version: 66.11
glider: 197
mission: 2
dive: 17
start: 5 2 113 15 33 57
data:
$ID,197
$MISSION,2
$DIVE,17
$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,-2372.2754
$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,29
$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
$GPS1,020513,151927,4743.136,-12223.943,10,2.1,29,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.7
$GPS2,020513,153259,4743.012,-12223.958,44,1.0,44,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.211,-0.002
$KALMAN_X,-8320.2,930.1,270.3,8314.8,-231.4
$KALMAN_Y,-7777.8,2172.2,255.7,6127.4,-570.6
$MHEAD_RNG_PITCHd_Wd,251.3,1198,-18.1,-8.498,-21.92,1861
$D_GRID,163
$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,16,begin dive
$GC,17,-0.88,-104.2,179,2365,1469,1314,0.0,0.0,0,90,0.00,0.00,-67.65,0.000,16390,0.000,0.000,179,2365,3129,3165,3094,0,0,0,0,0,0,28.83,28.83,14.90
$GC,92,-0.94,-146.6,179,2365,3166,3095,3.5,-5.5,13,113,10.40,2.42,-3.92,0.000,18692,0.437,0.138,2271,3708,3305,3327,3284,0,0,0,0,0,0,14.53,14.66,14.87
$GC,343,-0.94,-146.6,1348,3707,3315,3281,49.9,-18.0,73,350,0.00,2.25,0.00,0.000,1030,0.000,0.073,2271,2344,3305,3327,3284,0,0,0,0,0,0,28.83,14.74,28.83
$GC,472,-0.94,-146.6,1352,2342,3315,3281,70.9,-14.2,104,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2344,3306,3328,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,601,-0.94,-146.6,1360,2342,3315,3281,89.4,-15.2,135,608,0.00,2.40,0.00,0.000,516,0.000,0.107,2271,946,3306,3328,3284,0,0,0,0,0,0,28.83,14.80,28.83
$GC,814,-0.94,-146.6,1344,947,3316,3280,122.7,-15.5,187,821,0.00,2.38,0.00,0.000,1030,0.000,0.099,2260,2342,3306,3329,3283,0,0,0,0,0,0,28.83,14.83,28.83
$GC,943,-0.94,-146.6,1344,2340,3316,3280,141.7,-14.9,218,950,0.00,2.38,0.00,0.000,260,0.000,0.119,2250,3708,3306,3329,3283,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1000,-0.94,-146.6,1344,3710,3316,3281,151.8,-18.9,231,1008,0.15,2.25,0.00,0.000,3078,0.300,0.075,2280,2341,3305,3328,3283,0,0,0,0,0,0,14.77,14.87,28.83
$STATE,1072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1073,begin apogee
$GC,1076,-0.21,0.0,2281,2290,3329,3283,163.1,-13.0,248,1199,0.85,0.00,116.32,2.143,10246,0.265,0.000,2513,2290,2706,2780,2633,0,0,0,0,0,0,14.76,28.83,13.34
$STATE,1201,end apogee,CONTROL_FINISHED_OK
$STATE,1201,begin climb
$GC,1202,0.94,146.6,2513,2290,2780,2633,168.1,0.0,270,1334,1.25,2.62,119.47,2.084,11012,0.177,0.106,2881,897,2108,2213,2003,0,0,0,0,0,0,14.02,13.92,13.31
$GC,1352,0.94,146.6,1872,897,2174,1996,156.7,12.0,297,1359,0.00,2.50,0.00,0.000,1030,0.000,0.093,2880,2288,2108,2213,2003,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1481,0.94,146.6,1840,2287,2173,1996,141.9,11.5,328,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2289,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,0.94,146.6,1832,2287,2172,1996,126.1,11.6,359,1616,0.00,2.50,0.00,0.000,260,0.000,0.114,2882,3705,2108,2213,2003,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1698,0.94,146.6,1840,3709,2172,1996,112.5,15.1,380,1705,0.00,2.38,0.00,0.000,1030,0.000,0.073,2889,2289,2108,2213,2003,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1827,0.94,146.6,1856,2286,2172,1996,96.2,12.3,411,1834,0.00,2.50,0.00,0.000,260,0.000,0.116,2889,3712,2108,2213,2003,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1904,0.94,146.6,1856,3711,2172,1996,85.0,14.0,429,1910,0.00,2.38,0.00,0.000,1030,0.000,0.076,2899,2285,2108,2213,2003,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2032,0.94,146.6,1856,2283,2172,1996,67.2,14.6,460,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2285,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,0.94,146.6,1856,2283,2172,1996,51.1,11.1,491,2167,0.00,2.42,0.00,0.000,516,0.000,0.107,2909,878,2108,2213,2003,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2185,0.94,146.6,1896,878,2174,1997,48.2,11.8,496,2192,0.00,2.42,0.00,0.000,1030,0.000,0.096,2909,2293,2108,2213,2003,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2314,0.94,146.6,1856,2291,2172,1996,33.1,12.0,527,2321,0.00,2.45,0.00,0.000,260,0.000,0.116,2915,3704,2108,2214,2003,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2491,0.94,146.6,1856,3703,2171,1996,9.4,12.8,570,2498,0.15,2.33,0.00,0.000,5126,0.302,0.072,2889,2293,2108,2213,2003,0,0,0,0,0,0,14.70,14.79,28.83
$GC,2560,0.94,146.6,1832,2285,2172,1996,2.4,8.9,586,2567,0.00,2.47,0.00,0.000,260,0.000,0.116,2889,3706,2107,2213,2002,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,2572,end climb,SURFACE_DEPTH_REACHED
$STATE,2572,begin surface coast
$FINISH,0.8,1.011837
$STATE,2597,end surface coast,CONTROL_FINISHED_OK
$STATE,2598,begin surface
$SM_CCo,2615,71.38,0.150,0,0,1396,320.12
$SM_GC,2.07,8.02,2.33,71.38,0.099,0.077,0.150,176,2345,1396,-7.47,0.68,320.12,0,0,0,0,0,0,14.81,14.81,14.73
$IRIDIUM_FIX,4726.11,-12222.38,020513,151550
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.25
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.80
$XPDR_PINGS,0
$SC_FREEKB,3931680
$24V_AH,13.3,4.804
$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,20.825,43.450,235.800,71.375,0.000,0.000,0.000,521.100,0.000,0.000,46.712,1277.042,252.009,395.499,1527.905,44.413,33.209,1406.642,0.000,899.117,0.000,0.538,0.000
$DEVICE_MAMPS,436.815,216.495,2142.765,149.940,0.000,0.000,0.000,173.655,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2626.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.655,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,20150,594
$CAP_FILE_SIZE,93892,0
$CFSIZE,1024409600,1020575744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,161931,4742.801,-12224.574,10,1.3,10,18.2