version: 66.11
glider: 196
mission: 1
dive: 2
start: 4 30 113 13 9 9
data:
$ID,196
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-1007.0218
$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,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.904678
$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,2281
$C_ROLL_CLIMB,2281
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,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,-75.064087
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$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
$GPS1,300413,200545,4743.056,-12224.932,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-67.8
$GPS2,300413,200855,4743.079,-12224.945,5,1.2,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.093,0.243
$KALMAN_X,-70.4,-70.4,-70.4,-82.3,-158.7
$KALMAN_Y,143.3,143.3,143.3,377.0,322.7
$MHEAD_RNG_PITCHd_Wd,4.6,1531,-17.5,-10.000,-21.04,2225
$D_GRID,178
$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,-1.06,-146.6,204,2277,512,549,0.0,0.0,0,124,0.00,0.00,-103.97,0.000,16386,0.000,0.000,204,2278,3479,3510,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.06,-146.6,204,2278,3510,3450,3.3,-8.2,19,146,11.55,2.50,-2.12,0.000,18948,0.373,0.131,2823,866,3588,3630,3546,0,0,0,0,0,0,14.57,14.68,14.93
$GC,377,-1.06,-146.6,1840,865,3626,3543,39.6,-12.3,79,384,0.00,2.40,0.00,0.000,1030,0.000,0.091,2814,2285,3588,3632,3545,0,0,0,0,0,0,28.83,14.69,28.83
$GC,446,-1.06,-146.6,1792,2283,3626,3543,47.5,-10.8,95,453,0.00,2.45,0.00,0.000,516,0.000,0.109,2814,866,3589,3632,3546,0,0,0,0,0,0,28.83,14.66,28.83
$GC,684,-1.06,-146.6,1792,866,3626,3543,74.4,-11.0,153,691,0.00,2.42,0.00,0.000,1030,0.000,0.092,2803,2291,3588,3632,3545,0,0,0,0,0,0,28.83,14.71,28.83
$GC,814,-1.06,-146.6,1760,2288,3626,3543,90.7,-11.6,184,820,0.00,2.45,0.00,0.000,516,0.000,0.105,2803,866,3589,3632,3546,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1054,-1.06,-146.6,1760,865,3626,3543,118.2,-12.7,242,1061,0.15,2.40,0.00,0.000,3078,0.266,0.093,2826,2283,3588,3632,3545,0,0,0,0,0,0,14.66,14.74,28.83
$GC,1188,-1.06,-146.6,2827,2283,3632,3545,132.1,-10.1,273,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2283,3589,3632,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1317,-1.06,-146.6,1792,2280,3626,3543,143.7,-7.8,304,1323,0.00,2.42,0.00,0.000,260,0.000,0.103,2818,3697,3589,3632,3546,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,1384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1384,begin apogee
$GC,1390,-0.25,0.0,2818,2274,3631,3545,150.2,-9.1,320,1517,0.90,0.00,119.35,2.212,10246,0.203,0.000,3080,2274,2990,3018,2962,0,0,0,0,0,0,14.67,28.83,13.27
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1519,begin climb
$GC,1520,1.06,146.6,3080,2273,3019,2962,152.6,0.0,343,1651,1.27,2.60,120.43,2.136,10500,0.069,0.097,3519,3694,2391,2398,2385,0,0,0,0,0,0,14.04,13.86,13.22
$GC,1883,1.06,146.6,2688,3693,2352,2374,80.0,24.3,423,1890,0.00,2.38,0.00,0.000,1030,0.000,0.070,3530,2282,2393,2401,2386,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2012,1.06,146.6,2688,2281,2350,2374,50.7,22.9,454,2019,0.00,2.42,0.00,0.000,260,0.000,0.096,3529,3692,2393,2401,2386,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2250,1.06,146.6,2688,3691,2348,2374,4.7,19.8,512,2256,0.00,2.35,0.00,0.000,1030,0.000,0.068,3541,2281,2393,2401,2385,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2265,end climb,SURFACE_DEPTH_REACHED
$STATE,2265,begin surface coast
$FINISH,0.7,1.021075
$STATE,2275,end surface coast,CONTROL_FINISHED_OK
$STATE,2276,begin surface
$SM_CCo,2292,84.95,0.168,0,0,1559,350.04
$SM_GC,1.23,10.27,0.00,84.95,0.112,0.000,0.168,201,2281,1559,-9.23,-0.03,350.04,0,0,0,0,0,0,14.63,28.83,14.54
$IRIDIUM_FIX,4726.11,-12225.08,300413,191947
$TT8_MAMPS,0.023968,0.023968
$HUMID,36.69
$INTERNAL_PRESSURE,8.67023
$TCM_TEMP,17.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,130.2,66.7
$SC_FREEKB,3937056
$24V_AH,13.2,0.803
$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,24.150,29.200,239.775,84.950,0.000,0.000,0.000,0.000,4.750,0.000,8.347,1075.536,119.493,408.378,816.832,26.672,30.073,831.464,0.000,785.061,0.000,18.112,0.000
$DEVICE_MAMPS,372.555,130.815,2211.615,168.300,0.000,0.000,0.000,0.000,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2258.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.399,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,13391,517
$CAP_FILE_SIZE,91979,0
$CFSIZE,2097872896,2095316992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300413,205010,4743.499,-12224.986,3,1.0,3,16.3