version: 66.11
glider: 197
mission: 2
dive: 8
start: 5 2 113 5 30 16
data:
$ID,197
$MISSION,2
$DIVE,8
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$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,0
$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,-2360.6736
$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,24
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2705
$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,15
$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
$GPS1,020513,052150,4742.520,-12226.059,11,1.9,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-69.2
$GPS2,020513,052919,4742.406,-12226.142,11,1.4,11,18.2
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.184,0.163
$KALMAN_X,-2945.7,-815.5,-97.2,2344.6,-965.4
$KALMAN_Y,-3586.5,-1321.5,-85.4,4649.9,-934.4
$MHEAD_RNG_PITCHd_Wd,30.3,3233,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,16,begin dive
$GC,17,-0.81,-146.6,179,2346,1615,1469,0.0,0.0,0,75,0.00,0.00,-55.30,0.000,16386,0.000,0.000,179,2347,3023,3053,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.81,-146.6,179,2346,3054,2994,3.7,-6.2,10,102,10.55,2.47,-6.00,0.000,18948,0.435,0.137,2320,941,3306,3329,3283,0,0,0,0,0,0,14.55,14.68,14.89
$GC,172,-0.81,-146.6,1384,941,3316,3280,19.8,-13.0,31,179,0.00,2.45,0.00,0.000,1030,0.000,0.102,2312,2356,3306,3329,3283,0,0,0,0,0,0,28.83,14.72,28.83
$GC,241,-0.81,-146.6,1392,2354,3316,3280,28.7,-12.0,47,248,0.00,2.38,0.00,0.000,260,0.000,0.121,2302,3711,3306,3329,3283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,310,-0.81,-146.6,1384,3710,3316,3280,39.1,-16.1,63,316,0.00,2.28,0.00,0.000,1030,0.000,0.080,2301,2346,3306,3329,3284,0,0,0,0,0,0,28.83,14.76,28.83
$GC,378,-0.81,-146.6,1384,2342,3316,3280,49.6,-14.5,79,385,0.00,2.45,0.00,0.000,516,0.000,0.119,2301,945,3306,3330,3283,0,0,0,0,0,0,28.83,14.74,28.83
$GC,615,-0.81,-146.6,1376,945,3311,3280,81.9,-12.8,137,623,0.15,2.42,0.00,0.000,3078,0.307,0.106,2321,2353,3306,3330,3283,0,0,0,0,0,0,14.73,14.83,28.83
$GC,745,-0.81,-146.6,1380,2351,3317,3280,97.1,-11.3,168,751,0.00,2.45,0.00,0.000,516,0.000,0.112,2321,940,3307,3331,3283,0,0,0,0,0,0,28.83,14.83,28.83
$GC,984,-0.81,-146.6,1384,939,3317,3280,126.9,-11.6,226,991,0.00,2.42,0.00,0.000,1030,0.000,0.100,2313,2361,3307,3331,3283,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1118,-0.81,-146.6,1376,2359,3318,3280,140.8,-11.9,257,1125,0.00,2.45,0.00,0.000,516,0.000,0.109,2313,937,3307,3332,3283,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1355,-0.81,-146.6,1376,936,3318,3280,169.3,-10.4,315,1362,0.00,2.40,0.00,0.000,1030,0.000,0.101,2302,2349,3307,3332,3283,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1484,-0.81,-146.6,1376,2347,3317,3280,184.4,-11.8,346,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2349,3309,3332,3287,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1571,begin apogee
$GC,1575,-0.21,0.0,2302,2282,3332,3283,195.0,-12.4,367,1698,0.75,0.00,118.43,2.328,10246,0.261,0.000,2508,2281,2706,2781,2631,0,0,0,0,0,0,14.83,28.83,13.33
$STATE,1700,end apogee,CONTROL_FINISHED_OK
$STATE,1700,begin climb
$GC,1701,0.81,146.6,2508,2281,2781,2634,199.8,0.0,389,1832,1.12,2.62,121.45,2.264,10500,0.181,0.110,2837,3698,2107,2211,2004,0,0,0,0,0,0,14.02,13.96,13.31
$GC,2010,0.81,146.6,1792,3697,2172,1997,169.1,12.7,456,2017,0.00,2.38,0.00,0.000,1030,0.000,0.075,2843,2288,2107,2211,2004,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2139,0.81,146.6,1792,2286,2170,1996,154.3,11.9,487,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2288,2107,2211,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2267,0.81,146.6,1792,2286,2170,1997,139.3,11.9,518,2274,0.00,2.47,0.00,0.000,260,0.000,0.114,2843,3699,2107,2211,2004,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2316,0.81,146.6,1808,3698,2171,1997,133.0,12.1,529,2323,0.00,2.35,0.00,0.000,1030,0.000,0.078,2851,2288,2107,2211,2003,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2444,0.81,146.6,1792,2286,2170,1997,118.3,10.9,560,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2288,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2572,0.81,146.6,1792,2286,2170,1996,105.2,10.1,591,2579,0.00,2.47,0.00,0.000,260,0.000,0.116,2850,3706,2107,2211,2003,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2637,0.81,146.6,1800,3705,2175,1997,97.8,11.5,606,2644,0.00,2.35,0.00,0.000,1030,0.000,0.079,2858,2290,2107,2211,2003,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2766,0.81,146.6,1792,2287,2170,1996,83.2,11.1,637,2772,0.00,2.45,0.00,0.000,516,0.000,0.115,2869,878,2110,2211,2009,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2798,0.81,146.6,1840,877,2171,1997,79.7,11.0,644,2805,0.00,2.45,0.00,0.000,1030,0.000,0.100,2869,2302,2107,2211,2004,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2927,0.81,146.6,1808,2298,2169,1997,66.2,9.7,675,2934,0.00,2.42,0.00,0.000,260,0.000,0.119,2869,3708,2107,2211,2003,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3028,0.81,146.6,1824,3703,2166,1997,54.1,11.0,699,3036,0.15,2.35,0.00,0.000,5126,0.295,0.077,2845,2280,2107,2211,2003,0,0,0,0,0,0,14.78,14.87,28.83
$GC,3158,0.81,152.4,1768,2280,2169,1997,43.8,8.3,730,3166,0.00,2.50,2.55,0.633,8708,0.000,0.115,2854,879,2082,2185,1979,0,0,0,0,0,0,28.83,14.83,14.39
$GC,3236,0.82,156.0,1808,878,2145,1972,37.1,8.4,748,3244,0.00,2.42,1.50,0.340,9222,0.000,0.098,2853,2300,2067,2170,1965,0,0,0,0,0,0,28.83,14.85,14.76
$GC,3308,0.84,173.4,1840,2298,2131,1959,30.8,7.9,764,3320,0.00,0.00,7.45,1.044,8198,0.000,0.000,2854,2300,1995,2102,1888,0,0,0,0,0,0,28.83,28.83,14.41
$GC,3381,0.84,173.4,1808,2298,2061,1882,23.9,8.7,781,3388,0.00,2.42,0.00,0.000,260,0.000,0.117,2854,3699,1994,2102,1886,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3562,0.84,173.4,1792,3698,2060,1882,4.3,11.9,825,3569,0.00,2.35,0.00,0.000,1030,0.000,0.079,2862,2282,1993,2102,1884,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,3586,end climb,SURFACE_DEPTH_REACHED
$STATE,3586,begin surface coast
$FINISH,1.0,1.005832
$STATE,3603,end surface coast,CONTROL_FINISHED_OK
$STATE,3604,begin surface
$SM_CCo,3618,59.62,0.159,0,0,1397,320.12
$SM_GC,2.28,7.78,0.12,59.62,0.084,0.184,0.159,175,2354,1397,-7.47,-0.74,320.12,0,0,0,0,0,0,14.84,14.82,14.76
$IRIDIUM_FIX,4722.92,-12226.07,020513,040458
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.54
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,74.4
$SC_FREEKB,3935136
$24V_AH,13.3,2.774
$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,20.500,58.425,251.375,59.625,0.000,0.000,0.000,317.250,1.250,0.000,13.890,1815.349,192.605,407.866,1661.702,47.879,33.242,1376.551,0.000,1256.590,0.000,10.395,0.000
$DEVICE_MAMPS,435.285,191.250,2327.895,159.120,0.000,0.000,0.000,180.540,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.227,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,26670,834
$CAP_FILE_SIZE,123568,0
$CFSIZE,1024409600,1021444096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,063235,4742.573,-12226.218,13,1.1,24,18.2