version: 66.11
glider: 199
mission: 2
dive: 2
start: 5 1 113 22 41 28
data:
$ID,199
$MISSION,2
$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,53051
$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,300
$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,-20667.953
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2520
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3314
$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,-64.539497
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010513,223719,4742.622,-12224.412,3,1.6,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.8
$GPS2,010513,224030,4742.615,-12224.406,6,1.6,6,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,0.246
$KALMAN_X,49.9,49.9,49.9,18.2,139.0
$KALMAN_Y,-70.0,-70.0,-70.0,161.9,-195.0
$MHEAD_RNG_PITCHd_Wd,325.0,2430,-17.5,-10.000,-21.04,2225
$D_GRID,162
$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,16,-0.88,-146.6,190,2338,1115,1006,0.0,0.0,0,113,0.00,0.00,-93.93,0.000,16386,0.000,0.000,191,2339,3456,3473,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.88,-146.6,190,2338,3473,3440,3.3,-6.5,17,140,9.35,0.00,-9.68,0.000,18694,0.408,0.000,2229,2338,3913,3965,3861,0,0,0,0,0,0,14.66,28.83,15.00
$GC,202,-0.88,-146.6,1328,2336,3963,3862,21.0,-18.4,36,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2339,3914,3965,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,270,-0.88,-146.6,1320,2336,3964,3863,31.4,-13.5,52,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2339,3914,3965,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,339,-0.88,-146.6,1320,2336,3964,3863,42.2,-16.5,68,345,0.00,2.42,0.00,0.000,260,0.000,0.109,2219,3762,3914,3965,3864,0,0,0,0,0,0,28.83,14.78,28.83
$GC,387,-0.88,-146.6,1312,3761,3964,3863,51.3,-18.4,79,394,0.00,2.30,0.00,0.000,1030,0.000,0.079,2219,2353,3914,3965,3864,0,0,0,0,0,0,28.83,14.82,28.83
$GC,517,-0.88,-146.6,1312,2350,3964,3863,75.1,-19.2,110,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2353,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,645,-0.88,-146.6,1312,2356,3964,3863,98.7,-16.4,141,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2353,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,773,-0.88,-146.6,1312,2350,3964,3863,118.9,-14.9,172,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,3914,3965,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,906,-0.88,-146.6,1344,2351,3964,3863,139.6,-15.3,203,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2353,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,970,begin apogee
$GC,973,-0.20,0.0,2219,2353,3965,3870,150.2,-16.2,216,1145,0.80,0.00,160.12,1.694,10246,0.233,0.000,2448,2352,3315,3380,3251,0,0,0,0,1,0,14.78,28.83,13.62
$STATE,1146,end apogee,CONTROL_FINISHED_OK
$STATE,1146,begin climb
$GC,1148,0.88,146.6,2448,2352,3381,3252,158.1,0.0,247,1329,1.12,2.58,162.48,1.646,11012,0.149,0.109,2796,3746,2718,2783,2653,0,0,0,0,1,0,14.21,14.11,13.58
$GC,1497,0.88,146.6,1728,3745,2746,2645,139.9,10.5,320,1504,0.00,2.35,0.00,0.000,1030,0.000,0.078,2805,2331,2718,2784,2653,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1626,0.89,157.2,1736,2329,2746,2645,128.0,9.5,351,1638,0.00,0.00,8.62,1.414,8198,0.000,0.000,2805,2331,2672,2738,2606,0,0,0,0,0,0,28.83,28.83,14.11
$GC,1761,0.89,157.2,1736,2329,2702,2599,114.5,10.8,383,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2331,2674,2742,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1889,0.90,159.7,1752,2329,2703,2599,100.3,9.9,414,1896,0.00,0.00,1.80,0.496,8198,0.000,0.000,2805,2336,2663,2733,2594,0,0,0,0,0,0,28.83,28.83,14.58
$GC,2018,0.93,186.4,1744,2329,2694,2587,87.7,8.8,445,2036,0.00,0.00,15.35,1.291,8198,0.000,0.000,2805,2331,2553,2627,2480,0,0,0,0,0,0,28.83,28.83,14.21
$GC,2159,0.93,186.4,1744,2328,2586,2473,74.3,10.4,478,2166,0.00,2.45,0.00,0.000,260,0.000,0.111,2805,3753,2554,2628,2481,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2280,0.93,186.4,1744,3752,2587,2478,58.9,12.8,507,2287,0.00,2.33,0.00,0.000,1030,0.000,0.080,2815,2334,2555,2629,2481,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2409,0.93,186.4,1760,2332,2587,2473,45.3,11.1,538,2416,0.00,2.33,0.00,0.000,516,0.000,0.096,2822,935,2555,2629,2481,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2555,0.96,212.2,1760,934,2587,2473,31.7,8.8,573,2574,0.00,2.33,13.30,1.021,9222,0.000,0.086,2825,2341,2447,2525,2369,0,0,0,0,0,0,28.83,14.81,14.33
$GC,2636,0.96,212.3,1768,2339,2483,2362,24.1,10.0,591,2643,0.00,2.40,0.00,0.000,260,0.000,0.110,2825,3753,2447,2525,2370,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,2836,end climb,SURFACE_DEPTH_REACHED
$STATE,2836,begin surface coast
$FINISH,0.2,1.020830
$STATE,2870,end surface coast,CONTROL_FINISHED_OK
$STATE,2870,begin surface
$SM_CCo,2887,39.83,0.172,0,0,2089,300.00
$SM_GC,5.36,7.72,2.38,39.83,0.096,0.080,0.172,196,2348,2089,-7.21,0.88,300.00,0,0,0,0,0,0,14.78,14.78,14.71
$IRIDIUM_FIX,4722.92,-12319.25,010513,222251
$TT8_MAMPS,0.024717,0.024717
$HUMID,31.76
$INTERNAL_PRESSURE,9.18818
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.5,41.3
$SC_FREEKB,4016268
$24V_AH,13.6,2.339
$10V_AH,13.3,0.000
$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,19.000,23.850,361.675,39.825,0.000,0.000,0.000,0.000,2.000,0.000,6.769,1327.603,140.370,476.897,1014.300,35.595,30.073,1020.526,0.000,976.350,0.000,16.364,0.000
$DEVICE_MAMPS,407.745,110.925,1694.475,172.125,0.000,0.000,0.000,0.000,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2853.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.205,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,20055,648
$CAP_FILE_SIZE,114443,0
$CFSIZE,2097872896,2095153152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,010513,233120,4742.792,-12224.583,29,0.7,29,16.3