version: 66.11
glider: 197
mission: 2
dive: 4
start: 5 2 113 1 32 36
data:
$ID,197
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$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,-2355.6392
$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,24
$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,-65.571541
$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
$GPS1,020513,012401,4742.735,-12225.248,9,1.6,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.1
$GPS2,020513,013137,4742.637,-12225.318,13,1.6,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,0.239
$KALMAN_X,-289.1,-359.3,-233.4,394.2,-241.9
$KALMAN_Y,-482.9,-618.2,-436.4,1626.3,-400.9
$MHEAD_RNG_PITCHd_Wd,5.0,2426,-17.5,-10.000,-21.04,2225
$D_GRID,188
$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,-146.6,172,2345,1619,1463,0.0,0.0,0,75,0.00,0.00,-55.70,0.000,16386,0.000,0.000,171,2346,2982,3010,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.91,-146.6,171,2346,3010,2955,3.1,-3.4,10,107,10.27,2.50,-10.68,0.000,18948,0.430,0.138,2294,945,3453,3471,3435,0,0,0,0,0,0,14.63,14.76,14.97
$GC,133,-0.91,-146.6,1392,944,3463,3433,13.1,-15.7,21,140,0.00,2.42,0.00,0.000,1030,0.000,0.105,2285,2349,3453,3470,3436,0,0,0,0,0,0,28.83,14.78,28.83
$GC,202,-0.91,-146.6,1360,2346,3463,3433,24.8,-15.8,37,209,0.00,2.38,0.00,0.000,260,0.000,0.122,2275,3708,3453,3471,3436,0,0,0,0,0,0,28.83,14.76,28.83
$GC,243,-0.91,-146.6,1384,3707,3463,3434,32.7,-19.8,46,249,0.00,2.28,0.00,0.000,1030,0.000,0.082,2275,2341,3453,3471,3436,0,0,0,0,0,0,28.83,14.80,28.83
$GC,311,-0.91,-146.6,1360,2338,3463,3433,45.5,-17.2,62,318,0.00,2.45,0.00,0.000,516,0.000,0.121,2275,937,3453,3472,3435,0,0,0,0,0,0,28.83,14.81,28.83
$GC,516,-0.91,-146.6,1348,937,3464,3433,82.3,-17.0,112,523,0.15,2.42,0.00,0.000,3078,0.295,0.108,2296,2349,3454,3472,3436,0,0,0,0,0,0,14.79,14.88,28.83
$GC,645,-0.91,-146.6,1360,2346,3464,3433,101.3,-13.8,143,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2349,3454,3473,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,773,-0.91,-146.6,1360,2346,3465,3433,119.5,-13.7,174,781,0.00,2.45,0.00,0.000,516,0.000,0.116,2296,931,3454,3473,3436,0,0,0,0,0,0,28.83,14.91,28.83
$GC,953,-0.91,-146.6,1360,931,3464,3433,147.2,-16.4,216,960,0.00,2.42,0.00,0.000,1030,0.000,0.106,2288,2350,3454,3473,3436,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1082,-0.91,-146.6,1360,2348,3465,3433,167.3,-15.2,247,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2350,3454,3473,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1169,begin apogee
$GC,1172,-0.21,0.0,2288,2270,3473,3436,180.5,-14.0,268,1295,0.82,0.00,116.28,2.277,10246,0.253,0.000,2518,2269,2855,2925,2785,0,0,0,0,0,0,14.85,28.83,13.44
$STATE,1297,end apogee,CONTROL_FINISHED_OK
$STATE,1297,begin climb
$GC,1298,0.91,146.6,2517,2269,2926,2786,185.8,0.0,290,1425,1.20,2.70,117.88,2.193,10500,0.161,0.111,2878,3702,2256,2349,2164,0,0,0,0,0,0,14.15,14.07,13.40
$GC,1519,0.91,146.6,1824,3701,2305,2157,167.4,13.8,335,1526,0.00,2.38,0.00,0.000,1030,0.000,0.077,2885,2300,2257,2349,2165,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1648,0.91,146.6,1824,2297,2306,2157,152.1,11.2,366,1654,0.00,2.47,0.00,0.000,260,0.000,0.113,2885,3711,2257,2350,2164,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1784,0.91,146.6,1824,3711,2305,2157,133.2,15.9,399,1791,0.00,2.38,0.00,0.000,1030,0.000,0.077,2895,2281,2256,2349,2164,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1912,0.91,146.6,1832,2279,2306,2157,116.2,12.9,430,1919,0.00,2.42,0.00,0.000,516,0.000,0.115,2905,883,2257,2350,2164,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1997,0.91,146.6,1856,882,2306,2157,105.0,13.9,450,2004,0.00,2.42,0.00,0.000,1030,0.000,0.099,2905,2301,2257,2350,2164,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2126,0.91,146.6,1856,2299,2306,2157,87.3,14.0,481,2132,0.00,2.42,0.00,0.000,260,0.000,0.116,2905,3702,2257,2350,2165,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2302,0.91,146.6,1856,3701,2306,2157,62.4,13.5,524,2309,0.00,2.35,0.00,0.000,1030,0.000,0.078,2916,2280,2255,2349,2161,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2431,0.91,146.6,1856,2277,2306,2157,47.9,11.0,555,2438,0.00,2.40,0.00,0.000,516,0.000,0.115,2927,885,2257,2349,2165,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2588,0.91,146.6,1856,885,2306,2157,30.7,10.7,593,2596,0.15,2.40,0.00,0.000,5126,0.268,0.098,2892,2299,2256,2349,2164,0,0,0,0,0,0,14.83,14.90,28.83
$GC,2658,0.99,210.9,1840,2297,2306,2157,25.2,7.0,609,2687,0.00,0.00,26.80,0.229,8198,0.000,0.000,2892,2299,1993,2100,1887,0,0,0,0,0,0,28.83,28.83,14.80
$GC,2749,0.99,210.9,1840,2297,2058,1878,16.3,12.3,629,2756,0.00,2.42,0.00,0.000,260,0.000,0.116,2892,3703,1992,2099,1885,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2850,0.99,210.9,1832,3703,2058,1878,3.0,14.2,653,2857,0.00,2.35,0.00,0.000,1030,0.000,0.080,2900,2288,1991,2098,1884,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,2861,end climb,SURFACE_DEPTH_REACHED
$STATE,2861,begin surface coast
$FINISH,0.9,1.008005
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2875,begin surface
$SM_CCo,2890,43.88,0.156,0,0,1545,320.12
$SM_GC,2.34,7.90,0.12,43.88,0.091,0.181,0.156,181,2361,1545,-7.49,-0.57,320.12,0,0,0,0,0,0,14.88,14.87,14.81
$IRIDIUM_FIX,4726.11,-12157.61,020513,000023
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.17
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.3,67.8
$SC_FREEKB,3936672
$24V_AH,13.4,1.841
$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,20.500,48.700,260.950,43.875,0.000,0.000,0.000,337.250,1.500,0.000,16.109,1415.995,149.056,386.788,1415.088,39.315,32.223,1260.284,0.000,992.918,0.000,13.270,0.000
$DEVICE_MAMPS,429.930,181.305,2277.405,156.060,0.000,0.000,0.000,172.125,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.874,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,20030,658
$CAP_FILE_SIZE,100596,0
$CFSIZE,1024409600,1021853696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,022236,4742.739,-12225.442,28,0.9,28,18.2