version: 66.11
glider: 197
mission: 2
dive: 15
start: 5 2 113 13 24 29
data:
$ID,197
$MISSION,2
$DIVE,15
$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,-2369.6655
$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,27
$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
$GPS1,020513,131519,4744.118,-12223.522,6,1.9,6,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.2
$GPS2,020513,132331,4744.096,-12223.492,10,1.3,10,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.045,-0.242
$KALMAN_X,-8301.1,624.1,383.4,9073.8,-498.5
$KALMAN_Y,-6806.2,1397.4,401.1,7792.6,-144.3
$MHEAD_RNG_PITCHd_Wd,172.4,3055,-14.9,-8.498,-19.07,2610
$D_GRID,162
$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,-146.6,177,2369,1470,1313,0.0,0.0,0,91,0.00,0.00,-71.72,0.000,16386,0.000,0.000,176,2361,3250,3246,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.80,-146.6,176,2364,3246,3254,3.5,-4.8,13,113,10.75,2.35,-1.12,0.000,18692,0.442,0.130,2313,3712,3303,3313,3293,0,0,0,0,0,0,14.53,14.66,14.85
$GC,343,-0.80,-146.6,1376,3711,3304,3288,46.5,-16.6,73,350,0.00,2.25,0.00,0.000,1030,0.000,0.073,2312,2350,3304,3319,3289,0,0,0,0,0,0,28.83,14.74,28.83
$GC,472,-0.80,-146.6,1376,2346,3309,3283,65.2,-11.3,104,479,0.00,2.38,0.00,0.000,260,0.000,0.118,2302,3705,3304,3322,3286,0,0,0,0,0,0,28.83,14.76,28.83
$GC,589,-0.80,-146.6,1376,3704,3309,3283,81.1,-15.0,132,596,0.00,2.25,0.00,0.000,1030,0.000,0.075,2301,2342,3304,3322,3286,0,0,0,0,0,0,28.83,14.81,28.83
$GC,718,-0.80,-146.6,1376,2339,3310,3283,97.7,-12.1,163,725,0.00,2.42,0.00,0.000,516,0.000,0.112,2303,939,3304,3323,3286,0,0,0,0,0,0,28.83,14.81,28.83
$GC,923,-0.80,-146.6,1360,938,3309,3283,125.8,-14.2,213,931,0.15,2.42,0.00,0.000,3078,0.304,0.104,2323,2350,3307,3323,3292,0,0,0,0,0,0,14.75,14.83,28.83
$GC,1053,-0.80,-146.6,1384,2352,3310,3282,142.0,-12.6,244,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2350,3304,3323,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.80,-146.6,1384,2348,3309,3282,158.9,-14.8,275,1187,0.00,2.35,0.00,0.000,260,0.000,0.117,2315,3713,3304,3323,3285,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1210,-0.21,0.0,2315,2287,3323,3285,162.3,-14.5,280,1334,0.70,0.00,117.10,2.203,10246,0.253,0.000,2508,2281,2706,2779,2633,0,0,0,0,0,0,14.79,28.83,13.30
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1337,0.80,146.6,2508,2281,2779,2633,166.4,0.0,302,1468,1.12,2.65,118.60,2.033,10756,0.178,0.107,2841,878,2111,2219,2003,0,0,0,0,0,0,14.01,13.94,13.33
$GC,1634,0.80,146.6,1792,878,2172,1996,144.5,10.2,366,1641,0.00,2.47,0.00,0.000,1030,0.000,0.096,2841,2290,2108,2213,2003,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1763,0.80,146.6,1792,2288,2172,1996,129.7,10.2,397,1770,0.00,2.50,0.00,0.000,260,0.000,0.115,2841,3708,2108,2213,2003,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1824,0.80,146.6,1800,3707,2173,1996,121.9,12.6,411,1830,0.00,2.38,0.00,0.000,1030,0.000,0.074,2848,2288,2108,2213,2003,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1952,0.80,146.6,1800,2285,2172,1995,106.2,12.7,442,1959,0.00,2.47,0.00,0.000,260,0.000,0.116,2848,3699,2108,2213,2003,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1993,0.80,146.6,1824,3698,2173,1997,100.4,14.0,451,2000,0.00,2.35,0.00,0.000,1030,0.000,0.076,2856,2291,2108,2213,2003,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2122,0.80,146.6,1800,2287,2172,1996,84.1,12.8,482,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2289,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2250,0.80,146.6,1800,2287,2172,1996,70.7,8.9,513,2256,0.00,2.42,0.00,0.000,516,0.000,0.108,2867,878,2108,2213,2003,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2290,0.80,146.6,1832,878,2173,1996,67.0,9.9,522,2297,0.00,2.42,0.00,0.000,1030,0.000,0.096,2867,2291,2107,2213,2002,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2421,0.80,146.6,1824,2290,2173,1996,53.0,11.7,553,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2292,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2549,0.80,146.6,1808,2290,2172,1996,37.9,11.6,584,2556,0.00,2.45,0.00,0.000,516,0.000,0.107,2871,877,2108,2213,2003,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2618,0.80,146.6,1824,876,2174,1996,30.9,9.6,600,2625,0.00,2.42,0.00,0.000,1030,0.000,0.094,2871,2301,2108,2213,2003,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2687,0.80,146.6,1824,2298,2173,1996,24.7,9.1,616,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2300,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,0.80,146.6,1824,2298,2172,1996,18.2,10.6,632,2762,0.00,2.42,0.00,0.000,260,0.000,0.116,2871,3698,2108,2213,2003,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2767,0.80,146.6,2872,3698,2213,2003,16.8,10.5,634,2775,0.15,2.35,0.00,0.000,5126,0.290,0.076,2848,2279,2108,2213,2003,0,0,0,0,0,0,14.72,14.80,28.83
$GC,2837,0.80,146.6,2848,2279,2213,2001,10.9,8.9,650,2844,0.00,2.50,0.00,0.000,260,0.000,0.119,2848,3705,2108,2213,2003,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2885,0.80,146.6,1808,3704,2173,1996,6.4,8.6,661,2892,0.00,2.38,0.00,0.000,1030,0.000,0.077,2855,2280,2108,2213,2003,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,2941,end climb,SURFACE_DEPTH_REACHED
$STATE,2941,begin surface coast
$FINISH,0.9,1.010200
$STATE,2968,end surface coast,CONTROL_FINISHED_OK
$STATE,2968,begin surface
$SM_CCo,2982,71.45,0.151,0,0,1397,320.12
$SM_GC,2.08,7.88,0.12,71.45,0.095,0.177,0.151,177,2355,1397,-7.47,-0.79,320.12,0,0,0,0,0,0,14.81,14.81,14.73
$IRIDIUM_FIX,4726.11,-12220.67,020513,121223
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.25
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$SC_FREEKB,3932448
$24V_AH,13.3,4.372
$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,20.750,53.175,235.700,71.450,0.000,0.000,0.000,356.850,0.000,0.000,12.820,1469.252,153.087,414.431,1460.829,46.729,33.221,1323.283,0.000,1026.902,0.000,0.537,0.000
$DEVICE_MAMPS,442.170,176.715,2203.200,150.705,0.000,0.000,0.000,172.125,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2993.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.987,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,23348,680
$CAP_FILE_SIZE,104705,0
$CFSIZE,1024409600,1020755968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,141630,4743.674,-12223.648,29,1.7,29,18.2