version: 66.11
glider: 197
mission: 2
dive: 2
start: 5 1 113 23 34 28
data:
$ID,197
$MISSION,2
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,53126
$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,320
$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,-2315.0369
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2602
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2290
$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,2854
$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,20
$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,-65.571541
$PRESSURE_SLOPE,0.000117962
$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,0.69999999
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010513,233002,4742.579,-12224.995,13,3.5,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.7
$GPS2,010513,233331,4742.558,-12225.021,13,1.0,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,0.253
$KALMAN_X,-33.2,-33.2,-33.2,-18.4,-121.9
$KALMAN_Y,-72.7,-72.7,-72.7,160.9,-266.5
$MHEAD_RNG_PITCHd_Wd,354.8,2501,-17.5,-10.000,-21.04,2225
$D_GRID,184
$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,-0.91,-146.6,171,2352,1287,1144,0.0,0.0,0,96,0.00,0.00,-77.15,0.000,16386,0.000,0.000,171,2352,3227,3270,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.91,-146.6,171,2352,3274,3184,3.2,-5.4,14,117,9.95,0.00,-4.93,0.000,18694,0.419,0.000,2304,2352,3452,3473,3432,0,0,0,0,0,0,14.78,28.83,15.13
$GC,179,-0.91,-146.6,1376,2350,3467,3429,17.8,-14.7,32,186,0.00,2.33,0.00,0.000,260,0.000,0.112,2296,3714,3452,3473,3432,0,0,0,0,0,0,28.83,14.92,28.83
$GC,248,-0.91,-146.6,1360,3714,3467,3430,29.6,-17.1,48,255,0.00,2.22,0.00,0.000,1030,0.000,0.075,2297,2349,3453,3474,3432,0,0,0,0,0,0,28.83,14.92,28.83
$GC,317,-0.91,-146.6,1360,2345,3466,3430,41.3,-17.8,64,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2348,3453,3475,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,444,-0.91,-146.6,1352,2345,3467,3429,61.8,-14.5,95,451,0.00,2.40,0.00,0.000,516,0.000,0.109,2296,935,3453,3475,3432,0,0,0,0,0,0,28.83,14.96,28.83
$GC,645,-0.91,-146.6,1352,935,3467,3430,91.8,-15.1,144,652,0.00,2.40,0.00,0.000,1030,0.000,0.101,2286,2354,3453,3475,3432,0,0,0,0,0,0,28.83,14.99,28.83
$GC,773,-0.91,-146.6,1360,2353,3467,3430,110.3,-14.3,175,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2355,3453,3475,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,906,-0.91,-146.6,1392,2352,3467,3429,129.4,-14.8,206,918,0.00,2.40,0.00,0.000,516,0.000,0.112,2286,945,3453,3475,3432,0,0,0,0,0,0,28.83,15.00,28.83
$GC,948,-0.91,-146.6,1392,945,3467,3429,136.0,-15.7,214,955,0.15,2.40,0.00,0.000,3078,0.284,0.105,2308,2358,3450,3469,3432,0,0,0,0,0,0,14.90,14.98,28.83
$STATE,1048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1048,begin apogee
$GC,1052,-0.21,0.0,2308,2277,3475,3432,150.4,-14.5,238,1170,0.75,0.00,113.07,2.272,10246,0.232,0.000,2525,2277,2855,2929,2781,0,0,0,0,0,0,14.92,28.83,13.53
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1172,0.91,146.6,2525,2277,2929,2785,156.1,0.0,259,1298,1.17,0.00,116.10,2.205,10502,0.149,0.000,2890,2277,2257,2349,2165,0,0,0,0,0,0,14.26,28.83,13.49
$GC,1420,0.91,146.6,1832,2274,2306,2157,136.1,12.0,311,1427,0.00,2.50,0.00,0.000,260,0.000,0.109,2890,3709,2257,2349,2165,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1549,0.91,146.6,1824,3707,2305,2157,118.2,13.8,342,1556,0.00,2.35,0.00,0.000,1030,0.000,0.078,2899,2289,2257,2349,2165,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1678,0.91,146.6,1840,2286,2306,2161,101.6,11.5,373,1685,0.00,2.42,0.00,0.000,260,0.000,0.112,2899,3701,2257,2350,2165,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1908,0.91,146.6,1824,3699,2305,2157,69.1,15.7,429,1914,0.00,2.33,0.00,0.000,1030,0.000,0.079,2909,2284,2257,2349,2165,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2036,0.92,154.7,1856,2281,2305,2157,53.9,9.6,460,2043,0.00,0.00,3.75,1.008,8198,0.000,0.000,2909,2284,2222,2315,2130,0,0,0,0,0,0,28.83,28.83,14.36
$GC,2165,0.92,154.7,1856,2281,2271,2123,38.9,11.3,491,2172,0.00,2.40,0.00,0.000,516,0.000,0.113,2918,883,2222,2315,2130,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2234,0.92,154.7,1864,882,2272,2123,30.6,12.2,507,2241,0.00,2.38,0.00,0.000,1030,0.000,0.096,2918,2286,2220,2315,2126,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2302,0.92,154.7,1856,2287,2272,2127,22.4,12.1,523,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2290,2223,2315,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,0.92,154.7,1856,2288,2272,2123,14.2,12.2,539,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2290,2222,2315,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2438,0.93,162.4,1856,2287,2271,2123,7.0,9.6,555,2451,0.00,2.50,3.15,0.210,8452,0.000,0.113,2919,3709,2189,2283,2095,0,0,0,0,0,0,28.83,14.90,14.88
$STATE,2500,end climb,SURFACE_DEPTH_REACHED
$STATE,2501,begin surface coast
$FINISH,0.7,1.010437
$STATE,2526,end surface coast,CONTROL_FINISHED_OK
$STATE,2526,begin surface
$SM_CCo,2543,62.80,0.161,0,0,1546,320.12
$SM_GC,1.57,7.85,2.30,62.80,0.086,0.081,0.161,178,2354,1546,-7.52,0.90,320.12,0,0,0,0,0,0,14.96,14.95,14.88
$IRIDIUM_FIX,4726.11,-12225.08,010513,232330
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.88
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,66.6
$SC_FREEKB,3937440
$24V_AH,13.5,1.398
$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,19.875,33.450,236.075,62.800,0.000,0.000,0.000,0.000,1.250,0.000,16.036,1230.003,128.015,389.129,912.053,23.123,30.072,863.288,0.000,868.272,0.000,11.686,0.000
$DEVICE_MAMPS,419.220,166.005,2272.050,161.415,0.000,0.000,0.000,0.000,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2510.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.456,0.000,0.000,0.000
$MEM,322904
$DATA_FILE_SIZE,20064,575
$CAP_FILE_SIZE,94831,0
$CFSIZE,1024409600,1022066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,001842,4742.818,-12225.020,6,1.1,11,18.2