version: 66.11
glider: 196
mission: 2
dive: 17
start: 5 2 113 8 5 19
data:
$ID,196
$MISSION,2
$DIVE,17
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,53140
$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,420
$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,-1834.9647
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2830
$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,-76.015923
$PRESSURE_SLOPE,0.0001164176
$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,0.75
$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,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020513,145835,4743.868,-12223.680,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-72.4
$GPS2,020513,150614,4743.815,-12223.663,4,1.2,5,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.157,-0.189
$KALMAN_X,-6703.5,1039.4,133.4,7111.8,-230.6
$KALMAN_Y,-9018.8,1766.3,2.8,9536.4,-493.7
$MHEAD_RNG_PITCHd_Wd,203.4,2505,-14.9,-8.498,-19.07,2610
$D_GRID,166
$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,-0.75,-146.6,200,2350,1047,1168,0.0,0.0,0,107,0.00,0.00,-86.30,0.000,16390,0.000,0.000,200,2350,3427,3460,3394,0,0,0,0,0,0,28.83,28.83,14.64
$GC,110,-0.75,-146.6,200,2351,3460,3395,2.1,-5.0,16,129,11.95,2.42,0.00,0.000,2308,0.387,0.088,2757,3747,3429,3463,3395,0,0,0,0,0,0,14.31,14.42,28.83
$GC,360,-0.75,-146.6,1728,3745,3455,3392,45.5,-16.3,76,366,0.00,2.33,0.00,0.000,1030,0.000,0.062,2756,2330,3430,3465,3395,0,0,0,0,0,0,28.83,14.53,28.83
$GC,489,-0.75,-146.6,1744,2328,3456,3391,64.0,-12.8,107,496,0.00,2.45,0.00,0.000,260,0.000,0.098,2745,3749,3429,3465,3394,0,0,0,0,0,0,28.83,14.56,28.83
$GC,727,-0.75,-146.6,1704,3749,3455,3391,98.9,-15.3,165,734,0.12,2.30,0.00,0.000,3078,0.266,0.061,2767,2338,3430,3465,3395,0,0,0,0,0,0,14.55,14.64,28.83
$GC,857,-0.75,-146.6,1744,2333,3456,3391,115.2,-13.3,196,863,0.00,2.42,0.00,0.000,260,0.000,0.099,2762,3748,3430,3466,3394,0,0,0,0,0,0,28.83,14.62,28.83
$GC,973,-0.75,-146.6,1728,3746,3459,3391,131.0,-14.4,224,980,0.00,2.30,0.00,0.000,1030,0.000,0.061,2762,2332,3429,3465,3394,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1102,-0.75,-146.6,1728,2329,3456,3391,147.9,-13.0,255,1109,0.00,2.42,0.00,0.000,260,0.000,0.100,2751,3745,3429,3465,3394,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,1222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1222,begin apogee
$GC,1228,-0.19,0.0,2751,2284,3465,3394,166.3,-15.7,284,1352,0.73,0.00,119.03,2.179,10246,0.243,0.000,2947,2282,2832,2861,2804,0,0,0,0,0,0,14.59,28.83,13.33
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1355,0.75,146.6,2947,2282,2857,2805,172.4,0.0,306,1475,1.05,0.00,114.28,1.672,10758,0.171,0.000,3250,2282,2232,2250,2214,0,0,0,0,0,0,13.84,28.83,13.31
$GC,1597,0.75,146.6,2240,2280,2203,2203,152.6,10.8,357,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2282,2232,2251,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,0.75,146.6,2240,2280,2202,2203,138.9,9.8,388,1732,0.00,2.47,0.00,0.000,260,0.000,0.098,3249,3694,2232,2251,2214,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1758,0.75,146.6,2304,3693,2205,2205,135.1,11.5,395,1765,0.00,2.35,0.00,0.000,1030,0.000,0.063,3259,2286,2232,2251,2214,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1888,0.75,146.6,2256,2283,2202,2203,121.2,11.3,426,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2285,2232,2251,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,0.75,146.6,2256,2283,2203,2202,108.1,10.5,457,2022,0.00,2.42,0.00,0.000,516,0.000,0.098,3269,877,2232,2251,2213,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2036,0.75,146.6,2312,876,2212,2203,105.5,11.9,461,2043,0.00,2.38,0.00,0.000,1030,0.000,0.084,3268,2276,2232,2251,2213,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2165,0.75,146.6,2272,2273,2203,2202,90.3,11.4,492,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2276,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,0.75,146.6,2272,2274,2203,2202,76.5,10.8,523,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2276,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2421,0.75,146.6,2272,2274,2203,2202,61.9,11.4,554,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2276,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2549,0.75,146.6,2272,2274,2203,2202,47.7,11.2,585,2556,0.00,2.45,0.00,0.000,260,0.000,0.097,3268,3704,2232,2251,2213,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2594,0.75,146.6,2304,3703,2204,2203,41.8,13.6,595,2601,0.00,2.33,0.00,0.000,1030,0.000,0.064,3277,2283,2232,2251,2213,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2723,0.75,146.6,2304,2281,2203,2202,27.5,9.4,626,2730,0.00,2.42,0.00,0.000,260,0.000,0.097,3277,3696,2232,2251,2213,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2764,0.75,146.6,2304,3696,2204,2203,23.8,9.0,635,2771,0.00,2.33,0.00,0.000,1030,0.000,0.064,3286,2281,2232,2251,2213,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2833,0.75,146.6,2304,2279,2204,2202,16.9,10.9,651,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2281,2231,2251,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,0.75,146.6,2304,2279,2204,2202,11.5,9.3,667,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2281,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,0.75,146.6,2304,2279,2204,2202,4.7,10.5,683,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2281,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3000,end climb,SURFACE_DEPTH_REACHED
$STATE,3000,begin surface coast
$FINISH,-0.2,1.022053
$STATE,3023,end surface coast,CONTROL_FINISHED_OK
$STATE,3023,begin surface
$SM_CCo,3039,119.95,1.100,0,0,1116,420.20
$SM_GC,0.40,9.15,0.10,119.95,0.082,0.177,1.100,200,2350,1116,-8.76,-0.88,420.20,0,0,0,0,0,0,14.64,14.64,13.80
$IRIDIUM_FIX,4726.11,-12223.37,020513,141459
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.82
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.30
$XPDR_PINGS,9
$SC_FREEKB,3931680
$24V_AH,13.3,4.830
$10V_AH,13.5,0.000
$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,23.000,38.350,233.300,119.950,0.000,0.000,0.000,342.375,2.250,0.000,8.701,1494.392,157.144,462.782,1457.324,62.066,33.215,1365.065,0.000,1049.446,0.000,0.544,0.000
$DEVICE_MAMPS,387.090,176.715,2178.720,1100.070,0.000,0.000,0.000,172.890,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.161,0.000,0.000,0.000
$MEM,322980
$DATA_FILE_SIZE,23418,695
$CAP_FILE_SIZE,104326,0
$CFSIZE,2097872896,2092793856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,160103,4743.413,-12224.040,33,1.2,33,16.3