version: 66.11
glider: 197
mission: 2
dive: 12
start: 5 2 113 10 10 23
data:
$ID,197
$MISSION,2
$DIVE,12
$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,-2365.7959
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,020513,100118,4743.284,-12225.219,11,1.8,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.9
$GPS2,020513,100925,4743.255,-12225.269,14,2.0,14,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.233,0.078
$KALMAN_X,-6186.8,-286.5,-114.0,6155.4,-473.8
$KALMAN_Y,-5343.5,-403.1,17.2,6956.1,79.3
$MHEAD_RNG_PITCHd_Wd,53.3,2814,-14.9,-8.498,-19.07,2610
$D_GRID,181
$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,-146.6,174,2355,1468,1316,0.0,0.0,0,86,0.00,0.00,-66.65,0.000,16386,0.000,0.000,175,2355,3154,3169,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.80,-146.6,175,2355,3166,3146,3.7,-5.6,12,108,10.62,2.53,-3.15,0.000,18948,0.438,0.128,2321,947,3305,3321,3290,0,0,0,0,0,0,14.53,14.67,14.86
$GC,338,-0.80,-146.6,1376,947,3310,3284,46.3,-14.1,72,345,0.00,2.42,0.00,0.000,1030,0.000,0.099,2313,2356,3305,3325,3286,0,0,0,0,0,0,28.83,14.73,28.83
$GC,467,-0.80,-146.6,1376,2354,3313,3283,64.5,-14.5,103,473,0.00,2.45,0.00,0.000,516,0.000,0.105,2313,940,3306,3326,3286,0,0,0,0,0,0,28.83,14.77,28.83
$GC,704,-0.80,-146.6,1368,938,3313,3282,97.5,-12.7,161,711,0.00,2.42,0.00,0.000,1030,0.000,0.101,2302,2355,3306,3326,3286,0,0,0,0,0,0,28.83,14.83,28.83
$GC,832,-0.80,-146.6,1368,2352,3314,3282,114.1,-11.8,192,839,0.00,2.42,0.00,0.000,516,0.000,0.109,2302,947,3305,3326,3285,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1069,-0.80,-146.6,1360,947,3314,3282,147.8,-15.6,250,1077,0.15,2.40,0.00,0.000,3078,0.302,0.103,2323,2349,3305,3326,3285,0,0,0,0,0,0,14.78,14.86,28.83
$GC,1199,-0.80,-146.6,1384,2347,3314,3282,163.4,-12.5,281,1206,0.00,2.42,0.00,0.000,516,0.000,0.109,2323,943,3306,3327,3285,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,1343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1349,-0.21,0.0,2315,2295,3327,3285,181.3,-12.6,316,1472,0.70,0.00,117.65,2.231,10246,0.257,0.000,2507,2296,2705,2779,2632,0,0,0,0,0,0,14.81,28.83,13.35
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1475,0.80,146.6,2507,2296,2779,2634,187.3,0.0,338,1606,1.12,2.60,120.88,2.192,10500,0.183,0.111,2833,3698,2107,2212,2003,0,0,0,0,0,0,14.00,13.91,13.27
$GC,1700,0.80,146.6,1792,3697,2170,1997,169.2,12.6,384,1707,0.00,2.40,0.00,0.000,1030,0.000,0.074,2841,2292,2107,2211,2003,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1829,0.80,146.6,1792,2291,2170,1997,154.5,10.7,415,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2291,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1957,0.80,146.6,1792,2288,2170,1996,142.2,8.5,446,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2291,2107,2211,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2085,0.80,146.6,1792,2288,2170,1996,129.0,10.5,477,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2291,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,0.80,146.6,1792,2289,2170,1996,115.9,10.3,508,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2291,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2342,0.80,146.6,1792,2289,2170,1996,102.3,10.4,539,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2290,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2470,0.80,146.6,1792,2289,2170,1996,89.9,9.7,570,2477,0.00,2.45,0.00,0.000,260,0.000,0.114,2841,3700,2107,2212,2003,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2599,0.80,146.6,1792,3699,2170,1996,75.7,10.9,601,2606,0.00,2.35,0.00,0.000,1030,0.000,0.075,2850,2279,2107,2212,2003,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2728,0.80,146.6,1792,2276,2170,1996,63.9,8.5,632,2735,0.00,2.47,0.00,0.000,260,0.000,0.116,2850,3702,2108,2213,2003,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2820,0.80,146.6,1800,3701,2171,1997,54.7,10.8,654,2827,0.00,2.33,0.00,0.000,1030,0.000,0.076,2859,2289,2107,2212,2003,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2949,0.80,146.6,1792,2287,2172,1996,42.9,11.7,685,2956,0.00,2.47,0.00,0.000,260,0.000,0.117,2859,3709,2107,2211,2003,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3066,0.80,146.6,1800,3708,2170,1996,29.5,9.9,713,3073,0.00,2.35,0.00,0.000,1030,0.000,0.076,2868,2281,2107,2211,2003,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3134,0.80,146.6,1824,2279,2171,1996,22.9,11.0,729,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2281,2107,2211,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,0.80,146.6,1824,2279,2171,1996,14.2,13.3,745,3209,0.00,2.42,0.00,0.000,516,0.000,0.112,2877,878,2107,2212,2003,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,3326,end climb,SURFACE_DEPTH_REACHED
$STATE,3326,begin surface coast
$FINISH,0.9,1.000326
$STATE,3356,end surface coast,CONTROL_FINISHED_OK
$STATE,3356,begin surface
$SM_CCo,3373,70.65,0.155,0,0,1399,320.12
$SM_GC,2.09,7.93,2.58,70.65,0.096,0.096,0.155,180,2352,1399,-7.46,-0.74,320.12,0,0,0,0,0,0,14.85,14.83,14.76
$IRIDIUM_FIX,4722.92,-12211.84,020513,080833
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.60
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$SC_FREEKB,3933600
$24V_AH,13.3,3.711
$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,20.525,43.875,238.525,70.650,0.000,0.000,0.000,342.450,0.000,0.000,16.578,1685.723,183.836,400.133,1611.491,47.329,33.215,1348.071,0.000,1178.344,0.000,0.537,0.000
$DEVICE_MAMPS,437.580,127.755,2230.740,154.530,0.000,0.000,0.000,178.245,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.333,0.000,0.000,0.000
$MEM,322884
$DATA_FILE_SIZE,26738,782
$CAP_FILE_SIZE,111325,0
$CFSIZE,1024409600,1021050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,110851,4743.616,-12224.717,7,2.2,26,18.2