version: 66.11
glider: 197
mission: 2
dive: 9
start: 5 2 113 6 44 45
data:
$ID,197
$MISSION,2
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$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,0
$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,-2361.9324
$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,24
$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,15
$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
$GPS1,020513,063235,4742.573,-12226.218,13,1.1,24,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-68.9
$GPS2,020513,064348,4742.498,-12226.263,11,1.3,11,18.2
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.203,0.139
$KALMAN_X,-3930.6,-748.0,-197.8,3207.3,-934.8
$KALMAN_Y,-4118.9,-1379.0,-95.4,5414.5,-630.4
$MHEAD_RNG_PITCHd_Wd,37.3,3172,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,-0.81,-146.6,176,2353,1464,1319,0.0,0.0,0,80,0.00,0.00,-60.55,0.000,16386,0.000,0.000,176,2354,2977,3000,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.81,-146.6,176,2354,3001,2954,3.1,-3.3,11,108,10.65,2.47,-7.55,0.000,18948,0.439,0.129,2317,936,3303,3329,3278,0,0,0,0,0,0,14.54,14.65,14.88
$GC,338,-0.81,-146.6,1376,935,3316,3276,43.4,-15.6,72,345,0.00,2.42,0.00,0.000,1030,0.000,0.101,2308,2348,3304,3329,3279,0,0,0,0,0,0,28.83,14.73,28.83
$GC,467,-0.81,-146.6,1376,2345,3316,3277,63.7,-14.0,103,473,0.00,2.45,0.00,0.000,516,0.000,0.111,2308,940,3304,3330,3279,0,0,0,0,0,0,28.83,14.78,28.83
$GC,704,-0.81,-146.6,1364,939,3313,3276,96.1,-12.2,161,710,0.00,2.42,0.00,0.000,1030,0.000,0.101,2298,2354,3304,3330,3279,0,0,0,0,0,0,28.83,14.84,28.83
$GC,832,-0.81,-146.6,1364,2353,3316,3276,112.9,-13.7,192,839,0.00,2.45,0.00,0.000,516,0.000,0.112,2298,940,3307,3330,3285,0,0,0,0,0,0,28.83,14.84,28.83
$GC,987,-0.81,-146.6,1360,939,3316,3276,134.8,-13.7,228,997,0.15,2.42,0.00,0.000,3078,0.296,0.106,2319,2352,3305,3331,3279,0,0,0,0,0,0,14.78,14.87,28.83
$GC,1122,-0.81,-146.6,1376,2349,3317,3276,151.2,-10.3,259,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2352,3305,3331,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1250,-0.81,-146.6,1380,2349,3317,3276,166.4,-12.3,290,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2351,3305,3331,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-0.81,-146.6,1392,2349,3318,3276,181.3,-9.9,321,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2352,3305,3332,3279,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1478,begin apogee
$GC,1482,-0.21,0.0,2319,2271,3331,3279,192.5,-10.4,345,1605,0.70,0.00,117.62,2.260,10246,0.261,0.000,2510,2271,2705,2780,2631,0,0,0,0,0,0,14.81,28.83,13.36
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1608,0.81,146.6,2511,2271,2780,2632,197.5,0.0,367,1739,1.12,2.67,119.97,2.176,10500,0.181,0.113,2837,3702,2108,2213,2004,0,0,0,0,0,0,14.03,13.94,13.29
$GC,1969,0.81,146.6,1792,3701,2171,1998,160.9,11.6,447,1976,0.00,2.38,0.00,0.000,1030,0.000,0.076,2843,2290,2109,2213,2005,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2098,0.81,146.6,1792,2287,2172,1998,146.5,12.0,478,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2290,2109,2213,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2226,0.81,146.6,1792,2287,2171,1998,131.7,10.9,509,2233,0.00,2.47,0.00,0.000,260,0.000,0.113,2843,3708,2109,2213,2005,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2363,0.81,146.6,1792,3707,2172,1998,115.8,11.5,542,2370,0.00,2.35,0.00,0.000,1030,0.000,0.076,2853,2288,2109,2213,2005,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2492,0.81,146.6,1808,2285,2172,1998,101.0,12.1,573,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2288,2109,2213,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,0.81,146.6,1792,2285,2172,1998,86.6,9.9,604,2627,0.00,2.42,0.00,0.000,516,0.000,0.112,2861,885,2109,2213,2005,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2717,0.81,146.6,1808,885,2172,1998,76.5,10.6,627,2723,0.00,2.40,0.00,0.000,1030,0.000,0.097,2862,2293,2109,2213,2005,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2845,0.81,146.6,1800,2291,2171,1998,63.7,8.9,658,2852,0.00,2.45,0.00,0.000,260,0.000,0.117,2862,3706,2109,2213,2005,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2938,0.81,146.6,1808,3706,2172,1998,53.8,10.5,680,2945,0.00,2.33,0.00,0.000,1030,0.000,0.076,2870,2291,2109,2213,2005,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3066,0.81,146.6,1808,2289,2171,1998,41.8,9.2,711,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2291,2109,2213,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,0.81,146.6,1808,2289,2171,1998,29.5,10.2,742,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2291,2109,2213,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,0.81,146.6,1824,2289,2173,1998,22.2,11.9,758,3269,0.00,2.45,0.00,0.000,260,0.000,0.115,2870,3702,2109,2213,2005,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3331,0.81,146.6,1824,3701,2172,1998,13.2,13.6,774,3338,0.15,2.33,0.00,0.000,5126,0.287,0.076,2847,2289,2109,2213,2005,0,0,0,0,0,0,14.75,14.83,28.83
$GC,3402,0.87,201.9,2847,2290,2213,2004,7.6,6.4,790,3432,0.00,2.45,22.67,0.175,8708,0.000,0.112,2856,881,1877,1990,1765,0,0,0,0,0,0,28.83,14.78,14.77
$STATE,3473,end climb,SURFACE_DEPTH_REACHED
$STATE,3473,begin surface coast
$FINISH,0.9,1.020490
$STATE,3498,end surface coast,CONTROL_FINISHED_OK
$STATE,3499,begin surface
$SM_CCo,3515,47.55,0.158,0,0,1399,320.12
$SM_GC,2.35,7.88,2.60,47.55,0.096,0.099,0.158,173,2358,1399,-7.48,-0.48,320.12,0,0,0,0,0,0,14.83,14.81,14.76
$IRIDIUM_FIX,4726.11,-12230.48,020513,060656
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.23
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.5,61.8
$SC_FREEKB,3934752
$24V_AH,13.3,3.011
$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,20.650,44.075,260.275,47.550,0.000,0.000,0.000,468.925,2.000,0.000,13.677,1745.863,248.278,399.854,1787.792,48.846,33.221,1501.461,0.000,1222.728,0.000,16.442,0.000
$DEVICE_MAMPS,439.110,169.065,2259.810,157.590,0.000,0.000,0.000,176.715,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3531.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.484,0.000,0.000,0.000
$MEM,322836
$DATA_FILE_SIZE,26756,811
$CAP_FILE_SIZE,119184,0
$CFSIZE,1024409600,1021329408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,074454,4742.738,-12225.979,9,1.9,9,18.2