version: 66.11
glider: 196
mission: 2
dive: 14
start: 5 2 113 5 3 17
data:
$ID,196
$MISSION,2
$DIVE,14
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,71
$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,-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,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,-1761.7399
$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,34
$R_STBD_OVSHOOT,21
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,020513,115605,4743.651,-12224.016,4,0.8,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-72.1
$GPS2,020513,120412,4743.639,-12224.002,5,0.8,6,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,0.201
$KALMAN_X,-5949.6,274.0,205.4,6634.0,-156.7
$KALMAN_Y,-7506.3,577.2,285.3,8614.3,-130.7
$MHEAD_RNG_PITCHd_Wd,18.7,1213,-14.9,-8.498,-19.07,2610
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.75,-146.6,200,2342,1049,1167,0.0,0.0,0,107,0.00,0.00,-86.55,0.000,16390,0.000,0.000,200,2342,3428,3461,3396,0,0,0,0,0,0,28.83,28.83,14.65
$GC,110,-0.75,-146.6,200,2342,3461,3397,2.1,-4.5,16,129,12.02,2.42,0.00,0.000,2564,0.391,0.084,2770,939,3431,3465,3397,0,0,0,0,0,0,14.33,14.43,28.83
$GC,359,-0.75,-146.6,1736,938,3457,3393,44.4,-14.7,76,366,0.00,2.40,0.00,0.000,1030,0.000,0.088,2762,2343,3432,3467,3397,0,0,0,0,0,0,28.83,14.52,28.83
$GC,489,-0.75,-146.6,1728,2341,3457,3393,63.3,-14.9,107,495,0.00,2.42,0.00,0.000,260,0.000,0.100,2751,3747,3431,3467,3396,0,0,0,0,0,0,28.83,14.55,28.83
$GC,569,-0.75,-146.6,1728,3746,3457,3393,75.1,-14.0,126,576,0.00,2.33,0.00,0.000,1030,0.000,0.063,2751,2328,3432,3467,3397,0,0,0,0,0,0,28.83,14.62,28.83
$GC,698,-0.75,-146.6,1728,2325,3457,3393,93.2,-14.5,157,705,0.00,2.45,0.00,0.000,260,0.000,0.100,2740,3750,3431,3467,3396,0,0,0,0,0,0,28.83,14.60,28.83
$GC,859,-0.75,-146.6,1712,3750,3457,3393,117.8,-15.5,196,867,0.15,2.30,0.00,0.000,3078,0.265,0.062,2773,2336,3432,3467,3397,0,0,0,0,0,0,14.57,14.66,28.83
$GC,989,-0.75,-146.6,1744,2334,3457,3393,133.5,-11.5,227,996,0.00,2.38,0.00,0.000,516,0.000,0.096,2773,939,3431,3467,3396,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1215,-0.75,-146.6,1728,938,3457,3393,160.4,-11.9,282,1222,0.00,2.38,0.00,0.000,1030,0.000,0.090,2765,2344,3431,3467,3396,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1303,-0.19,0.0,2764,2272,3467,3396,171.3,-12.3,302,1431,0.68,0.00,121.53,2.290,10246,0.232,0.000,2950,2272,2831,2856,2806,0,0,0,0,0,0,14.62,28.83,13.16
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1434,0.75,146.6,2950,2273,2857,2806,176.2,0.0,325,1554,1.05,0.00,114.45,1.724,10758,0.164,0.000,3255,2272,2232,2250,2214,0,0,0,0,0,0,13.82,28.83,13.31
$GC,1676,0.75,146.6,2256,2270,2202,2203,155.6,10.1,376,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2272,2232,2251,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1805,0.75,146.6,2256,2270,2202,2202,141.7,10.2,407,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2272,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,0.75,146.6,2248,2270,2202,2202,128.5,10.5,438,1939,0.00,2.40,0.00,0.000,516,0.000,0.098,3264,887,2232,2251,2213,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2033,0.75,146.6,2272,886,2203,2202,116.9,11.2,462,2040,0.00,2.40,0.00,0.000,1030,0.000,0.085,3264,2296,2232,2251,2213,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2162,0.75,146.6,2272,2294,2203,2202,101.4,11.1,493,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2296,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,0.75,146.6,2272,2294,2203,2202,87.0,10.8,524,2297,0.00,2.40,0.00,0.000,260,0.000,0.099,3264,3695,2232,2251,2213,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2367,0.75,146.6,2304,3694,2202,2202,77.7,12.0,542,2374,0.00,2.30,0.00,0.000,1030,0.000,0.063,3273,2294,2232,2251,2213,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2498,0.75,146.6,2304,2292,2202,2202,63.1,11.2,573,2504,0.00,2.42,0.00,0.000,516,0.000,0.098,3280,876,2231,2251,2212,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2511,0.75,146.6,3280,875,2251,2212,61.4,13.3,575,2518,0.00,2.40,0.00,0.000,1030,0.000,0.087,3280,2292,2231,2251,2212,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2640,0.75,146.6,2304,2289,2204,2202,46.1,10.9,606,2647,0.00,2.40,0.00,0.000,260,0.000,0.098,3280,3694,2231,2251,2212,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2809,0.75,146.6,2304,3693,2202,2201,25.8,11.5,647,2816,0.00,2.33,0.00,0.000,1030,0.000,0.063,3289,2276,2231,2251,2212,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2878,0.75,146.6,2304,2273,2203,2202,18.8,10.1,663,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2276,2231,2251,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2946,0.75,146.6,2304,2274,2203,2202,12.4,9.0,679,2953,0.00,2.40,0.00,0.000,516,0.000,0.099,3300,873,2231,2251,2212,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FINISH,-0.1,1.022069
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3064,begin surface
$SM_CCo,3082,119.12,1.079,0,0,1115,420.20
$SM_GC,0.32,9.18,2.55,119.12,0.081,0.086,1.079,200,2339,1115,-8.76,-0.76,420.20,0,0,0,0,0,0,14.65,14.64,13.81
$IRIDIUM_FIX,4726.11,-12227.78,020513,101004
$TT8_MAMPS,0.024717,0.024717
$HUMID,31.25
$INTERNAL_PRESSURE,8.85578
$TCM_TEMP,17.20
$XPDR_PINGS,7
$SC_FREEKB,3932832
$24V_AH,13.2,4.114
$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,23.075,43.175,235.975,119.125,0.000,0.000,0.000,354.575,1.750,0.000,9.756,1515.087,164.426,458.804,1495.787,54.752,33.226,1375.096,0.000,1069.959,0.000,0.544,0.000
$DEVICE_MAMPS,390.915,159.885,2289.645,1079.415,0.000,0.000,0.000,172.890,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3092.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.545,0.000,0.000,0.000
$MEM,322904
$DATA_FILE_SIZE,23437,707
$CAP_FILE_SIZE,103854,0
$CFSIZE,2097872896,2093285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,125913,4743.955,-12223.688,3,0.9,4,16.3