version: 66.11
glider: 197
mission: 2
dive: 5
start: 5 2 113 2 33 49
data:
$ID,197
$MISSION,2
$DIVE,5
$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,-2356.897
$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,28
$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
$GPS1,020513,022236,4742.739,-12225.442,28,0.9,28,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-68.1
$GPS2,020513,023249,4742.631,-12225.521,12,1.0,12,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,0.223
$KALMAN_X,-741.2,-590.0,-145.9,738.9,-353.9
$KALMAN_Y,-1084.3,-959.9,-333.7,2457.7,-476.7
$MHEAD_RNG_PITCHd_Wd,12.6,2515,-17.5,-10.000,-21.04,2225
$D_GRID,189
$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,-146.6,181,2360,1619,1466,0.0,0.0,0,80,0.00,0.00,-61.05,0.000,16386,0.000,0.000,181,2359,3103,3140,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.91,-146.6,181,2360,3142,3065,3.2,-3.8,11,108,10.35,2.47,-7.90,0.000,18948,0.435,0.132,2293,940,3451,3468,3435,0,0,0,0,0,0,14.60,14.72,14.96
$GC,194,-0.91,-146.6,1376,940,3461,3433,25.1,-16.4,36,201,0.00,2.42,0.00,0.000,1030,0.000,0.103,2285,2342,3452,3469,3436,0,0,0,0,0,0,28.83,14.76,28.83
$GC,263,-0.91,-146.6,1376,2340,3461,3433,37.9,-18.5,52,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2342,3453,3470,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,331,-0.91,-146.6,1360,2340,3462,3431,49.7,-16.2,68,338,0.00,2.45,0.00,0.000,516,0.000,0.114,2285,935,3452,3470,3435,0,0,0,0,0,0,28.83,14.78,28.83
$GC,568,-0.91,-146.6,1352,934,3461,3433,88.9,-15.2,126,574,0.00,2.42,0.00,0.000,1030,0.000,0.104,2274,2351,3452,3470,3435,0,0,0,0,0,0,28.83,14.87,28.83
$GC,696,-0.91,-146.6,1352,2349,3461,3433,109.8,-18.1,157,703,0.00,2.45,0.00,0.000,516,0.000,0.115,2274,941,3452,3470,3435,0,0,0,0,0,0,28.83,14.87,28.83
$GC,797,-0.91,-146.6,1352,940,3462,3433,127.0,-15.3,180,804,0.15,2.42,0.00,0.000,3078,0.288,0.109,2295,2351,3452,3470,3435,0,0,0,0,0,0,14.81,14.89,28.83
$GC,932,-0.91,-146.6,1352,2349,3461,3433,145.9,-12.9,211,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2351,3452,3470,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1060,-0.91,-146.6,1360,2349,3462,3433,164.8,-15.4,242,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2351,3452,3470,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1167,begin apogee
$GC,1171,-0.21,0.0,2295,2272,3470,3435,180.1,-13.2,268,1294,0.80,0.00,117.25,2.316,10246,0.256,0.000,2519,2272,2855,2925,2786,0,0,0,0,0,0,14.84,28.83,13.38
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1297,0.91,146.6,2519,2271,2926,2787,185.3,0.0,290,1429,1.20,2.67,119.15,2.191,10500,0.163,0.112,2877,3695,2256,2349,2164,0,0,0,0,0,0,14.10,14.02,13.36
$GC,1611,0.91,146.6,1824,3694,2306,2156,153.1,13.3,358,1618,0.00,2.35,0.00,0.000,1030,0.000,0.077,2884,2297,2256,2349,2164,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1740,0.91,146.6,1832,2294,2306,2156,136.6,13.0,389,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2297,2256,2349,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,0.91,146.6,1832,2294,2306,2156,121.7,11.6,420,1874,0.00,2.45,0.00,0.000,260,0.000,0.114,2884,3701,2256,2349,2164,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2104,0.91,146.6,1824,3699,2306,2156,88.0,14.1,478,2111,0.00,2.33,0.00,0.000,1030,0.000,0.076,2894,2290,2257,2349,2165,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2233,0.92,158.6,1832,2286,2306,2156,73.7,9.5,509,2245,0.00,0.00,5.72,1.348,8198,0.000,0.000,2894,2289,2208,2305,2112,0,0,0,0,0,0,28.83,28.83,14.26
$GC,2367,0.92,158.6,1832,2287,2258,2106,60.1,10.7,541,2373,0.00,2.45,0.00,0.000,260,0.000,0.115,2894,3700,2207,2301,2113,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2411,0.92,158.6,1856,3700,2259,2106,54.7,12.6,551,2418,0.00,2.33,0.00,0.000,1030,0.000,0.079,2903,2290,2206,2300,2113,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2541,0.96,186.6,1856,2287,2258,2106,43.6,8.7,582,2559,0.00,2.45,12.45,1.330,8708,0.000,0.113,2914,883,2091,2192,1991,0,0,0,0,0,0,28.83,14.76,14.31
$GC,2681,0.96,186.6,1856,883,2150,1984,27.9,12.2,615,2688,0.00,2.42,0.00,0.000,1030,0.000,0.099,2915,2296,2091,2192,1991,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2750,0.96,186.6,1864,2294,2150,1984,19.2,12.7,631,2757,0.00,2.45,0.00,0.000,260,0.000,0.117,2914,3706,2091,2192,1991,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2819,0.96,186.6,1872,3706,2150,1984,9.5,13.8,647,2825,0.00,2.35,0.00,0.000,1030,0.000,0.080,2923,2291,2091,2192,1991,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,2882,end climb,SURFACE_DEPTH_REACHED
$STATE,2882,begin surface coast
$FINISH,0.9,1.011166
$STATE,2900,end surface coast,CONTROL_FINISHED_OK
$STATE,2901,begin surface
$SM_CCo,2915,53.90,0.156,0,0,1545,320.12
$SM_GC,2.24,8.00,0.12,53.90,0.091,0.182,0.156,176,2364,1545,-7.50,-0.51,320.12,0,0,0,0,0,0,14.85,14.83,14.77
$IRIDIUM_FIX,4726.11,-12225.08,020513,020243
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.45
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.1,71.3
$SC_FREEKB,3936288
$24V_AH,13.4,2.074
$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,20.500,39.150,254.575,53.900,0.000,0.000,0.000,420.125,1.500,0.000,14.823,1431.443,214.099,389.295,1508.473,41.257,33.205,1345.791,0.000,1004.354,0.000,13.495,0.000
$DEVICE_MAMPS,435.285,182.070,2315.655,156.060,0.000,0.000,0.000,164.475,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.767,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,23347,666
$CAP_FILE_SIZE,101583,0
$CFSIZE,1024409600,1021755392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,032407,4742.670,-12225.663,10,1.3,10,18.2