version: 66.11
glider: 199
mission: 2
dive: 12
start: 5 2 113 9 38 11
data:
$ID,199
$MISSION,2
$DIVE,12
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,71
$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,-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,360
$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,-20730.783
$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,29
$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,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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,020513,092921,4743.854,-12224.472,6,0.8,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.6
$GPS2,020513,093713,4743.835,-12224.512,10,0.8,10,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.224,0.101
$KALMAN_X,-2513.2,-116.4,-63.3,2735.8,-138.4
$KALMAN_Y,-6111.4,-300.1,-170.2,8782.4,5.6
$MHEAD_RNG_PITCHd_Wd,49.4,1430,-14.9,-8.498,-19.07,2610
$D_GRID,173
$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,16,begin dive
$GC,17,-0.78,-146.6,200,2345,1552,1442,0.0,0.0,0,102,0.00,0.00,-81.20,0.000,16390,0.000,0.000,199,2346,3569,3598,3541,0,0,0,0,0,0,28.83,28.83,14.74
$GC,104,-0.78,-146.6,199,2346,3597,3541,3.5,-8.0,15,123,9.77,2.40,0.00,0.000,2564,0.414,0.084,2254,948,3570,3600,3541,0,0,0,0,0,0,14.38,14.52,28.83
$GC,329,-0.78,-146.6,1328,947,3599,3536,45.2,-15.8,69,336,0.00,2.38,0.00,0.000,1030,0.000,0.091,2245,2346,3571,3604,3538,0,0,0,0,0,0,28.83,14.59,28.83
$GC,458,-0.78,-146.6,1344,2344,3599,3536,66.6,-16.7,100,465,0.00,2.45,0.00,0.000,260,0.000,0.118,2238,3758,3571,3604,3538,0,0,0,0,0,0,28.83,14.60,28.83
$GC,531,-0.78,-146.6,1344,3757,3599,3536,80.1,-18.3,117,538,0.00,2.35,0.00,0.000,1030,0.000,0.081,2238,2345,3571,3604,3538,0,0,0,0,0,0,28.83,14.66,28.83
$GC,660,-0.78,-146.6,1328,2342,3600,3536,99.3,-13.7,148,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2344,3571,3605,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,788,-0.78,-146.6,1344,2342,3600,3536,117.1,-14.4,179,795,0.00,2.47,0.00,0.000,260,0.000,0.117,2227,3766,3571,3605,3538,0,0,0,0,0,0,28.83,14.68,28.83
$GC,917,-0.78,-146.6,1320,3765,3600,3541,136.0,-14.9,210,925,0.12,2.35,0.00,0.000,3078,0.291,0.080,2254,2345,3571,3605,3538,0,0,0,0,0,0,14.63,14.73,28.83
$GC,1047,-0.78,-146.6,1344,2343,3599,3536,152.8,-13.1,241,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2345,3572,3606,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-0.78,-146.6,1344,2342,3600,3537,168.2,-12.0,272,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2345,3572,3606,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1218,begin apogee
$GC,1221,-0.20,0.0,2253,2345,3605,3538,173.2,-11.5,282,1388,0.65,0.00,161.70,1.651,10246,0.234,0.000,2438,2345,2970,3046,2894,0,0,0,0,0,0,14.66,28.83,13.38
$STATE,1390,end apogee,CONTROL_FINISHED_OK
$STATE,1390,begin climb
$GC,1391,0.78,146.6,2438,2345,3046,2897,179.6,0.0,312,1566,1.08,2.55,163.43,1.592,10756,0.168,0.095,2760,930,2373,2455,2292,0,0,0,0,0,0,13.91,13.86,13.34
$GC,1613,0.78,146.6,1728,929,2414,2284,163.9,10.6,354,1620,0.00,2.47,0.00,0.000,1030,0.000,0.086,2760,2340,2373,2455,2292,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1743,0.78,146.6,1712,2338,2413,2285,149.7,10.5,385,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2340,2373,2455,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,0.78,146.6,1712,2338,2412,2284,135.6,11.3,416,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2340,2373,2455,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,0.78,146.6,1712,2338,2412,2285,121.5,11.1,447,2005,0.00,2.40,0.00,0.000,516,0.000,0.094,2770,926,2373,2455,2292,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2069,0.78,146.6,1728,927,2413,2280,114.1,10.2,463,2076,0.00,2.40,0.00,0.000,1030,0.000,0.086,2770,2344,2374,2456,2292,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2198,0.78,146.6,1728,2342,2413,2284,100.9,9.8,494,2205,0.00,2.45,0.00,0.000,260,0.000,0.115,2770,3750,2373,2455,2292,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2327,0.78,146.6,1728,3749,2408,2284,85.9,11.2,525,2334,0.00,2.35,0.00,0.000,1030,0.000,0.077,2779,2331,2373,2454,2292,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2456,0.78,146.6,1728,2328,2413,2284,72.5,11.1,556,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2330,2373,2455,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2584,0.78,146.6,1728,2328,2419,2284,61.4,8.6,587,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2329,2373,2455,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,0.80,166.0,1728,2328,2412,2284,51.6,7.7,618,2731,0.00,2.38,10.27,1.074,8708,0.000,0.095,2790,926,2292,2375,2210,0,0,0,0,0,0,28.83,14.64,14.24
$GC,2753,0.80,166.0,1768,925,2335,2203,48.2,8.9,626,2760,0.00,2.40,0.00,0.000,1030,0.000,0.086,2790,2344,2293,2376,2210,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2882,0.80,166.0,1736,2341,2333,2203,35.7,10.5,657,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2344,2292,2375,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,0.80,166.0,1744,2341,2333,2203,28.8,10.0,673,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2343,2293,2376,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,0.80,166.0,1744,2341,2334,2203,21.9,9.9,689,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2343,2291,2372,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3088,0.80,166.0,1744,2341,2334,2203,14.9,10.6,705,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2344,2293,2375,2211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,0.80,166.0,1744,2341,2334,2203,7.8,10.6,721,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2344,2292,2375,2210,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3214,end climb,SURFACE_DEPTH_REACHED
$STATE,3214,begin surface coast
$FINISH,0.3,1.001043
$STATE,3232,end surface coast,CONTROL_FINISHED_OK
$STATE,3232,begin surface
$SM_CCo,3246,89.05,0.160,0,0,1501,360.10
$SM_GC,1.19,7.62,0.00,89.05,0.089,0.000,0.160,196,2344,1501,-7.18,-0.17,360.10,0,0,0,0,0,0,14.66,28.83,14.58
$IRIDIUM_FIX,4729.30,-12226.80,020513,080818
$TT8_MAMPS,0.024717,0.024717
$HUMID,30.46
$INTERNAL_PRESSURE,9.06122
$TCM_TEMP,16.70
$XPDR_PINGS,0
$SC_FREEKB,4015200
$24V_AH,13.3,4.824
$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,19.250,33.800,335.400,89.050,0.000,0.000,0.000,335.100,0.000,0.000,11.804,1543.838,163.953,509.473,1532.434,56.392,33.227,1451.754,0.000,1115.902,0.000,0.542,0.000
$DEVICE_MAMPS,413.865,117.810,1650.870,159.885,0.000,0.000,0.000,185.130,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.318,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,23360,739
$CAP_FILE_SIZE,108797,0
$CFSIZE,2097872896,2093514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,103458,4744.004,-12223.624,34,0.8,34,16.3