version: 66.11
glider: 197
mission: 2
dive: 7
start: 5 2 113 4 31 35
data:
$ID,197
$MISSION,2
$DIVE,7
$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,-2359.4155
$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,29
$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
$GPS1,020513,042249,4742.597,-12225.851,10,1.7,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-69.4
$GPS2,020513,043035,4742.480,-12225.892,13,1.4,29,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,0.195
$KALMAN_X,-2077.1,-840.9,-26.4,1741.9,-625.0
$KALMAN_Y,-2753.6,-1316.5,-89.5,3956.2,-710.7
$MHEAD_RNG_PITCHd_Wd,23.3,2961,-17.5,-10.000,-21.04,2225
$D_GRID,188
$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,-146.6,171,2360,1615,1468,0.0,0.0,0,75,0.00,0.00,-55.35,0.000,16386,0.000,0.000,172,2361,2994,3021,2967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.91,-146.6,171,2358,3021,2967,3.3,-4.2,10,107,10.45,2.55,-10.30,0.000,18948,0.438,0.136,2284,940,3453,3470,3436,0,0,0,0,0,0,14.56,14.68,14.90
$GC,337,-0.91,-146.6,1344,940,3462,3434,50.6,-17.1,72,344,0.00,2.42,0.00,0.000,1030,0.000,0.104,2276,2342,3453,3470,3436,0,0,0,0,0,0,28.83,14.77,28.83
$GC,466,-0.91,-146.6,1360,2340,3461,3434,70.3,-14.7,103,473,0.00,2.45,0.00,0.000,516,0.000,0.114,2276,939,3453,3470,3437,0,0,0,0,0,0,28.83,14.78,28.83
$GC,704,-0.91,-146.6,1348,938,3461,3434,114.7,-17.4,161,710,0.00,2.42,0.00,0.000,1030,0.000,0.104,2265,2352,3453,3470,3436,0,0,0,0,0,0,28.83,14.85,28.83
$GC,838,-0.91,-146.6,1352,2349,3462,3433,139.3,-16.6,192,848,0.00,2.45,0.00,0.000,516,0.000,0.115,2265,940,3452,3470,3435,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1014,-0.91,-146.6,1344,939,3462,3433,168.4,-15.9,234,1022,0.15,2.42,0.00,0.000,3078,0.296,0.106,2286,2352,3453,3471,3436,0,0,0,0,0,0,14.79,14.88,28.83
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1103,-0.21,0.0,2286,2274,3471,3436,180.6,-14.9,254,1225,0.80,0.00,116.35,2.229,10246,0.262,0.000,2508,2272,2855,2925,2786,0,0,0,0,0,0,14.81,28.83,13.39
$STATE,1227,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1228,0.91,146.6,2508,2273,2927,2789,186.0,0.0,276,1355,1.23,2.70,118.18,2.139,10500,0.174,0.110,2870,3698,2257,2349,2165,0,0,0,0,0,0,14.07,13.99,13.33
$GC,1585,0.91,146.6,1808,3696,2306,2158,148.3,13.7,355,1592,0.00,2.35,0.00,0.000,1030,0.000,0.076,2880,2294,2258,2350,2166,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1714,0.91,146.6,1824,2291,2307,2158,132.3,11.0,386,1721,0.00,2.47,0.00,0.000,260,0.000,0.114,2880,3700,2258,2350,2166,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1839,0.91,146.6,1824,3699,2306,2158,116.8,14.3,416,1846,0.00,2.35,0.00,0.000,1030,0.000,0.077,2888,2287,2258,2350,2166,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1968,0.91,146.6,1840,2284,2307,2159,100.5,12.4,447,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2286,2257,2348,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,0.91,146.6,1832,2284,2307,2158,86.0,11.0,478,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2287,2258,2350,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,0.95,179.0,1832,2284,2307,2159,73.2,8.5,509,2242,0.00,0.00,14.85,1.485,8198,0.000,0.000,2889,2286,2122,2222,2023,0,0,0,0,0,0,28.83,28.83,14.23
$GC,2364,0.95,179.0,1832,2283,2181,2016,59.0,10.4,542,2371,0.00,2.47,0.00,0.000,260,0.000,0.114,2888,3703,2122,2222,2023,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2405,0.95,179.0,1856,3702,2181,2016,54.3,11.1,551,2411,0.00,2.35,0.00,0.000,1030,0.000,0.076,2898,2284,2122,2222,2023,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2534,0.95,179.5,1856,2282,2177,2016,42.0,10.0,582,2541,0.00,2.42,0.00,0.000,516,0.000,0.114,2908,885,2122,2222,2023,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2671,0.95,179.5,1856,885,2180,2016,26.3,11.8,615,2678,0.00,2.40,0.00,0.000,1030,0.000,0.097,2909,2290,2122,2222,2022,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2740,0.95,179.5,1864,2292,2181,2016,18.1,10.9,631,2746,0.00,2.45,0.00,0.000,260,0.000,0.118,2909,3699,2122,2222,2023,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2768,0.95,179.5,1888,3698,2182,2017,14.8,12.3,637,2775,0.00,2.35,0.00,0.000,1030,0.000,0.082,2918,2291,2122,2222,2023,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2838,0.95,179.5,1888,2287,2182,2016,6.6,12.7,653,2845,0.00,2.47,0.00,0.000,516,0.000,0.117,2929,877,2122,2222,2023,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2874,end climb,SURFACE_DEPTH_REACHED
$STATE,2874,begin surface coast
$FINISH,0.9,1.020754
$STATE,2892,end surface coast,CONTROL_FINISHED_OK
$STATE,2892,begin surface
$SM_CCo,2909,57.15,0.164,0,0,1548,320.12
$SM_GC,2.68,8.07,2.60,57.15,0.096,0.104,0.164,179,2345,1548,-7.47,-0.79,320.12,0,0,0,0,0,0,14.83,14.81,14.76
$IRIDIUM_FIX,4726.11,-12227.78,020513,030315
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.66
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.0,67.8
$SC_FREEKB,3935520
$24V_AH,13.3,2.533
$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,20.700,44.250,249.375,57.150,0.000,0.000,0.000,315.475,1.750,0.000,31.403,1432.831,155.076,382.456,1422.701,40.474,33.233,1231.660,0.000,1004.272,0.000,14.862,0.000
$DEVICE_MAMPS,437.580,170.595,2229.210,163.710,0.000,0.000,0.000,180.540,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.007,0.000,0.000,0.000
$MEM,322852
$DATA_FILE_SIZE,23421,665
$CAP_FILE_SIZE,99190,0
$CFSIZE,1024409600,1021558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,052150,4742.520,-12226.059,11,1.9,11,18.2