version: 66.11
glider: 197
mission: 2
dive: 18
start: 5 2 113 16 27 52
data:
$ID,197
$MISSION,2
$DIVE,18
$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,-2373.5352
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,020513,161931,4742.801,-12224.574,10,1.3,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-68.0
$GPS2,020513,162654,4742.733,-12224.604,13,1.4,13,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.003,0.190
$KALMAN_X,-8363.8,1071.0,189.1,7498.6,-230.8
$KALMAN_Y,-8248.1,2325.3,64.4,6118.7,-865.7
$MHEAD_RNG_PITCHd_Wd,341.0,252,-20.6,-8.498,-24.09,1483
$D_GRID,180
$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,-0.96,-82.9,176,2343,1468,1315,0.0,0.0,0,85,0.00,0.00,-64.80,0.000,16390,0.000,0.000,176,2344,3043,3068,3018,0,0,0,0,0,0,28.83,28.83,14.88
$GC,87,-1.04,-146.6,176,2344,3068,3018,2.8,-1.5,12,112,10.20,2.42,-6.55,0.000,18692,0.435,0.142,2238,3711,3305,3327,3283,0,0,0,0,0,0,14.53,14.63,14.85
$GC,214,-1.04,-146.6,1344,3710,3315,3280,28.2,-20.4,41,221,0.00,2.28,0.00,0.000,1030,0.000,0.073,2238,2349,3305,3327,3283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,283,-1.04,-146.6,1348,2342,3315,3280,41.9,-19.4,57,290,0.00,2.45,0.00,0.000,516,0.000,0.109,2238,935,3305,3327,3284,0,0,0,0,0,0,28.83,14.70,28.83
$GC,520,-1.04,-146.6,1328,934,3315,3280,85.2,-18.3,115,527,0.00,2.42,0.00,0.000,1030,0.000,0.099,2228,2349,3305,3328,3283,0,0,0,0,0,0,28.83,14.77,28.83
$GC,649,-1.04,-146.6,1328,2347,3315,3279,107.7,-18.4,146,656,0.00,2.42,0.00,0.000,516,0.000,0.106,2228,941,3305,3328,3283,0,0,0,0,0,0,28.83,14.80,28.83
$GC,786,-1.04,-146.6,1328,941,3315,3280,133.0,-19.7,179,793,0.15,2.42,0.00,0.000,3078,0.320,0.104,2247,2350,3306,3328,3284,0,0,0,0,0,0,14.72,14.81,28.83
$GC,915,-1.04,-146.6,1344,2347,3315,3280,154.6,-16.9,210,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2349,3305,3328,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1043,-1.04,-146.6,1344,2347,3315,3280,174.4,-15.3,241,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2349,3305,3327,3283,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1078,begin apogee
$GC,1082,-0.21,0.0,2247,2283,3328,3283,180.2,-16.5,249,1205,0.98,0.00,114.97,2.060,10246,0.278,0.000,2508,2283,2707,2781,2634,0,0,0,0,0,0,14.76,28.83,13.38
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1208,1.04,146.6,2508,2282,2781,2635,186.1,0.0,271,1340,1.38,2.65,120.82,2.159,10500,0.177,0.109,2907,3705,2107,2212,2003,0,0,0,0,0,0,14.04,13.91,13.27
$GC,1390,1.04,146.6,1872,3704,2172,1997,167.4,16.9,306,1397,0.00,2.42,0.00,0.000,1030,0.000,0.072,2917,2295,2107,2212,2003,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1519,1.04,146.6,1856,2292,2171,1997,147.1,15.8,337,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2294,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,1.04,146.6,1856,2291,2171,1997,127.2,14.9,368,1654,0.00,2.47,0.00,0.000,260,0.000,0.112,2917,3699,2107,2212,2003,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1884,1.04,146.6,1856,3698,2170,1996,86.5,16.3,426,1891,0.00,2.35,0.00,0.000,1030,0.000,0.073,2927,2284,2107,2212,2003,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2013,1.04,146.6,1872,2281,2171,1997,66.0,16.6,457,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2283,2107,2212,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,1.04,146.6,1864,2281,2171,1996,47.8,14.7,488,2148,0.00,2.47,0.00,0.000,260,0.000,0.112,2927,3706,2107,2212,2003,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2218,1.04,146.6,1872,3705,2172,1996,35.9,14.5,506,2224,0.00,2.35,0.00,0.000,1030,0.000,0.075,2937,2288,2107,2212,2003,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2286,1.04,146.6,1888,2285,2172,1997,26.9,12.4,522,2293,0.00,2.42,0.00,0.000,516,0.000,0.109,2946,885,2107,2212,2003,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2375,1.04,146.6,1888,885,2171,1996,15.1,13.4,543,2382,0.00,2.40,0.00,0.000,1030,0.000,0.094,2946,2290,2107,2212,2003,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2444,1.04,146.6,1888,2288,2172,1997,4.8,15.2,559,2451,0.00,2.45,0.00,0.000,260,0.000,0.117,2946,3698,2107,2211,2003,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,2463,end climb,SURFACE_DEPTH_REACHED
$STATE,2464,begin surface coast
$FINISH,0.8,1.013538
$STATE,2477,end surface coast,CONTROL_FINISHED_OK
$STATE,2477,begin surface
$SM_CCo,2494,71.43,0.150,0,0,1397,320.12
$SM_GC,2.05,8.15,2.30,71.43,0.093,0.080,0.150,176,2354,1397,-7.47,1.02,320.12,0,0,0,0,0,0,14.79,14.79,14.72
$IRIDIUM_FIX,4713.38,-12243.92,020513,151530
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.93
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.80
$XPDR_PINGS,0
$SC_FREEKB,3931296
$24V_AH,13.3,5.010
$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,20.850,38.825,235.800,71.425,0.000,0.000,0.000,322.975,0.000,0.000,15.770,1212.606,125.895,391.701,1248.856,43.646,33.201,1183.578,0.000,855.852,0.000,0.537,0.000
$DEVICE_MAMPS,434.520,184.365,2158.830,149.940,0.000,0.000,0.000,174.420,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2500.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.973,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,16786,566
$CAP_FILE_SIZE,87341,0
$CFSIZE,1024409600,1020477440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,171125,4742.937,-12224.869,9,2.0,9,18.2