.85,146.6,2368,2276,2351,2365,34.4,11.0,489,2168,0.00,2.38,0.00,0.000,516,0.000,0.103,3348,882,2389,2403,2376,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2238,0.85,146.6,2384,882,2352,2364,25.5,10.9,507,2245,0.00,2.35,0.00,0.000,1030,0.000,0.088,3348,2285,2389,2403,2376,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2307,0.85,146.6,2384,2283,2352,2364,17.3,12.4,523,2313,0.00,2.40,0.00,0.000,260,0.000,0.098,3348,3700,2389,2403,2376,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,2419,end climb,SURFACE_DEPTH_REACHED
$STATE,2419,begin surface coast
$FINISH,-0.2,1.020826
$STATE,2432,end surface coast,CONTROL_FINISHED_OK
$STATE,2432,begin surface
$SM_CCo,2451,73.65,1.106,0,0,1681,320.12
$SM_GC,0.36,9.23,2.28,73.65,0.082,0.064,1.106,205,2339,1681,-8.84,0.99,320.12,0,0,0,0,0,0,14.77,14.78,14.05
$IRIDIUM_FIX,4722.92,-12200.32,020513,000054
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.25
$INTERNAL_PRESSURE,8.96321
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,140.6,53.1
$SC_FREEKB,3937056
$24V_AH,13.4,1.481
$10V_AH,13.6,0.000
$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,22.450,33.050,236.500,73.650,0.000,0.000,0.000,0.000,3.000,0.000,8.359,1172.158,123.413,401.034,867.416,29.339,31.312,858.104,0.000,837.625,0.000,11.951,0.000
$DEVICE_MAMPS,371.790,247.095,2230.740,1106.190,0.000,0.000,0.000,0.000,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2415.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.260,0.000,0.000,0.000
$MEM,322924
$DATA_FILE_SIZE,16746,553
$CAP_FILE_SIZE,110379,0
$CFSIZE,2097872896,2095087616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,012754,4742.066,-12225.615,3,1.0,3,16.3