version: 66.11
glider: 196
mission: 2
dive: 8
start: 5 1 113 22 23 12
data:
$ID,196
$MISSION,2
$DIVE,8
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$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,0
$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,420
$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,-1591.5396
$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,26
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2830
$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,15
$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
$GPS1,020513,051648,4741.795,-12226.144,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-73.8
$GPS2,020513,052407,4741.708,-12226.200,5,1.2,5,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.160,0.187
$KALMAN_X,-2912.5,-746.5,-88.0,2174.2,-698.6
$KALMAN_Y,-4207.2,-1187.2,-104.0,3893.0,-805.9
$MHEAD_RNG_PITCHd_Wd,24.3,5712,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,-0.76,-146.6,202,2354,1631,1728,0.0,0.0,0,85,0.00,0.00,-63.80,0.000,16390,0.000,0.000,202,2354,3429,3469,3390,0,0,0,0,0,0,28.83,28.83,14.71
$GC,87,-0.76,-146.6,201,2354,3469,3390,3.4,-10.4,12,106,11.85,2.45,0.00,0.000,2564,0.387,0.085,2771,929,3430,3470,3391,0,0,0,0,0,0,14.35,14.49,28.83
$GC,168,-0.76,-146.6,1744,928,3462,3387,19.5,-12.7,30,175,0.00,2.40,0.00,0.000,1030,0.000,0.088,2763,2332,3431,3472,3391,0,0,0,0,0,0,28.83,14.52,28.83
$GC,237,-0.76,-146.6,1744,2329,3462,3387,28.6,-13.5,46,244,0.00,2.47,0.00,0.000,260,0.000,0.101,2752,3755,3431,3472,3391,0,0,0,0,0,0,28.83,14.52,28.83
$GC,303,-0.76,-146.6,1728,3755,3468,3387,38.7,-16.3,61,309,0.00,2.35,0.00,0.000,1030,0.000,0.064,2753,2329,3431,3472,3390,0,0,0,0,0,0,28.83,14.56,28.83
$GC,372,-0.76,-146.6,1728,2325,3463,3387,48.4,-14.0,77,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2330,3432,3473,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,500,-0.76,-146.6,1712,2327,3463,3387,67.0,-14.2,108,506,0.00,2.38,0.00,0.000,516,0.000,0.094,2752,936,3432,3473,3391,0,0,0,0,0,0,28.83,14.59,28.83
$GC,737,-0.76,-146.6,1728,936,3463,3387,101.6,-14.7,166,745,0.15,2.38,0.00,0.000,3078,0.292,0.090,2777,2341,3432,3473,3391,0,0,0,0,0,0,14.57,14.66,28.83
$GC,868,-0.76,-146.6,1744,2339,3463,3387,119.0,-13.7,197,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2341,3432,3473,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.76,-146.6,1744,2341,3463,3387,133.9,-11.7,228,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2341,3432,3473,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-0.76,-146.6,1728,2338,3463,3387,149.7,-11.5,259,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2341,3432,3473,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.76,-146.6,1744,2339,3463,3387,164.8,-11.5,290,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2342,3431,3473,3390,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1342,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1342,begin apogee
$GC,1346,-0.19,0.0,2772,2272,3473,3391,174.7,-11.7,310,1474,0.62,0.00,121.32,2.306,10246,0.233,0.000,2946,2272,2831,2857,2806,0,0,0,0,0,0,14.65,28.83,13.22
$STATE,1475,end apogee,CONTROL_FINISHED_OK
$STATE,1475,begin climb
$GC,1477,0.76,146.6,2946,2272,2857,2806,179.8,0.0,333,1607,1.05,0.00,122.12,2.196,10246,0.169,0.000,3250,2272,2234,2251,2217,0,0,0,0,0,0,13.88,28.83,13.14
$GC,1730,0.76,146.6,2240,2270,2202,2205,160.0,9.8,386,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2272,2233,2251,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,0.76,146.6,2240,2269,2202,2205,148.7,9.3,417,1865,0.00,2.50,0.00,0.000,260,0.000,0.100,3251,3700,2233,2251,2216,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1943,0.76,146.6,2240,3698,2202,2205,139.0,11.0,437,1950,0.00,2.35,0.00,0.000,1030,0.000,0.064,3259,2283,2233,2251,2216,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2072,0.76,146.6,2256,2281,2202,2205,124.9,11.8,468,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2283,2233,2251,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,0.76,146.6,2256,2281,2201,2205,110.4,11.0,499,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2283,2233,2251,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,0.76,146.6,2272,2281,2203,2205,98.4,9.5,530,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2283,2233,2251,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,0.76,146.6,2256,2281,2202,2204,85.7,9.2,561,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2283,2233,2251,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,0.76,146.6,2256,2281,2202,2204,73.2,9.1,592,2592,0.00,2.45,0.00,0.000,260,0.000,0.103,3259,3707,2233,2250,2216,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2642,0.76,146.6,2272,3706,2203,2205,66.7,12.2,605,2649,0.00,2.33,0.00,0.000,1030,0.000,0.066,3268,2284,2233,2251,2216,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2771,0.76,146.6,2272,2282,2202,2204,53.2,9.4,636,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2284,2233,2251,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,0.76,146.6,2272,2282,2202,2204,39.9,11.0,667,2906,0.00,2.40,0.00,0.000,516,0.000,0.099,3276,875,2233,2250,2216,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2980,0.76,146.6,2304,874,2203,2204,31.0,11.1,686,2987,0.00,2.40,0.00,0.000,1030,0.000,0.088,3277,2296,2233,2251,2215,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3049,0.76,146.6,2304,2295,2203,2204,23.5,12.3,702,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2297,2232,2253,2211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,0.76,146.6,2304,2294,2203,2204,16.3,9.6,718,3124,0.00,2.40,0.00,0.000,260,0.000,0.099,3276,3700,2232,2250,2215,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,3229,end climb,SURFACE_DEPTH_REACHED
$STATE,3229,begin surface coast
$FINISH,-0.4,1.021259
$STATE,3243,end surface coast,CONTROL_FINISHED_OK
$STATE,3243,begin surface
$SM_CCo,3262,119.65,1.128,0,0,1116,420.20
$SM_GC,0.31,9.10,2.30,119.65,0.083,0.068,1.128,201,2344,1116,-8.76,0.96,420.20,0,0,0,0,0,0,14.69,14.69,13.83
$IRIDIUM_FIX,4722.92,-12227.78,020513,040433
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.86
$INTERNAL_PRESSURE,8.87531
$TCM_TEMP,17.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,145.7,43.7
$SC_FREEKB,3935136
$24V_AH,13.1,2.633
$10V_AH,13.4,0.000
$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,22.775,33.650,243.450,119.650,0.000,0.000,0.000,329.450,3.000,0.000,8.645,1609.747,173.267,464.745,1526.746,61.580,33.242,1388.589,0.000,1128.142,0.000,13.515,0.000
$DEVICE_MAMPS,387.090,161.415,2306.475,1127.610,0.000,0.000,0.000,172.125,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3266.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.593,0.000,0.000,0.000
$MEM,322952
$DATA_FILE_SIZE,23407,748
$CAP_FILE_SIZE,110140,0
$CFSIZE,2097872896,2094268416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,062207,4741.833,-12226.118,3,1.7,3,16.3