version: 66.11
glider: 199
mission: 2
dive: 4
start: 5 2 113 0 53 1
data:
$ID,199
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$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,350
$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,-20712.01
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,020513,004137,4743.142,-12224.762,3,1.0,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.7
$GPS2,020513,005202,4743.064,-12224.798,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.009,0.260
$KALMAN_X,-27.3,19.5,46.3,-351.6,-33.4
$KALMAN_Y,-435.4,-356.5,-222.6,1796.1,-215.0
$MHEAD_RNG_PITCHd_Wd,345.6,1548,-17.5,-10.000,-21.05,2223
$D_GRID,177
$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,-0.88,-146.5,192,2340,1942,1824,0.0,0.0,0,80,0.00,0.00,-61.05,0.000,16386,0.000,0.000,193,2341,3450,3474,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.88,-146.6,192,2341,3474,3427,3.4,-7.4,11,108,9.65,2.55,-9.30,0.000,18692,0.417,0.136,2218,3763,3912,3965,3860,0,0,0,0,0,0,14.47,14.62,14.83
$GC,214,-0.88,-146.6,1320,3762,3963,3862,32.6,-20.2,41,221,0.00,2.35,0.00,0.000,1030,0.000,0.080,2218,2350,3914,3965,3863,0,0,0,0,0,0,28.83,14.67,28.83
$GC,283,-0.88,-146.6,1320,2346,3962,3862,46.0,-18.2,57,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3914,3965,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,411,-0.88,-146.6,1312,2346,3964,3863,69.5,-17.6,88,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3913,3964,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,540,-0.88,-146.6,1312,2346,3964,3863,90.6,-15.9,119,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,667,-0.88,-146.6,1312,2346,3963,3863,111.8,-17.2,150,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-0.88,-146.6,1320,2352,3964,3862,134.4,-17.4,181,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2348,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,926,-0.88,-146.6,1312,2346,3964,3863,156.5,-17.2,212,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3914,3965,3864,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1045,begin apogee
$GC,1048,-0.20,0.0,2218,2349,3965,3864,177.3,-17.3,241,1226,0.80,0.00,163.62,1.699,10246,0.237,0.000,2444,2349,3316,3381,3252,0,0,0,0,1,0,14.71,28.83,13.50
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1228,begin climb
$GC,1229,0.88,146.6,2445,2349,3382,3251,185.2,0.0,273,1410,1.15,0.00,165.43,1.639,10246,0.151,0.000,2793,2348,2717,2783,2651,0,0,0,0,1,0,14.07,28.83,13.45
$GC,1533,0.92,181.1,1728,2346,2747,2644,175.8,8.4,335,1578,0.00,0.00,39.05,1.616,8198,0.000,0.000,2793,2348,2576,2648,2504,0,0,0,0,0,0,28.83,28.83,13.63
$GC,1700,0.92,181.1,1728,2346,2607,2495,160.0,10.0,373,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2348,2575,2648,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1829,0.93,185.4,1728,2346,2606,2495,146.4,9.8,404,1842,0.00,2.47,5.78,1.317,8452,0.000,0.114,2793,3756,2559,2632,2486,0,0,0,0,0,0,28.83,14.51,13.99
$GC,1928,0.93,185.4,1744,3755,2593,2479,133.9,12.4,427,1935,0.00,2.38,0.00,0.000,1030,0.000,0.079,2803,2328,2560,2633,2487,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2057,0.93,185.4,1744,2326,2592,2479,119.6,11.8,458,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2329,2560,2633,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2185,0.93,185.4,1744,2326,2592,2479,104.7,12.0,489,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2328,2560,2633,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,0.93,185.4,1760,2326,2593,2479,90.5,11.1,520,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2328,2560,2633,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,0.95,204.9,1744,2326,2593,2479,77.3,9.1,551,2461,0.00,2.45,11.10,1.200,8452,0.000,0.112,2803,3748,2478,2553,2403,0,0,0,0,0,0,28.83,14.66,14.22
$GC,2535,0.95,204.9,1760,3747,2510,2395,67.1,12.1,572,2542,0.00,2.33,0.00,0.000,1030,0.000,0.078,2813,2335,2478,2553,2403,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2665,0.95,204.9,1760,2333,2510,2395,53.8,10.6,603,2671,0.00,2.35,0.00,0.000,516,0.000,0.096,2824,934,2478,2554,2403,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2757,0.95,204.9,1760,928,2509,2395,44.1,10.1,625,2764,0.00,2.38,0.00,0.000,1030,0.000,0.088,2823,2349,2478,2554,2403,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2886,0.95,204.9,1760,2346,2509,2395,29.8,11.0,656,2893,0.00,2.38,0.00,0.000,516,0.000,0.093,2834,934,2478,2553,2403,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2987,0.95,204.9,1768,934,2510,2395,18.6,11.0,680,2994,0.00,2.35,0.00,0.000,1030,0.000,0.087,2834,2341,2478,2554,2403,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3056,0.95,204.9,1792,2339,2510,2395,10.9,11.3,696,3063,0.00,2.40,0.00,0.000,260,0.000,0.112,2834,3749,2478,2553,2403,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3113,0.95,204.9,1792,3748,2510,2395,4.5,10.2,709,3120,0.00,2.33,0.00,0.000,1030,0.000,0.077,2843,2333,2478,2554,2402,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,3141,end climb,SURFACE_DEPTH_REACHED
$STATE,3141,begin surface coast
$FINISH,0.3,1.021366
$STATE,3163,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3177,65.35,0.168,0,0,1885,350.04
$SM_GC,1.58,7.80,0.00,65.35,0.096,0.000,0.168,196,2333,1885,-7.20,-0.51,350.04,0,0,0,0,0,0,14.74,28.83,14.65
$IRIDIUM_FIX,4726.11,-12217.96,020513,000056
$TT8_MAMPS,0.025466,0.025466
$HUMID,31.57
$INTERNAL_PRESSURE,9.11982
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,71.6
$SC_FREEKB,4016064
$24V_AH,13.5,2.861
$10V_AH,13.1,0.000
$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,19.400,28.700,384.975,65.350,0.000,0.000,0.000,437.600,0.500,0.000,6.718,1489.811,213.791,512.206,1597.927,55.028,32.221,1548.614,0.000,1085.814,0.000,5.628,0.000
$DEVICE_MAMPS,416.925,136.170,1699.065,168.300,0.000,0.000,0.000,163.710,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.587,0.000,0.000,0.000
$MEM,322852
$DATA_FILE_SIZE,23346,720
$CAP_FILE_SIZE,108111,0
$CFSIZE,2097872896,2094825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,020513,014743,4743.261,-12225.008,3,1.1,3,16.3