version: 66.11
glider: 197
mission: 2
dive: 14
start: 5 2 113 12 20 58
data:
$ID,197
$MISSION,2
$DIVE,14
$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,-2368.4067
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,020513,121205,4743.934,-12224.122,36,1.0,36,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.5
$GPS2,020513,122000,4743.933,-12224.095,10,1.2,15,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.236,0.070
$KALMAN_X,-7644.8,317.2,235.3,8120.8,-423.0
$KALMAN_Y,-6138.8,807.4,306.7,7505.3,72.2
$MHEAD_RNG_PITCHd_Wd,55.2,891,-14.9,-8.498,-19.07,2610
$D_GRID,173
$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,-146.6,178,2362,1471,1311,0.0,0.0,0,91,0.00,0.00,-71.80,0.000,16386,0.000,0.000,178,2363,3263,3260,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.80,-146.6,178,2363,3260,3268,3.7,-5.9,13,113,10.62,2.50,-0.88,0.000,18948,0.438,0.132,2321,940,3305,3315,3295,0,0,0,0,0,0,14.54,14.66,14.85
$GC,343,-0.80,-146.6,1376,942,3309,3287,47.0,-15.1,73,350,0.00,2.42,0.00,0.000,1030,0.000,0.101,2313,2347,3305,3323,3287,0,0,0,0,0,0,28.83,14.73,28.83
$GC,472,-0.80,-146.6,1376,2344,3310,3284,65.7,-14.3,104,479,0.00,2.45,0.00,0.000,516,0.000,0.108,2313,937,3305,3324,3286,0,0,0,0,0,0,28.83,14.75,28.83
$GC,669,-0.80,-146.6,1376,935,3311,3283,93.1,-13.7,152,676,0.00,2.42,0.00,0.000,1030,0.000,0.101,2302,2348,3305,3324,3286,0,0,0,0,0,0,28.83,14.82,28.83
$GC,798,-0.80,-146.6,1376,2347,3311,3283,111.0,-13.0,183,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2349,3305,3324,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,926,-0.80,-146.6,1376,2347,3311,3283,126.6,-11.4,214,933,0.00,2.42,0.00,0.000,516,0.000,0.109,2302,944,3305,3325,3286,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1162,-0.80,-146.6,1360,944,3312,3283,161.1,-14.1,272,1170,0.15,2.42,0.00,0.000,3078,0.298,0.103,2324,2360,3305,3325,3286,0,0,0,0,0,0,14.78,14.86,28.83
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1263,-0.21,0.0,2324,2279,3326,3286,173.3,-12.5,295,1386,0.68,0.00,116.78,2.151,10246,0.252,0.000,2511,2278,2705,2779,2632,0,0,0,0,0,0,14.80,28.83,13.35
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1387,begin climb
$GC,1388,0.80,146.6,2512,2278,2779,2634,178.6,0.0,317,1520,1.12,2.67,120.50,2.145,10500,0.183,0.114,2836,3705,2108,2213,2003,0,0,0,0,0,0,14.02,13.90,13.28
$GC,1678,0.80,146.6,1792,3703,2171,1997,152.9,12.9,379,1685,0.00,2.38,0.00,0.000,1030,0.000,0.073,2842,2297,2108,2213,2003,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1807,0.80,146.6,1792,2293,2172,1997,138.5,12.3,410,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2295,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,0.80,146.6,1792,2293,2171,1996,123.9,11.9,441,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2295,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,0.80,146.6,1792,2293,2171,1996,109.9,10.7,472,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2295,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,0.80,146.6,1792,2293,2171,1996,98.0,10.0,503,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2295,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,0.80,146.6,1792,2293,2171,1996,84.8,11.2,534,2326,0.00,2.45,0.00,0.000,260,0.000,0.114,2842,3703,2108,2213,2003,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2468,0.80,146.6,1792,3702,2171,1996,68.5,11.4,570,2475,0.00,2.33,0.00,0.000,1030,0.000,0.073,2851,2288,2108,2213,2003,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2597,0.80,146.6,1792,2285,2172,1996,55.0,11.3,601,2604,0.00,2.45,0.00,0.000,260,0.000,0.116,2852,3696,2108,2213,2003,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2805,0.80,146.6,1792,3695,2171,1992,28.8,12.0,652,2812,0.00,2.33,0.00,0.000,1030,0.000,0.075,2860,2287,2108,2213,2003,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2874,0.80,146.6,1808,2285,2172,1996,21.9,8.9,668,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2287,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,0.80,146.6,1824,2285,2172,1996,15.9,8.5,684,2949,0.00,2.42,0.00,0.000,516,0.000,0.109,2869,881,2108,2213,2003,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3031,0.80,146.6,1824,881,2171,1996,8.3,8.9,705,3038,0.00,2.42,0.00,0.000,1030,0.000,0.095,2869,2301,2107,2212,2003,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3100,0.80,146.6,1824,2298,2172,1996,2.3,8.8,721,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2301,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3111,end climb,SURFACE_DEPTH_REACHED
$STATE,3111,begin surface coast
$FINISH,0.8,1.007482
$STATE,3132,end surface coast,CONTROL_FINISHED_OK
$STATE,3133,begin surface
$SM_CCo,3147,70.50,0.151,0,0,1398,320.12
$SM_GC,2.07,7.93,0.10,70.50,0.096,0.197,0.151,176,2362,1398,-7.47,-0.54,320.12,0,0,0,0,0,0,14.83,14.81,14.76
$IRIDIUM_FIX,4726.11,-12217.96,020513,111110
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.52
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.90
$XPDR_PINGS,0
$SC_FREEKB,3932832
$24V_AH,13.3,4.155
$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,20.500,34.325,237.275,70.500,0.000,0.000,0.000,332.825,0.000,0.000,17.257,1564.161,170.270,395.066,1514.410,46.902,33.218,1299.008,0.000,1096.434,0.000,0.537,0.000
$DEVICE_MAMPS,437.580,197.370,2151.180,150.705,0.000,0.000,0.000,179.010,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3162.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.127,0.000,0.000,0.000
$MEM,322884
$DATA_FILE_SIZE,23389,728
$CAP_FILE_SIZE,104858,0
$CFSIZE,1024409600,1020854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,131519,4744.118,-12223.522,6,1.9,6,18.2