version: 66.11
glider: 197
mission: 2
dive: 11
start: 5 2 113 9 6 58
data:
$ID,197
$MISSION,2
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,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,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,-2364.5391
$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,29
$R_STBD_OVSHOOT,21
$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,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,0.69999999
$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
$GPS1,020513,085705,4743.095,-12225.750,29,0.9,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-67.7
$GPS2,020513,090600,4743.042,-12225.766,9,0.9,14,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,0.074
$KALMAN_X,-5393.3,-553.6,-259.1,5156.6,-486.0
$KALMAN_Y,-4698.7,-957.6,-155.1,6641.6,75.6
$MHEAD_RNG_PITCHd_Wd,54.3,3544,-14.9,-8.498,-19.07,2610
$D_GRID,190
$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,-0.80,-146.6,177,2354,1467,1316,0.0,0.0,0,80,0.00,0.00,-61.08,0.000,16386,0.000,0.000,177,2354,2998,3024,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.80,-146.6,177,2354,3023,2972,3.3,-4.1,11,107,10.50,2.47,-7.05,0.000,18948,0.431,0.129,2321,940,3307,3329,3286,0,0,0,0,0,0,14.53,14.65,14.87
$GC,337,-0.80,-146.6,1384,939,3317,3279,45.2,-15.1,72,344,0.00,2.42,0.00,0.000,1030,0.000,0.100,2313,2349,3305,3329,3282,0,0,0,0,0,0,28.83,14.73,28.83
$GC,466,-0.80,-146.6,1376,2347,3316,3278,64.9,-15.3,103,473,0.00,2.45,0.00,0.000,516,0.000,0.109,2313,940,3305,3329,3281,0,0,0,0,0,0,28.83,14.78,28.83
$GC,699,-0.80,-146.6,1376,939,3316,3278,98.9,-14.5,160,706,0.00,2.45,0.00,0.000,1030,0.000,0.101,2302,2360,3305,3330,3281,0,0,0,0,0,0,28.83,14.82,28.83
$GC,828,-0.80,-146.6,1368,2358,3316,3278,117.3,-13.7,191,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2360,3305,3330,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,955,-0.80,-146.6,1368,2358,3316,3278,136.2,-14.2,222,962,0.00,2.45,0.00,0.000,516,0.000,0.109,2302,940,3305,3329,3281,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1192,-0.80,-146.6,1360,940,3316,3278,170.3,-15.1,280,1199,0.15,2.42,0.00,0.000,3078,0.303,0.103,2324,2358,3305,3330,3281,0,0,0,0,0,0,14.79,14.88,28.83
$STATE,1285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1285,begin apogee
$GC,1289,-0.21,0.0,2324,2277,3330,3282,181.3,-10.8,302,1417,0.68,0.00,118.65,2.289,10246,0.258,0.000,2510,2277,2706,2780,2632,0,0,0,0,0,0,14.80,28.83,13.32
$STATE,1418,end apogee,CONTROL_FINISHED_OK
$STATE,1418,begin climb
$GC,1419,0.80,146.6,2510,2277,2780,2633,185.6,0.0,325,1551,1.12,2.65,121.10,2.218,10500,0.183,0.111,2835,3700,2107,2212,2003,0,0,0,0,0,0,14.03,13.93,13.24
$GC,1673,0.80,146.6,1792,3699,2171,1996,160.1,14.0,378,1680,0.00,2.40,0.00,0.000,1030,0.000,0.075,2842,2292,2107,2212,2003,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1802,0.80,146.6,1792,2290,2170,1996,145.7,11.9,409,1809,0.00,2.47,0.00,0.000,516,0.000,0.111,2853,885,2107,2212,2003,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1838,0.80,146.6,1824,884,2172,1997,141.6,11.1,417,1845,0.00,2.45,0.00,0.000,1030,0.000,0.098,2853,2293,2107,2212,2003,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1967,0.80,146.6,1792,2291,2170,1996,126.1,11.9,448,1974,0.00,2.47,0.00,0.000,260,0.000,0.117,2853,3704,2107,2212,2003,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2020,0.80,146.6,1824,3703,2172,1996,118.9,14.3,460,2027,0.00,2.38,0.00,0.000,1030,0.000,0.078,2861,2285,2107,2212,2003,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2149,0.80,146.6,1808,2283,2171,1996,103.3,11.4,491,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2285,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,0.80,146.6,1808,2283,2170,1996,88.0,12.6,522,2283,0.00,2.47,0.00,0.000,260,0.000,0.116,2861,3704,2108,2213,2003,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2333,0.80,146.6,1824,3703,2166,1996,80.7,13.1,535,2340,0.00,2.35,0.00,0.000,1030,0.000,0.076,2869,2285,2107,2212,2003,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2462,0.80,146.6,1808,2282,2170,1996,66.3,11.1,566,2469,0.00,2.47,0.00,0.000,260,0.000,0.117,2869,3705,2107,2212,2003,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2611,0.80,146.6,1808,3704,2170,1996,47.2,12.8,602,2618,0.15,2.35,0.00,0.000,5126,0.287,0.075,2846,2278,2107,2212,2003,0,0,0,0,0,0,14.76,14.84,28.83
$GC,2740,0.80,146.6,1792,2276,2170,1996,34.2,10.3,633,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2278,2107,2211,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2808,0.80,146.6,1792,2276,2171,1996,27.4,10.4,649,2815,0.00,2.47,0.00,0.000,260,0.000,0.115,2845,3701,2107,2211,2003,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2909,0.81,156.3,1792,3700,2170,1996,18.4,8.1,673,2922,0.00,2.33,4.20,0.233,9222,0.000,0.075,2854,2289,2064,2169,1959,0,0,0,0,0,0,28.83,14.83,14.75
$GC,2985,0.88,207.1,1792,2287,2129,1953,12.8,6.5,690,3014,0.00,2.47,20.83,0.194,8708,0.000,0.112,2864,894,1857,1970,1744,0,0,0,0,0,0,28.83,14.76,14.74
$STATE,3111,end climb,SURFACE_DEPTH_REACHED
$STATE,3111,begin surface coast
$FINISH,0.9,1.011039
$STATE,3132,end surface coast,CONTROL_FINISHED_OK
$STATE,3132,begin surface
$SM_CCo,3149,45.70,0.161,0,0,1397,320.12
$SM_GC,2.26,7.85,2.55,45.70,0.090,0.096,0.161,175,2353,1397,-7.47,-0.76,320.12,0,0,0,0,0,0,14.82,14.81,14.75
$IRIDIUM_FIX,4726.11,-12223.37,020513,070717
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.84
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$SC_FREEKB,3933984
$24V_AH,13.2,3.482
$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,20.450,49.100,264.775,45.700,0.000,0.000,0.000,385.225,0.000,0.000,16.514,1551.889,161.660,396.584,1569.852,46.272,33.203,1357.253,0.000,1093.899,0.000,0.537,0.000
$DEVICE_MAMPS,431.460,163.710,2288.880,160.650,0.000,0.000,0.000,174.420,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.789,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,23396,724
$CAP_FILE_SIZE,107380,0
$CFSIZE,1024409600,1021149184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,100118,4743.284,-12225.219,11,1.8,28,18.2