version: 66.11
glider: 196
mission: 2
dive: 15
start: 5 2 113 6 6 37
data:
$ID,196
$MISSION,2
$DIVE,15
$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,-1799.0133
$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,31
$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,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
$GPS1,020513,125913,4743.955,-12223.688,3,0.9,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-72.1
$GPS2,020513,130732,4743.926,-12223.671,24,1.0,24,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,0.214
$KALMAN_X,-6532.6,627.5,282.3,7201.2,-298.2
$KALMAN_Y,-8402.4,1149.6,327.7,9427.8,-434.1
$MHEAD_RNG_PITCHd_Wd,13.0,551,-14.9,-8.498,-19.07,2610
$D_GRID,164
$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,-146.6,201,2340,1050,1167,0.0,0.0,0,107,0.00,0.00,-86.40,0.000,16390,0.000,0.000,201,2341,3428,3461,3396,0,0,0,0,0,0,28.83,28.83,14.65
$GC,109,-0.75,-146.6,201,2341,3462,3396,1.9,-3.9,16,128,11.98,2.42,0.00,0.000,2564,0.389,0.087,2772,936,3430,3464,3397,0,0,0,0,0,0,14.32,14.43,28.83
$GC,359,-0.75,-146.6,1744,935,3457,3393,38.5,-12.3,76,366,0.00,2.40,0.00,0.000,1030,0.000,0.088,2763,2342,3431,3466,3396,0,0,0,0,0,0,28.83,14.52,28.83
$GC,428,-0.75,-146.6,1736,2340,3457,3393,47.8,-13.8,92,435,0.00,2.45,0.00,0.000,260,0.000,0.099,2753,3756,3431,3466,3396,0,0,0,0,0,0,28.83,14.53,28.83
$GC,641,-0.75,-146.6,1728,3756,3457,3393,77.2,-14.0,144,648,0.00,2.33,0.00,0.000,1030,0.000,0.062,2752,2332,3431,3467,3396,0,0,0,0,0,0,28.83,14.62,28.83
$GC,770,-0.75,-146.6,1728,2329,3457,3393,94.1,-14.1,175,777,0.00,2.45,0.00,0.000,260,0.000,0.099,2747,3753,3431,3467,3396,0,0,0,0,0,0,28.83,14.62,28.83
$GC,944,-0.75,-146.6,1748,3753,3459,3392,119.5,-14.7,217,952,0.15,2.30,0.00,0.000,3078,0.264,0.062,2774,2339,3431,3467,3396,0,0,0,0,0,0,14.58,14.66,28.83
$GC,1074,-0.75,-146.6,1744,2336,3458,3392,135.7,-11.6,248,1080,0.00,2.38,0.00,0.000,516,0.000,0.095,2774,942,3431,3467,3396,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1271,-0.75,-146.6,1760,941,3458,3392,158.4,-11.6,296,1278,0.00,2.38,0.00,0.000,1030,0.000,0.090,2765,2345,3431,3467,3396,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1401,-0.75,-146.6,1744,2342,3457,3392,163.4,-0.6,327,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2345,3431,3467,3396,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1447,end dive,NO_VERTICAL_VELOCITY
$STATE,1447,begin apogee
$GC,1451,-0.19,0.0,2766,2287,3467,3396,163.3,0.0,338,1579,0.60,0.00,121.78,2.329,10246,0.183,0.000,2945,2286,2832,2857,2807,0,0,0,0,0,0,14.65,28.83,13.15
$STATE,1581,end apogee,CONTROL_FINISHED_OK
$STATE,1581,begin climb
$GC,1582,0.75,146.6,2945,2286,2857,2807,163.3,0.0,361,1702,1.08,0.00,114.28,1.675,10758,0.170,0.000,3254,2285,2232,2252,2213,0,0,0,0,0,0,13.81,28.83,13.32
$GC,1825,0.86,235.7,2256,2283,2205,2202,156.2,5.0,412,1898,0.12,0.00,68.15,1.639,10502,0.123,0.000,3318,2286,1870,1875,1866,0,0,0,0,0,0,14.24,28.83,13.41
$GC,2020,0.86,235.7,2336,2283,1836,1857,134.3,11.9,455,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2285,1870,1875,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2148,0.86,235.7,2336,2283,1836,1857,118.3,13.0,486,2155,0.00,2.42,0.00,0.000,516,0.000,0.099,3321,888,1870,1875,1866,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2177,0.86,235.7,2368,887,1839,1855,114.5,11.8,492,2184,0.00,2.40,0.00,0.000,1030,0.000,0.084,3321,2284,1869,1876,1863,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2306,0.86,235.7,2336,2281,1838,1855,95.1,15.7,523,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2284,1869,1876,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2434,0.86,235.7,2336,2282,1838,1855,75.8,15.2,554,2441,0.00,2.45,0.00,0.000,260,0.000,0.098,3321,3700,1869,1876,1863,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2487,0.86,235.7,2352,3699,1838,1855,67.3,16.7,566,2495,0.15,2.35,0.00,0.000,5126,0.260,0.065,3298,2282,1869,1876,1863,0,0,0,0,0,0,14.49,14.57,28.83
$GC,2617,0.86,235.7,2304,2280,1838,1855,49.7,13.1,597,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2281,1869,1876,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2745,0.86,235.7,2304,2279,1837,1855,34.1,12.9,628,2752,0.00,2.45,0.00,0.000,260,0.000,0.096,3297,3704,1870,1876,1864,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2818,0.86,235.7,2320,3703,1837,1855,23.6,14.9,645,2825,0.00,2.35,0.00,0.000,1030,0.000,0.065,3307,2285,1869,1876,1863,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2887,0.86,235.7,2336,2282,1838,1855,14.3,13.1,661,2893,0.00,2.42,0.00,0.000,516,0.000,0.099,3318,873,1869,1876,1863,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2971,0.86,235.7,2336,873,1838,1854,3.2,12.9,681,2978,0.00,2.40,0.00,0.000,1030,0.000,0.084,3318,2291,1869,1876,1862,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,2983,end climb,SURFACE_DEPTH_REACHED
$STATE,2983,begin surface coast
$FINISH,0.1,1.022138
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2996,begin surface
$SM_CCo,3013,80.78,1.102,0,0,1116,420.20
$SM_GC,0.37,9.25,0.10,80.78,0.083,0.177,1.102,206,2358,1116,-8.74,-0.51,420.20,0,0,0,0,0,0,14.62,14.60,13.89
$IRIDIUM_FIX,4726.11,-12223.37,020513,111124
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.46
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.30
$XPDR_PINGS,8
$SC_FREEKB,3932448
$24V_AH,13.2,4.370
$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,23.325,38.525,304.200,80.775,0.000,0.000,0.000,350.675,2.000,0.000,27.905,1445.518,154.872,465.772,1473.681,53.863,33.217,1376.443,0.000,1034.872,0.000,0.544,0.000
$DEVICE_MAMPS,389.385,185.895,2328.660,1102.365,0.000,0.000,0.000,169.830,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3022.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.284,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,23388,686
$CAP_FILE_SIZE,102190,0
$CFSIZE,2097872896,2093121536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,140045,4744.200,-12223.383,3,0.9,3,16.3