version: 66.11
glider: 196
mission: 2
dive: 6
start: 5 1 113 20 30 47
data:
$ID,196
$MISSION,2
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,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,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,-1532.6309
$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,3020
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,020513,032125,4741.802,-12225.938,13,0.8,13,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-74.2
$GPS2,020513,033140,4741.718,-12226.046,11,0.8,11,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,0.217
$KALMAN_X,-1660.6,-638.6,-218.3,1140.2,-457.8
$KALMAN_Y,-2597.6,-1049.1,-374.1,2437.2,-658.4
$MHEAD_RNG_PITCHd_Wd,17.1,4329,-17.5,-10.000,-21.04,2225
$D_GRID,171
$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,-146.6,200,2331,1624,1735,0.0,0.0,0,91,0.00,0.00,-69.45,0.000,16390,0.000,0.000,200,2332,3590,3629,3551,0,0,0,0,0,0,28.83,28.83,14.75
$GC,93,-0.85,-146.6,200,2332,3622,3551,3.8,-12.9,13,112,11.70,2.40,0.00,0.000,2564,0.389,0.089,2740,935,3588,3625,3552,0,0,0,0,0,0,14.40,14.51,28.83
$GC,134,-0.85,-146.6,1744,934,3621,3549,18.8,-21.4,21,140,0.00,2.42,0.00,0.000,1030,0.000,0.092,2732,2346,3588,3626,3551,0,0,0,0,0,0,28.83,14.54,28.83
$GC,202,-0.85,-146.6,1728,2343,3621,3549,31.0,-18.0,37,209,0.00,2.42,0.00,0.000,260,0.000,0.101,2721,3747,3589,3626,3552,0,0,0,0,0,0,28.83,14.57,28.83
$GC,303,-0.85,-146.6,1696,3746,3621,3549,50.9,-20.9,61,310,0.00,2.33,0.00,0.000,1030,0.000,0.065,2721,2333,3588,3627,3550,0,0,0,0,0,0,28.83,14.62,28.83
$GC,432,-0.85,-146.6,1680,2331,3621,3549,74.4,-18.2,92,440,0.00,2.38,0.00,0.000,516,0.000,0.098,2720,940,3589,3627,3552,0,0,0,0,0,0,28.83,14.62,28.83
$GC,606,-0.85,-146.6,1680,939,3622,3549,104.0,-15.6,134,613,0.15,2.38,0.00,0.000,3078,0.297,0.090,2741,2344,3589,3627,3551,0,0,0,0,0,0,14.59,14.68,28.83
$GC,736,-0.85,-146.6,1712,2341,3622,3548,121.8,-13.8,165,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2344,3589,3627,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,868,-0.85,-146.6,1704,2341,3621,3548,140.2,-14.2,196,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2344,3589,3627,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-0.85,-146.6,1712,2341,3621,3549,158.8,-13.6,227,1007,0.00,2.40,0.00,0.000,260,0.000,0.103,2732,3748,3589,3627,3552,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1077,-0.85,-146.6,1712,3748,3622,3549,170.5,-14.5,245,1084,0.00,2.30,0.00,0.000,1030,0.000,0.065,2732,2335,3589,3627,3551,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1092,-0.19,0.0,2732,2280,3627,3551,172.5,-15.6,247,1215,0.80,0.00,118.43,2.190,10246,0.236,0.000,2952,2280,2988,3014,2963,0,0,0,0,0,0,14.69,28.83,13.40
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1218,0.85,146.6,2952,2280,3017,2963,177.8,0.0,269,1338,1.12,0.00,112.15,1.664,10246,0.157,0.000,3283,2280,2391,2406,2376,0,0,0,0,0,0,13.94,28.83,13.40
$GC,1460,0.85,146.6,2304,2278,2358,2365,156.4,12.1,320,1467,0.00,2.50,0.00,0.000,260,0.000,0.099,3284,3699,2391,2407,2376,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1573,0.85,146.6,2304,3699,2358,2365,140.9,14.8,347,1580,0.00,2.35,0.00,0.000,1030,0.000,0.064,3293,2286,2391,2407,2376,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1702,0.85,146.6,2304,2284,2358,2365,123.4,14.2,378,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2286,2391,2407,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1831,0.85,146.6,2304,2283,2358,2365,105.9,13.0,409,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2286,2392,2407,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1958,0.85,146.6,2304,2284,2358,2365,89.7,12.6,440,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2286,2391,2407,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2086,0.85,146.6,2304,2283,2357,2365,74.5,11.4,471,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2286,2392,2406,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,0.85,146.6,2304,2284,2357,2365,60.9,10.7,502,2221,0.00,2.40,0.00,0.000,516,0.000,0.102,3303,881,2391,2406,2376,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2307,0.85,146.6,2320,880,2358,2364,50.6,10.7,524,2314,0.00,2.38,0.00,0.000,1030,0.000,0.087,3303,2293,2391,2407,2376,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2436,0.85,146.6,2320,2290,2357,2364,36.9,11.5,555,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2293,2391,2407,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2505,0.85,146.6,2336,2290,2357,2364,29.7,10.2,571,2511,0.00,2.42,0.00,0.000,516,0.000,0.099,3314,875,2391,2407,2376,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2557,0.85,146.6,2336,875,2358,2364,23.9,11.6,583,2564,0.00,2.38,0.00,0.000,1030,0.000,0.088,3314,2283,2391,2406,2376,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2626,0.85,146.6,2336,2281,2358,2364,16.2,10.1,599,2633,0.00,2.42,0.00,0.000,260,0.000,0.099,3314,3700,2391,2407,2376,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,2758,end climb,SURFACE_DEPTH_REACHED
$STATE,2758,begin surface coast
$FINISH,-0.1,1.021487
$STATE,2776,end surface coast,CONTROL_FINISHED_OK
$STATE,2776,begin surface
$SM_CCo,2794,74.53,1.185,0,0,1680,320.12
$SM_GC,0.42,9.18,2.30,74.53,0.082,0.065,1.185,203,2333,1680,-8.75,0.82,320.12,0,0,0,0,0,0,14.71,14.71,13.96
$IRIDIUM_FIX,4726.11,-12226.80,020513,030322
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.16
$INTERNAL_PRESSURE,8.91438
$TCM_TEMP,17.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,145.2,35.0
$SC_FREEKB,3935904
$24V_AH,13.4,2.153
$10V_AH,13.5,0.000
$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,22.950,38.250,230.575,74.525,0.000,0.000,0.000,436.325,3.000,0.000,14.314,1370.718,204.111,401.973,1472.388,51.555,33.226,1356.696,0.000,960.949,0.000,13.486,0.000
$DEVICE_MAMPS,388.620,191.250,2190.195,1184.985,0.000,0.000,0.000,174.420,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2800.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.679,0.000,0.000,0.000
$MEM,322876
$DATA_FILE_SIZE,20101,635
$CAP_FILE_SIZE,98753,0
$CFSIZE,2097872896,2094596096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,042133,4741.782,-12226.158,27,0.9,27,16.3