version: 66.11
glider: 199
mission: 2
dive: 9
start: 5 2 113 6 8 20
data:
$ID,199
$MISSION,2
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$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,0
$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,-20726.82
$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,2512
$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,2970
$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,15
$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
$GPS1,020513,060000,4742.904,-12225.262,5,0.9,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.4
$GPS2,020513,060722,4742.784,-12225.232,10,0.9,10,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,0.232
$KALMAN_X,-1539.2,-122.5,-247.2,1052.2,-378.4
$KALMAN_Y,-4764.8,-624.9,-323.2,5973.4,-1049.9
$MHEAD_RNG_PITCHd_Wd,3.4,2136,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,-0.78,-146.6,192,2344,1595,1481,0.0,0.0,0,91,0.00,0.00,-71.93,0.000,16386,0.000,0.000,192,2344,3412,3438,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.78,-146.6,192,2344,3438,3386,3.6,-7.6,13,112,10.02,0.00,-3.35,0.000,18950,0.425,0.000,2252,2341,3568,3618,3519,0,0,0,0,0,0,14.39,28.83,14.72
$GC,174,-0.78,-146.6,1344,2342,3613,3518,18.9,-14.4,31,180,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2344,3569,3618,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,243,-0.78,-146.6,1344,2342,3612,3518,28.4,-14.7,47,248,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2344,3569,3618,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,311,-0.78,-146.6,1344,2342,3613,3519,38.4,-14.5,63,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2344,3569,3618,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,379,-0.78,-146.6,1344,2342,3613,3518,49.3,-13.9,79,385,0.00,2.38,0.00,0.000,516,0.000,0.092,2253,940,3569,3618,3521,0,0,0,0,0,0,28.83,14.59,28.83
$GC,523,-0.78,-146.6,1344,939,3613,3519,68.7,-13.5,114,530,0.00,2.38,0.00,0.000,1030,0.000,0.091,2244,2349,3570,3618,3522,0,0,0,0,0,0,28.83,14.65,28.83
$GC,652,-0.78,-146.6,1328,2346,3613,3519,84.9,-11.4,145,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2349,3570,3618,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,780,-0.78,-146.6,1328,2346,3613,3522,99.5,-10.8,176,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2349,3570,3618,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.78,-146.6,1344,2347,3613,3519,114.6,-12.9,207,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2349,3570,3618,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1041,-0.78,-146.6,1328,2347,3613,3519,132.0,-12.0,238,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2349,3569,3618,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1169,-0.78,-146.6,1344,2346,3613,3519,149.5,-12.3,269,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2349,3570,3619,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1297,-0.78,-146.6,1328,2346,3614,3519,163.8,-12.1,300,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2349,3570,3619,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-0.78,-146.6,1332,2347,3614,3519,178.1,-10.7,331,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2349,3570,3618,3522,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1532,begin apogee
$GC,1536,-0.20,0.0,2244,2349,3618,3521,190.2,-12.3,357,1702,0.70,0.00,161.65,1.684,10246,0.243,0.000,2440,2349,2971,3049,2893,0,0,0,0,0,0,14.69,28.83,13.39
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1705,0.78,146.6,2440,2349,3049,2896,193.8,0.0,387,1885,1.08,0.00,165.65,1.626,10758,0.167,0.000,2755,2349,2373,2454,2292,0,0,0,0,1,0,13.92,28.83,13.35
$GC,2007,0.78,146.6,1712,2346,2412,2285,165.9,10.9,449,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2354,2373,2454,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2135,0.78,146.6,1712,2347,2411,2285,151.6,11.5,480,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2349,2373,2454,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,0.78,146.6,1712,2347,2411,2285,136.3,11.2,511,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2349,2373,2454,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,0.78,146.6,1712,2347,2411,2285,122.6,9.9,542,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2349,2373,2454,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2519,0.78,146.6,1712,2347,2410,2285,109.3,10.5,573,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2349,2373,2454,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,0.78,146.6,1712,2346,2411,2285,96.1,9.5,604,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2349,2372,2455,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2775,0.78,146.6,1712,2347,2411,2285,84.6,10.2,635,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2349,2373,2454,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,0.78,146.6,1712,2347,2411,2285,71.9,9.5,666,2910,0.00,2.40,0.00,0.000,516,0.000,0.095,2765,926,2373,2454,2293,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2965,0.78,146.6,1728,926,2412,2285,66.1,9.4,680,2972,0.00,2.38,0.00,0.000,1030,0.000,0.088,2764,2343,2373,2454,2293,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3094,0.79,154.7,1712,2340,2411,2285,54.8,8.2,711,3101,0.00,0.00,4.53,0.907,8198,0.000,0.000,2765,2342,2338,2419,2257,0,0,0,0,0,0,28.83,28.83,14.27
$GC,3224,0.80,160.8,1712,2340,2376,2250,43.6,8.3,742,3232,0.00,2.45,3.28,0.739,8708,0.000,0.094,2773,934,2313,2395,2232,0,0,0,0,0,0,28.83,14.67,14.26
$GC,3395,0.80,165.8,1728,933,2351,2224,29.6,8.3,783,3403,0.00,2.38,2.70,0.288,9222,0.000,0.086,2773,2338,2291,2373,2209,0,0,0,0,0,0,28.83,14.69,14.60
$GC,3465,0.80,165.8,1736,2336,2331,2202,23.1,8.9,799,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2338,2291,2373,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3533,0.80,165.8,1728,2336,2331,2202,16.5,8.8,815,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2339,2291,2373,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,0.80,165.8,1728,2336,2331,2202,10.3,9.1,831,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2338,2291,2372,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,0.81,171.4,1728,2336,2330,2202,4.3,8.3,847,3678,0.00,2.50,2.40,0.214,8452,0.000,0.116,2773,3749,2268,2351,2186,0,0,0,0,0,0,28.83,14.64,14.62
$STATE,3691,end climb,SURFACE_DEPTH_REACHED
$STATE,3691,begin surface coast
$FINISH,0.3,1.011097
$STATE,3712,end surface coast,CONTROL_FINISHED_OK
$STATE,3712,begin surface
$SM_CCo,3729,81.35,0.161,0,0,1541,350.04
$SM_GC,1.16,7.57,2.40,81.35,0.088,0.080,0.161,190,2341,1541,-7.20,0.71,350.04,0,0,0,0,0,0,14.69,14.69,14.59
$IRIDIUM_FIX,4748.51,-12231.73,020513,050527
$TT8_MAMPS,0.025466,0.025466
$HUMID,31.45
$INTERNAL_PRESSURE,9.07099
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,84.7
$SC_FREEKB,4015536
$24V_AH,13.3,4.102
$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,19.375,19.250,340.200,81.350,0.000,0.000,0.000,324.400,0.500,0.000,11.705,1807.395,192.763,507.786,1696.793,61.136,33.221,1516.561,0.000,1287.033,0.000,5.661,0.000
$DEVICE_MAMPS,425.340,116.280,1683.765,160.650,0.000,0.000,0.000,182.835,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3737.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.283,0.000,0.000,0.000
$MEM,322884
$DATA_FILE_SIZE,26728,856
$CAP_FILE_SIZE,121760,0
$CFSIZE,2097872896,2094006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,020513,071304,4743.108,-12225.246,37,0.9,37,16.3