version: 66.11
glider: 197
mission: 2
dive: 16
start: 5 2 113 14 28 10
data:
$ID,197
$MISSION,2
$DIVE,16
$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,-2371.0178
$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,27
$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
$GPS1,020513,141630,4743.674,-12223.648,29,1.7,29,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.1
$GPS2,020513,142712,4743.610,-12223.613,8,1.0,13,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.195
$KALMAN_X,-8441.9,802.7,373.9,8890.0,-393.4
$KALMAN_Y,-7212.1,1842.1,384.2,6867.7,-355.2
$MHEAD_RNG_PITCHd_Wd,199.1,2241,-14.9,-8.498,-19.07,2610
$D_GRID,161
$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,-146.6,177,2355,1469,1314,0.0,0.0,0,91,0.00,0.00,-71.70,0.000,16386,0.000,0.000,178,2356,3253,3251,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.80,-146.6,182,2356,3250,3257,3.6,-4.8,13,113,10.65,2.35,-1.05,0.000,18692,0.438,0.132,2311,3702,3303,3314,3293,0,0,0,0,0,0,14.54,14.66,14.85
$GC,343,-0.80,-146.6,1376,3701,3300,3287,45.5,-15.5,73,350,0.00,2.25,0.00,0.000,1030,0.000,0.073,2311,2339,3303,3319,3287,0,0,0,0,0,0,28.83,14.75,28.83
$GC,472,-0.80,-146.6,1376,2336,3309,3283,63.3,-14.1,104,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2338,3304,3322,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,600,-0.80,-146.6,1376,2336,3309,3283,80.0,-13.7,135,607,0.00,2.40,0.00,0.000,516,0.000,0.106,2311,942,3304,3323,3286,0,0,0,0,0,0,28.83,14.78,28.83
$GC,825,-0.80,-146.6,1376,941,3310,3279,109.8,-11.9,190,832,0.00,2.40,0.00,0.000,1030,0.000,0.099,2301,2345,3304,3323,3285,0,0,0,0,0,0,28.83,14.83,28.83
$GC,954,-0.80,-146.6,1376,2343,3310,3282,126.4,-13.4,221,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2345,3304,3323,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1082,-0.80,-146.6,1376,2343,3310,3282,143.9,-14.2,252,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2345,3304,3323,3285,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1213,-0.21,0.0,2300,2281,3323,3285,161.2,-13.8,283,1337,0.77,0.00,114.85,2.066,10246,0.259,0.000,2513,2281,2705,2779,2632,0,0,0,0,0,0,14.80,28.83,13.38
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1339,0.80,146.6,2513,2281,2777,2633,166.4,0.0,305,1465,1.12,0.00,120.38,2.156,10246,0.183,0.000,2837,2280,2106,2213,2000,0,0,0,0,0,0,14.04,28.83,13.27
$GC,1588,0.80,146.6,1792,2279,2172,1992,146.9,10.8,357,1594,0.00,2.55,0.00,0.000,260,0.000,0.112,2837,3702,2108,2214,2002,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1628,0.80,146.6,1808,3701,2173,1996,142.2,10.9,366,1635,0.00,2.38,0.00,0.000,1030,0.000,0.073,2843,2298,2107,2213,2002,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1757,0.80,146.6,1792,2294,2172,1996,128.6,11.2,397,1764,0.00,2.50,0.00,0.000,260,0.000,0.115,2843,3706,2107,2213,2002,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1854,0.80,146.6,1792,3706,2172,1996,116.1,13.9,420,1861,0.00,2.38,0.00,0.000,1030,0.000,0.073,2852,2283,2107,2213,2002,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1983,0.80,146.6,1792,2280,2172,1995,101.6,10.7,451,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2283,2107,2213,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,0.80,146.6,1792,2280,2171,1995,88.3,11.4,482,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2282,2107,2213,2001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,0.80,146.6,1808,2280,2172,1995,74.0,11.1,513,2245,0.00,2.40,0.00,0.000,516,0.000,0.106,2863,885,2107,2212,2002,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2271,0.80,146.6,1840,884,2173,1995,70.0,11.8,520,2278,0.00,2.42,0.00,0.000,1030,0.000,0.095,2863,2300,2107,2213,2002,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2400,0.80,146.6,1808,2298,2171,1996,53.9,10.9,551,2407,0.00,2.45,0.00,0.000,516,0.000,0.108,2871,883,2107,2213,2002,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2425,0.80,146.6,1888,882,2176,1996,51.3,10.3,556,2432,0.00,2.40,0.00,0.000,1030,0.000,0.096,2871,2291,2105,2213,1998,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2554,0.80,146.6,1824,2288,2172,1996,37.7,10.3,587,2561,0.00,2.45,0.00,0.000,260,0.000,0.116,2871,3698,2107,2212,2002,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2696,0.80,146.6,1824,3698,2172,1996,19.8,13.0,621,2703,0.15,2.33,0.00,0.000,5126,0.286,0.073,2849,2288,2105,2209,2002,0,0,0,0,0,0,14.73,14.81,28.83
$GC,2765,0.80,146.6,1800,2285,2172,1996,12.7,9.5,637,2772,0.00,2.47,0.00,0.000,260,0.000,0.116,2849,3705,2107,2213,2002,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2786,0.80,146.6,2849,3705,2212,2002,10.9,8.7,641,2793,0.00,2.35,0.00,0.000,1030,0.000,0.076,2856,2290,2107,2213,2002,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2855,0.80,146.6,1808,2287,2172,1996,5.3,8.6,657,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2289,2107,2213,2002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2898,end climb,SURFACE_DEPTH_REACHED
$STATE,2898,begin surface coast
$FINISH,0.9,1.011841
$STATE,2924,end surface coast,CONTROL_FINISHED_OK
$STATE,2924,begin surface
$SM_CCo,2938,71.68,0.152,0,0,1398,320.12
$SM_GC,2.11,7.88,0.12,71.68,0.095,0.179,0.152,179,2365,1398,-7.47,-0.54,320.12,0,0,0,0,0,0,14.82,14.81,14.73
$IRIDIUM_FIX,4726.11,-12222.38,020513,141452
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.77
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$SC_FREEKB,3932064
$24V_AH,13.3,4.589
$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,20.575,38.700,235.225,71.675,0.000,0.000,0.000,441.850,0.000,0.000,15.871,1451.756,211.999,400.577,1535.477,52.021,33.212,1385.191,0.000,1015.639,0.000,0.537,0.000
$DEVICE_MAMPS,437.580,190.485,2155.770,152.235,0.000,0.000,0.000,175.950,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.664,0.000,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,23412,673
$CAP_FILE_SIZE,102945,0
$CFSIZE,1024409600,1020657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,151927,4743.136,-12223.943,10,2.1,29,18.2