version: 66.11
glider: 199
mission: 2
dive: 13
start: 5 2 113 10 46 2
data:
$ID,199
$MISSION,2
$DIVE,13
$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,-20732.041
$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,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,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
$GPS1,020513,103458,4744.004,-12223.624,34,0.8,34,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.7
$GPS2,020513,104504,4744.068,-12223.658,5,1.2,5,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,0.105
$KALMAN_X,-2564.5,-81.0,98.1,3648.4,-61.6
$KALMAN_Y,-6766.1,16.6,191.5,9194.8,-25.1
$MHEAD_RNG_PITCHd_Wd,27.9,314,-27.0,-8.498,-30.00,888
$D_GRID,164
$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,-1.14,-49.5,196,2346,1554,1438,0.0,0.0,0,90,0.00,0.00,-68.32,0.000,16390,0.000,0.000,196,2346,3172,3200,3145,0,0,0,0,0,0,28.83,28.83,14.73
$GC,92,-1.22,-113.2,196,2346,3199,3145,1.9,-1.2,13,117,9.10,2.47,-7.65,0.000,18692,0.415,0.138,2103,3762,3433,3472,3394,0,0,0,0,0,0,14.40,14.52,14.73
$GC,347,-1.22,-113.2,1248,3761,3463,3393,59.9,-23.4,74,354,0.00,2.35,0.00,0.000,1030,0.000,0.077,2103,2346,3433,3472,3395,0,0,0,0,0,0,28.83,14.61,28.83
$GC,476,-1.22,-113.2,1248,2342,3470,3392,88.0,-21.9,105,483,0.00,2.45,0.00,0.000,260,0.000,0.112,2093,3756,3433,3471,3395,0,0,0,0,0,0,28.83,14.63,28.83
$GC,714,-1.22,-113.2,1232,3756,3463,3393,138.6,-20.4,163,721,0.00,2.33,0.00,0.000,1030,0.000,0.078,2092,2348,3434,3472,3396,0,0,0,0,0,0,28.83,14.70,28.83
$GC,843,-1.22,-113.2,1248,2346,3463,3398,163.4,-18.5,194,850,0.00,2.45,0.00,0.000,260,0.000,0.114,2082,3764,3434,3472,3396,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,855,begin apogee
$GC,861,-0.20,0.0,2082,2341,3472,3396,165.8,-18.0,196,1000,1.35,0.00,125.60,1.606,10246,0.288,0.000,2435,2341,2972,3043,2901,0,0,0,0,1,0,14.60,28.83,13.47
$STATE,1002,end apogee,CONTROL_FINISHED_OK
$STATE,1002,begin climb
$GC,1003,1.22,113.2,2435,2341,3042,2901,166.1,0.0,221,1146,1.65,2.58,127.60,1.566,10756,0.210,0.092,2901,933,2510,2587,2433,0,0,0,0,1,0,13.97,13.88,13.36
$GC,1341,1.22,113.2,1840,933,2546,2426,128.5,15.6,294,1347,0.00,2.42,0.00,0.000,1030,0.000,0.086,2903,2348,2510,2587,2434,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1469,1.22,113.2,1840,2346,2547,2425,106.8,17.0,325,1476,0.00,2.45,0.00,0.000,260,0.000,0.111,2903,3747,2510,2587,2433,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1707,1.22,113.2,1832,3747,2547,2426,64.6,17.6,383,1714,0.00,2.35,0.00,0.000,1030,0.000,0.075,2913,2328,2510,2587,2433,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1836,1.22,113.2,1856,2326,2547,2426,47.5,13.3,414,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2328,2510,2587,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,1.22,113.2,1856,2326,2547,2425,29.9,13.4,445,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2328,2510,2587,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,1.22,113.2,1856,2326,2547,2426,20.9,12.5,461,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2328,2510,2587,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2101,1.22,113.2,1856,2326,2547,2425,12.4,12.0,477,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2328,2510,2587,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,1.22,113.2,1856,2326,2547,2426,4.4,11.9,493,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2328,2512,2587,2438,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2192,end climb,SURFACE_DEPTH_REACHED
$STATE,2192,begin surface coast
$FINISH,0.3,1.012667
$STATE,2209,end surface coast,CONTROL_FINISHED_OK
$STATE,2210,begin surface
$SM_CCo,2224,112.95,0.158,0,0,1499,360.10
$SM_GC,1.27,8.02,0.00,112.95,0.092,0.000,0.158,195,2328,1499,-7.18,-0.62,360.10,0,0,0,0,0,0,14.66,28.83,14.55
$IRIDIUM_FIX,4726.11,-12227.78,020513,090938
$TT8_MAMPS,0.025466,0.025466
$HUMID,29.83
$INTERNAL_PRESSURE,9.07099
$TCM_TEMP,16.60
$XPDR_PINGS,0
$SC_FREEKB,4015112
$24V_AH,13.4,5.005
$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,20.125,24.275,253.200,112.950,0.000,0.000,0.000,338.630,0.000,0.000,5.916,1050.118,170.194,436.333,1240.081,44.950,33.235,1276.035,0.000,761.379,0.000,0.544,0.000
$DEVICE_MAMPS,414.630,137.700,1605.735,157.590,0.000,0.000,0.000,223.000,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2238.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.185,0.000,0.000,0.000
$MEM,322904
$DATA_FILE_SIZE,16747,502
$CAP_FILE_SIZE,77473,0
$CFSIZE,2097872896,2093383680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,020513,112539,4744.299,-12223.360,3,0.8,4,16.3