version: 66.11
glider: 197
mission: 1
dive: 3
start: 4 30 113 20 0 59
data:
$ID,197
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,0
$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,-1453.6517
$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,2685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.00156
$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,2281
$C_ROLL_CLIMB,2281
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$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,-65.771126
$PRESSURE_SLOPE,0.000117962
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$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
$GPS1,300413,195354,4743.062,-12224.778,12,1.2,12,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.6
$GPS2,300413,200001,4743.090,-12224.818,12,1.3,12,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,0.256
$KALMAN_X,-98.0,-53.2,-52.3,-36.5,-116.3
$KALMAN_Y,211.3,111.9,109.9,542.8,248.7
$MHEAD_RNG_PITCHd_Wd,351.4,1501,-17.5,-10.000,-21.04,2225
$D_GRID,177
$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,-1.05,-146.6,176,2274,614,425,0.0,0.0,0,123,0.00,0.00,-103.68,0.000,16386,0.000,0.000,177,2275,3202,3249,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.05,-146.6,175,2275,3249,3155,3.1,-5.4,19,151,10.40,2.53,-5.50,0.000,18692,0.431,0.144,2333,3687,3454,3537,3371,0,0,0,0,0,0,14.69,14.79,15.05
$GC,285,-1.05,-146.6,1408,3686,3530,3368,29.1,-14.8,56,291,0.00,2.35,0.00,0.000,1030,0.000,0.083,2332,2276,3454,3538,3370,0,0,0,0,0,0,28.83,14.83,28.83
$GC,353,-1.05,-146.6,1408,2272,3531,3367,39.0,-14.5,72,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2274,3454,3538,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,421,-1.05,-146.6,1408,2272,3531,3368,49.2,-15.7,88,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2274,3454,3538,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,549,-1.05,-146.6,1408,2272,3531,3368,66.8,-14.2,119,556,0.00,2.45,0.00,0.000,516,0.000,0.119,2333,869,3454,3539,3370,0,0,0,0,0,0,28.83,14.83,28.83
$GC,787,-1.05,-146.6,1440,868,3532,3367,97.7,-11.6,177,793,0.00,2.42,0.00,0.000,1030,0.000,0.104,2322,2286,3454,3539,3370,0,0,0,0,0,0,28.83,14.88,28.83
$GC,921,-1.05,-146.6,1408,2284,3532,3367,114.8,-11.8,208,931,0.00,2.47,0.00,0.000,516,0.000,0.119,2322,868,3454,3539,3370,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1088,-1.05,-146.6,1376,867,3531,3367,136.1,-13.5,246,1096,0.12,2.45,0.00,0.000,3078,0.280,0.106,2339,2287,3454,3539,3370,0,0,0,0,0,0,14.83,14.89,28.83
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1208,-0.25,0.0,2339,2287,3539,3369,150.1,-12.5,274,1325,0.90,0.00,108.15,1.694,10246,0.235,0.000,2596,2286,2854,2966,2743,0,0,0,0,0,0,14.82,28.83,13.66
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1328,1.05,146.6,2596,2287,2966,2744,152.1,0.0,295,1448,1.33,2.58,109.57,1.675,10500,0.124,0.112,3022,3692,2257,2350,2164,0,0,0,0,0,0,14.28,14.13,13.56
$GC,1678,1.05,146.6,1952,3692,2305,2156,99.1,22.2,373,1685,0.00,2.40,0.00,0.000,1030,0.000,0.085,3033,2278,2256,2349,2164,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1807,1.05,146.6,1968,2274,2305,2156,75.4,15.6,404,1814,0.00,2.47,0.00,0.000,260,0.000,0.116,3033,3690,2256,2349,2164,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1912,1.05,146.6,1984,3689,2304,2156,56.8,17.5,429,1919,0.00,2.38,0.00,0.000,1030,0.000,0.088,3044,2277,2256,2349,2164,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2040,1.05,146.6,1984,2274,2305,2156,38.4,13.8,460,2047,0.00,2.47,0.00,0.000,260,0.000,0.116,3044,3692,2256,2349,2164,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2081,1.05,146.6,2000,3691,2306,2156,32.7,13.5,469,2088,0.15,2.38,0.00,0.000,5126,0.337,0.088,3025,2277,2256,2349,2164,0,0,0,0,0,0,14.68,14.78,28.83
$GC,2150,1.05,146.6,1968,2274,2306,2161,25.0,10.5,485,2157,0.00,2.45,0.00,0.000,516,0.000,0.118,3034,868,2256,2348,2164,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2223,1.05,146.6,1984,868,2305,2157,16.5,12.8,502,2230,0.00,2.42,0.00,0.000,1030,0.000,0.102,3039,2279,2256,2349,2164,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2292,1.05,146.6,1984,2276,2306,2156,7.9,10.3,518,2298,0.00,2.47,0.00,0.000,260,0.000,0.122,3034,3693,2256,2349,2164,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2347,end climb,SURFACE_DEPTH_REACHED
$STATE,2347,begin surface coast
$FINISH,0.6,1.021345
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2383,69.93,0.167,0,0,1546,320.12
$SM_GC,1.53,8.57,2.42,69.93,0.117,0.086,0.167,180,2280,1546,-7.77,0.82,320.12,0,0,0,0,0,0,14.84,14.83,14.75
$IRIDIUM_FIX,4726.11,-12227.78,300413,191931
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.07
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,130.1,61.7
$SC_FREEKB,3937440
$24V_AH,13.6,0.684
$10V_AH,13.6,0.000
$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,21.475,39.125,217.725,69.925,0.000,0.000,0.000,0.000,3.500,0.000,14.975,1131.278,123.925,398.126,853.549,21.550,31.303,845.229,0.000,807.311,0.000,23.949,0.000
$DEVICE_MAMPS,430.695,143.820,1694.475,166.770,0.000,0.000,0.000,0.000,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2349.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.506,0.000,0.000,0.000
$MEM,322896
$DATA_FILE_SIZE,13422,535
$CAP_FILE_SIZE,92681,0
$CFSIZE,1024409600,1022279680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300413,204257,4743.648,-12224.797,8,2.6,27,18.2