version: 66.11
glider: 197
mission: 2
dive: 3
start: 5 2 113 0 40 5
data:
$ID,197
$MISSION,2
$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,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,-2354.3831
$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,2595
$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,23
$R_STBD_OVSHOOT,16
$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,-65.571541
$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,120
$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
$GPS1,020513,003536,4742.629,-12225.146,9,1.6,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.6
$GPS2,020513,003907,4742.584,-12225.180,13,1.4,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.245
$KALMAN_X,-123.5,-181.4,-162.3,151.6,-189.5
$KALMAN_Y,-246.0,-353.7,-318.4,910.5,-369.6
$MHEAD_RNG_PITCHd_Wd,1.3,2483,-17.5,-10.000,-21.04,2225
$D_GRID,186
$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,-0.91,-146.6,177,2351,1619,1464,0.0,0.0,0,80,0.00,0.00,-60.95,0.000,16386,0.000,0.000,178,2351,3137,3178,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.91,-146.6,178,2351,3178,3096,3.6,-6.1,11,107,10.07,0.00,-7.03,0.000,18950,0.429,0.000,2296,2351,3453,3471,3435,0,0,0,0,0,0,14.76,28.83,15.11
$GC,168,-0.91,-146.6,1368,2348,3464,3433,18.9,-15.9,30,175,0.00,2.35,0.00,0.000,260,0.000,0.115,2288,3719,3453,3472,3435,0,0,0,0,0,0,28.83,14.88,28.83
$GC,217,-0.91,-146.6,1376,3718,3464,3433,27.4,-18.9,41,224,0.00,2.28,0.00,0.000,1030,0.000,0.080,2288,2343,3453,3472,3435,0,0,0,0,0,0,28.83,14.89,28.83
$GC,286,-0.91,-146.6,1376,2340,3465,3432,39.6,-16.5,57,293,0.00,2.42,0.00,0.000,516,0.000,0.116,2288,934,3454,3473,3435,0,0,0,0,0,0,28.83,14.88,28.83
$GC,519,-0.91,-146.6,1368,933,3465,3433,77.7,-15.1,114,526,0.00,2.42,0.00,0.000,1030,0.000,0.103,2277,2359,3454,3473,3435,0,0,0,0,0,0,28.83,14.94,28.83
$GC,647,-0.91,-146.6,1352,2357,3464,3433,95.9,-13.8,145,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2359,3454,3473,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,775,-0.91,-146.6,1352,2357,3465,3432,114.1,-14.1,176,782,0.00,2.45,0.00,0.000,516,0.000,0.117,2277,937,3454,3473,3435,0,0,0,0,0,0,28.83,14.96,28.83
$GC,901,-0.91,-146.6,1352,936,3465,3433,134.1,-16.8,206,909,0.15,2.42,0.00,0.000,3078,0.285,0.107,2300,2358,3454,3473,3435,0,0,0,0,0,0,14.88,14.97,28.83
$STATE,1008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1008,begin apogee
$GC,1012,-0.21,0.0,2300,2278,3473,3435,150.4,-14.2,231,1134,0.77,0.00,115.40,2.264,10246,0.244,0.000,2520,2277,2855,2925,2786,0,0,0,0,0,0,14.88,28.83,13.49
$STATE,1136,end apogee,CONTROL_FINISHED_OK
$STATE,1136,begin climb
$GC,1137,0.91,146.6,2520,2277,2926,2787,156.4,0.0,253,1263,1.17,2.60,116.53,2.138,10500,0.158,0.109,2878,3703,2256,2349,2164,0,0,0,0,0,0,14.21,14.12,13.45
$GC,1413,0.91,146.6,1824,3703,2305,2157,132.5,12.9,312,1420,0.00,2.38,0.00,0.000,1030,0.000,0.079,2884,2291,2257,2349,2165,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1542,0.91,146.6,1824,2288,2305,2158,115.7,12.5,343,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2290,2257,2349,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,0.91,146.6,1824,2288,2304,2158,100.1,12.1,374,1677,0.00,2.42,0.00,0.000,516,0.000,0.117,2901,884,2257,2349,2166,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1699,0.91,146.6,1888,883,2308,2158,96.5,12.9,380,1706,0.00,2.42,0.00,0.000,1030,0.000,0.100,2895,2293,2257,2349,2166,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1828,0.91,146.6,1832,2291,2305,2158,80.3,12.4,411,1835,0.00,2.42,0.00,0.000,260,0.000,0.115,2895,3701,2257,2349,2165,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2020,0.91,146.6,1824,3700,2305,2158,54.4,12.7,458,2027,0.00,2.33,0.00,0.000,1030,0.000,0.078,2904,2285,2257,2349,2165,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2149,0.91,146.6,1856,2283,2305,2158,40.0,11.1,489,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2285,2257,2349,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2217,0.92,154.1,1856,2283,2306,2158,32.8,9.7,505,2230,0.00,2.47,3.53,0.841,8708,0.000,0.117,2915,886,2223,2316,2131,0,0,0,0,0,0,28.83,14.87,14.39
$GC,2349,0.96,184.6,1856,885,2273,2124,20.5,8.6,536,2367,0.00,2.40,12.45,0.219,9222,0.000,0.099,2915,2295,2099,2198,2000,0,0,0,0,0,0,28.83,14.87,14.81
$GC,2429,0.96,184.6,1856,2293,2157,1993,11.2,10.3,554,2436,0.00,2.42,0.00,0.000,260,0.000,0.116,2915,3703,2099,2199,1999,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,2505,end climb,SURFACE_DEPTH_REACHED
$STATE,2505,begin surface coast
$FINISH,0.7,1.015219
$STATE,2518,end surface coast,CONTROL_FINISHED_OK
$STATE,2518,begin surface
$SM_CCo,2535,54.15,0.159,0,0,1546,320.12
$SM_GC,1.63,7.97,2.30,54.15,0.095,0.079,0.159,171,2348,1546,-7.51,0.74,320.12,0,0,0,0,0,0,14.91,14.90,14.83
$IRIDIUM_FIX,4726.11,-12232.20,020513,000029
$TT8_MAMPS,0.024717,0.024717
$HUMID,40.58
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,136.2,63.2
$SC_FREEKB,3937056
$24V_AH,13.4,1.621
$10V_AH,13.5,0.000
$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,20.150,38.650,247.900,54.150,0.000,0.000,0.000,0.000,1.250,0.000,15.918,1226.616,128.800,378.831,909.772,21.848,31.304,848.762,0.000,866.860,0.000,10.359,0.000
$DEVICE_MAMPS,429.165,169.830,2263.635,159.120,0.000,0.000,0.000,0.000,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.998,0.000,0.000,0.000
$MEM,322924
$DATA_FILE_SIZE,16757,575
$CAP_FILE_SIZE,98468,0
$CFSIZE,1024409600,1021952000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,012401,4742.735,-12225.248,9,1.6,9,18.2