version: 66.11
glider: 199
mission: 2
dive: 5
start: 5 2 113 1 56 54
data:
$ID,199
$MISSION,2
$DIVE,5
$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,-20721.797
$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,31
$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
$GPS1,020513,014743,4743.261,-12225.008,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.3
$GPS2,020513,015554,4743.172,-12225.011,5,1.2,6,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,0.248
$KALMAN_X,-280.0,-30.6,76.5,-342.2,-174.9
$KALMAN_Y,-1024.2,-535.9,-127.6,2673.7,-349.0
$MHEAD_RNG_PITCHd_Wd,1.2,1373,-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,-0.88,-146.6,196,2332,1940,1829,0.0,0.0,0,86,0.00,0.00,-66.18,0.000,16386,0.000,0.000,196,2333,3603,3635,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.88,-146.6,196,2333,3635,3571,3.9,-10.0,12,113,9.73,2.40,-6.07,0.000,18948,0.420,0.118,2229,945,3913,3963,3864,0,0,0,0,0,0,14.45,14.54,14.78
$GC,171,-0.88,-146.6,1344,944,3962,3864,23.3,-18.4,30,178,0.00,2.38,0.00,0.000,1030,0.000,0.091,2220,2347,3914,3964,3865,0,0,0,0,0,0,28.83,14.59,28.83
$GC,240,-0.88,-146.6,1320,2345,3963,3863,35.4,-18.2,46,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2347,3914,3964,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,308,-0.88,-146.6,1316,2345,3961,3863,47.8,-19.0,62,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2347,3914,3964,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,437,-0.88,-146.6,1312,2345,3963,3864,71.5,-19.0,93,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2347,3914,3964,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,566,-0.88,-146.6,1312,2345,3963,3863,95.0,-14.6,124,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2347,3914,3964,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,693,-0.88,-146.6,1312,2345,3963,3863,115.2,-16.4,155,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2347,3914,3964,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.88,-146.6,1304,2345,3963,3863,137.4,-16.5,186,832,0.00,2.42,0.00,0.000,260,0.000,0.119,2210,3763,3914,3964,3865,0,0,0,0,0,0,28.83,14.76,28.83
$GC,878,-0.88,-146.6,1312,3758,3963,3864,147.1,-18.2,198,885,0.00,2.33,0.00,0.000,1030,0.000,0.084,2210,2355,3913,3964,3863,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1007,-0.88,-146.6,1296,2352,3963,3863,169.2,-17.4,229,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2354,3914,3964,3865,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1058,begin apogee
$GC,1061,-0.20,0.0,2210,2354,3964,3865,178.2,-17.3,241,1239,0.85,0.00,163.62,1.689,10246,0.246,0.000,2446,2354,3316,3382,3250,0,0,0,0,1,0,14.66,28.83,13.45
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1242,0.88,146.6,2446,2354,3382,3251,185.4,0.0,273,1423,1.15,2.58,165.43,1.660,10500,0.154,0.112,2794,3754,2718,2785,2652,0,0,0,0,1,0,14.04,13.93,13.40
$GC,1655,0.91,169.8,1728,3753,2747,2646,164.0,8.9,362,1690,0.00,2.38,26.60,1.601,9222,0.000,0.077,2804,2333,2622,2694,2551,0,0,0,0,0,0,28.83,14.50,13.78
$GC,1812,0.91,169.8,1760,2331,2655,2543,147.4,12.2,398,1819,0.00,2.50,0.00,0.000,260,0.000,0.114,2804,3754,2620,2690,2551,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2050,0.91,169.8,1744,3754,2654,2544,119.8,12.1,456,2056,0.00,2.35,0.00,0.000,1030,0.000,0.077,2815,2332,2622,2694,2551,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2179,0.91,169.8,1824,2332,2659,2544,106.7,10.6,487,2186,0.00,2.35,0.00,0.000,516,0.000,0.096,2825,936,2622,2694,2551,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2321,0.91,170.3,1760,935,2654,2544,91.5,10.0,521,2328,0.00,2.38,0.00,0.000,1030,0.000,0.088,2825,2348,2623,2695,2551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2451,0.93,184.8,1760,2345,2655,2544,78.2,9.3,552,2463,0.00,0.00,8.35,1.169,8198,0.000,0.000,2825,2348,2560,2632,2488,0,0,0,0,0,0,28.83,28.83,14.21
$GC,2586,0.93,185.2,1792,2345,2592,2480,65.0,10.0,584,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2347,2560,2632,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,0.93,185.2,1760,2345,2593,2480,51.8,11.0,615,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2348,2560,2632,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,0.93,185.2,1760,2345,2592,2481,38.4,10.2,646,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2348,2560,2632,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2911,0.94,196.5,1768,2345,2592,2481,32.0,9.5,662,2923,0.00,0.00,6.35,0.927,8198,0.000,0.000,2825,2352,2510,2584,2436,0,0,0,0,0,0,28.83,28.83,14.28
$GC,2986,1.01,251.5,1792,2345,2541,2428,25.6,7.5,679,3015,0.00,0.00,26.67,0.238,8198,0.000,0.000,2825,2347,2285,2365,2206,0,0,0,0,0,0,28.83,28.83,14.59
$GC,3077,1.01,251.5,1792,2345,2323,2199,17.0,13.6,699,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2348,2286,2365,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,1.01,251.5,1792,2346,2322,2199,8.7,11.9,715,3152,0.00,2.40,0.00,0.000,516,0.000,0.093,2836,926,2286,2365,2207,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,3205,end climb,SURFACE_DEPTH_REACHED
$STATE,3205,begin surface coast
$FINISH,0.3,1.020445
$STATE,3223,end surface coast,CONTROL_FINISHED_OK
$STATE,3223,begin surface
$SM_CCo,3240,44.42,0.168,0,0,1884,350.04
$SM_GC,1.58,7.70,2.47,44.42,0.083,0.091,0.168,195,2352,1884,-7.21,-0.62,350.04,0,0,0,0,0,0,14.69,14.68,14.62
$IRIDIUM_FIX,4726.11,-12216.25,020513,000038
$TT8_MAMPS,0.024717,0.024717
$HUMID,31.84
$INTERNAL_PRESSURE,9.11005
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,66.7
$SC_FREEKB,4015956
$24V_AH,13.4,3.113
$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,19.425,28.925,397.025,44.425,0.000,0.000,0.000,359.600,1.000,0.000,6.713,1513.234,160.678,500.977,1543.057,55.056,33.213,1469.998,0.000,1107.110,0.000,8.794,0.000
$DEVICE_MAMPS,419.985,118.575,1689.120,168.300,0.000,0.000,0.000,177.480,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3249.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.892,0.000,0.000,0.000
$MEM,322876
$DATA_FILE_SIZE,23405,733
$CAP_FILE_SIZE,107701,0
$CFSIZE,2097872896,2094661632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,020513,025218,4743.257,-12225.092,4,1.4,4,16.3