version: 66.11
glider: 197
mission: 2
dive: 6
start: 5 2 113 3 32 48
data:
$ID,197
$MISSION,2
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$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,-2358.1558
$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,2586
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,020513,032407,4742.670,-12225.663,10,1.3,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.8
$GPS2,020513,033148,4742.585,-12225.690,15,1.3,15,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,0.207
$KALMAN_X,-1348.8,-759.0,-36.1,1192.2,-514.6
$KALMAN_Y,-1872.5,-1203.4,-162.5,3231.1,-626.5
$MHEAD_RNG_PITCHd_Wd,19.2,2676,-17.5,-10.000,-21.04,2225
$D_GRID,189
$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,-146.6,176,2363,1617,1468,0.0,0.0,0,80,0.00,0.00,-60.88,0.000,16386,0.000,0.000,176,2363,3115,3153,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.91,-146.6,176,2363,3154,3078,3.3,-4.5,11,107,10.32,0.00,-7.38,0.000,18694,0.434,0.000,2284,2364,3452,3468,3436,0,0,0,0,0,0,14.58,28.83,14.92
$GC,168,-0.91,-146.6,1360,2361,3467,3433,21.3,-17.2,30,175,0.00,2.47,0.00,0.000,516,0.000,0.114,2284,946,3452,3469,3436,0,0,0,0,0,0,28.83,14.72,28.83
$GC,233,-0.91,-146.6,1360,945,3461,3433,33.3,-18.4,45,240,0.00,2.42,0.00,0.000,1030,0.000,0.104,2276,2345,3452,3469,3436,0,0,0,0,0,0,28.83,14.74,28.83
$GC,302,-0.91,-146.6,1360,2343,3461,3433,45.3,-16.0,61,308,0.00,2.45,0.00,0.000,516,0.000,0.116,2276,944,3453,3470,3436,0,0,0,0,0,0,28.83,14.76,28.83
$GC,539,-0.91,-146.6,1352,944,3461,3432,86.7,-17.3,119,545,0.00,2.42,0.00,0.000,1030,0.000,0.105,2266,2355,3451,3466,3436,0,0,0,0,0,0,28.83,14.83,28.83
$GC,667,-0.91,-146.6,1352,2353,3461,3433,108.5,-15.7,150,674,0.00,2.45,0.00,0.000,516,0.000,0.116,2266,946,3452,3470,3435,0,0,0,0,0,0,28.83,14.85,28.83
$GC,832,-0.91,-146.6,2266,946,3470,3435,137.5,-17.2,189,839,0.15,2.42,0.00,0.000,3078,0.296,0.107,2286,2354,3452,3470,3435,0,0,0,0,0,0,14.78,14.87,28.83
$GC,973,-0.91,-146.6,1348,2354,3461,3433,160.1,-15.9,220,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2357,3453,3470,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1095,begin apogee
$GC,1099,-0.21,0.0,2287,2278,3470,3435,180.0,-15.5,250,1222,0.80,0.00,118.07,2.339,10246,0.259,0.000,2508,2277,2854,2925,2784,0,0,0,0,0,0,14.81,28.83,13.35
$STATE,1224,end apogee,CONTROL_FINISHED_OK
$STATE,1224,begin climb
$GC,1225,0.91,146.6,2508,2277,2925,2787,186.6,0.0,272,1357,1.23,2.70,119.68,2.240,10500,0.174,0.112,2872,3704,2257,2350,2164,0,0,0,0,0,0,14.06,13.97,13.32
$GC,1531,0.91,146.6,1808,3703,2308,2157,155.3,15.2,338,1538,0.00,2.38,0.00,0.000,1030,0.000,0.077,2875,2297,2257,2350,2164,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1659,0.91,146.6,1824,2295,2308,2157,140.2,10.3,369,1666,0.00,2.47,0.00,0.000,260,0.000,0.114,2875,3706,2257,2350,2165,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1844,0.91,146.6,1808,3705,2307,2157,119.3,11.3,414,1851,0.00,2.35,0.00,0.000,1030,0.000,0.079,2883,2290,2260,2357,2164,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1973,0.91,146.6,1824,2287,2308,2157,107.4,10.5,445,1979,0.00,2.45,0.00,0.000,516,0.000,0.115,2893,879,2257,2350,2164,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2173,0.91,146.6,1824,879,2307,2157,83.8,11.1,494,2180,0.00,2.40,0.00,0.000,1030,0.000,0.096,2893,2295,2257,2350,2165,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2302,0.91,146.6,1832,2292,2308,2157,69.9,11.2,525,2309,0.00,2.42,0.00,0.000,260,0.000,0.115,2893,3698,2257,2350,2165,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2403,0.91,146.6,1840,3697,2308,2157,55.3,14.8,549,2410,0.00,2.33,0.00,0.000,1030,0.000,0.078,2903,2287,2258,2351,2165,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2532,1.00,219.8,1856,2283,2308,2157,41.1,6.6,580,2567,0.00,0.00,32.25,1.410,8198,0.000,0.000,2903,2285,1956,2065,1847,0,0,0,0,0,0,28.83,28.83,14.19
$GC,2629,1.00,219.8,1856,2283,2027,1841,31.7,10.4,601,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2285,1956,2066,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2697,1.00,219.8,1856,2283,2027,1840,23.7,11.3,617,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2285,1956,2066,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,1.00,219.8,1856,2283,2027,1840,15.8,11.7,633,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2285,1956,2066,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,1.00,219.8,1856,2283,2027,1840,7.6,13.4,649,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2285,1956,2066,1846,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2879,end climb,SURFACE_DEPTH_REACHED
$STATE,2879,begin surface coast
$FINISH,0.8,1.011109
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2897,begin surface
$SM_CCo,2912,40.47,0.158,0,0,1546,320.12
$SM_GC,1.54,8.02,0.12,40.47,0.095,0.177,0.158,172,2361,1546,-7.48,-0.62,320.12,0,0,0,0,0,0,14.79,14.78,14.73
$IRIDIUM_FIX,4726.11,-12227.78,020513,020210
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.02
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.1,44.6
$SC_FREEKB,3935904
$24V_AH,13.3,2.311
$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,20.525,34.400,270.000,40.475,0.000,0.000,0.000,325.850,2.750,0.000,17.790,1424.934,148.408,382.823,1418.243,41.009,33.211,1244.771,0.000,1002.878,0.000,21.086,0.000
$DEVICE_MAMPS,433.755,177.480,2339.370,158.355,0.000,0.000,0.000,175.950,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.731,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,20098,664
$CAP_FILE_SIZE,99462,0
$CFSIZE,1024409600,1021657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,042249,4742.597,-12225.851,10,1.7,10,18.2