version: 66.11
glider: 197
mission: 2
dive: 10
start: 5 2 113 7 54 11
data:
$ID,197
$MISSION,2
$DIVE,10
$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,-2363.2808
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,020513,074454,4742.738,-12225.979,9,1.9,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-69.3
$GPS2,020513,075313,4742.708,-12225.980,12,2.0,12,18.2
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.213,0.123
$KALMAN_X,-4342.5,-800.3,-336.9,4158.1,-646.1
$KALMAN_Y,-4381.2,-1316.9,-158.7,6067.4,-262.4
$MHEAD_RNG_PITCHd_Wd,41.8,4144,-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,16,-0.81,-146.6,173,2359,1466,1318,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,16386,0.000,0.000,174,2359,3005,3031,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.81,-146.6,174,2359,3030,2980,3.2,-3.8,11,107,10.60,0.00,-6.82,0.000,18438,0.437,0.000,2319,2359,3303,3328,3279,0,0,0,0,0,0,14.54,28.83,14.88
$GC,169,-0.81,-146.6,1408,2357,3316,3276,18.5,-14.6,30,176,0.00,2.47,0.00,0.000,516,0.000,0.110,2319,942,3304,3329,3279,0,0,0,0,0,0,28.83,14.69,28.83
$GC,406,-0.81,-146.6,1380,942,3316,3276,55.3,-14.9,88,413,0.00,2.42,0.00,0.000,1030,0.000,0.099,2310,2353,3304,3329,3279,0,0,0,0,0,0,28.83,14.77,28.83
$GC,534,-0.81,-146.6,1376,2351,3316,3275,74.1,-15.5,119,541,0.00,2.45,0.00,0.000,516,0.000,0.109,2311,942,3304,3329,3279,0,0,0,0,0,0,28.83,14.80,28.83
$GC,772,-0.81,-146.6,1376,941,3316,3276,107.2,-13.8,177,778,0.00,2.42,0.00,0.000,1030,0.000,0.101,2301,2358,3304,3330,3279,0,0,0,0,0,0,28.83,14.85,28.83
$GC,901,-0.81,-146.6,1392,2357,3317,3276,124.6,-12.8,208,913,0.00,2.45,0.00,0.000,516,0.000,0.112,2300,941,3304,3330,3278,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1150,-0.81,-146.6,1352,941,3316,3276,157.6,-12.5,266,1157,0.15,2.42,0.00,0.000,3078,0.294,0.105,2322,2354,3304,3330,3279,0,0,0,0,0,0,14.80,14.88,28.83
$GC,1279,-0.81,-146.6,1380,2352,3316,3276,173.8,-12.0,297,1286,0.00,2.42,0.00,0.000,516,0.000,0.109,2322,944,3304,3330,3279,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,1471,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1471,begin apogee
$GC,1477,-0.21,0.0,2313,2299,3332,3279,197.0,-11.9,344,1605,0.73,0.00,118.72,2.315,10246,0.261,0.000,2511,2299,2706,2781,2632,0,0,0,0,0,0,14.81,28.83,13.34
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1608,0.81,146.6,2511,2299,2780,2633,202.3,0.0,367,1740,1.10,2.60,120.45,2.190,10500,0.176,0.114,2832,3697,2108,2213,2004,0,0,0,0,0,0,14.04,13.92,13.27
$GC,1970,0.81,146.6,1792,3697,2170,1996,167.9,10.7,447,1977,0.00,2.38,0.00,0.000,1030,0.000,0.074,2842,2285,2108,2213,2003,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2099,0.81,146.6,1792,2283,2171,1997,154.5,9.5,478,2106,0.00,2.50,0.00,0.000,260,0.000,0.116,2842,3703,2107,2212,2003,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2220,0.81,146.6,1792,3702,2171,1996,141.2,11.8,507,2227,0.00,2.35,0.00,0.000,1030,0.000,0.075,2850,2288,2108,2213,2003,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2349,0.81,146.6,1792,2286,2171,1997,127.5,10.9,538,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2288,2108,2213,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,0.81,146.6,1792,2287,2170,1997,112.3,13.1,569,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2288,2108,2212,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,0.81,146.6,1792,2286,2171,1997,97.6,10.3,600,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2288,2108,2213,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,0.81,148.6,1792,2286,2171,1996,84.6,8.5,631,2740,0.00,2.45,0.88,0.539,8452,0.000,0.112,2850,3699,2100,2204,1996,0,0,0,0,0,0,28.83,14.82,14.66
$GC,2970,0.81,148.6,1792,3698,2162,1990,60.5,12.3,689,2977,0.00,2.33,0.00,0.000,1030,0.000,0.075,2858,2285,2100,2204,1997,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3098,0.81,148.6,1808,2283,2163,1990,45.6,10.7,720,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2285,2100,2204,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3226,0.81,148.6,1808,2282,2163,1990,32.3,10.1,751,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2285,2100,2204,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3294,0.81,148.6,1808,2282,2163,1990,25.3,10.7,767,3301,0.00,2.45,0.00,0.000,260,0.000,0.115,2859,3699,2100,2204,1997,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3383,0.81,148.6,1808,3698,2163,1990,15.1,12.0,788,3390,0.00,2.33,0.00,0.000,1030,0.000,0.075,2867,2290,2100,2204,1997,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3451,0.81,148.6,1824,2287,2163,1990,8.1,9.0,804,3458,0.00,2.42,0.00,0.000,516,0.000,0.113,2877,887,2100,2204,1997,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,3555,end climb,SURFACE_DEPTH_REACHED
$STATE,3555,begin surface coast
$FINISH,1.0,1.021292
$STATE,3621,end surface coast,CONTROL_FINISHED_OK
$STATE,3621,begin surface
$SM_CCo,3637,70.12,0.158,0,0,1398,320.12
$SM_GC,2.21,7.97,2.58,70.12,0.103,0.099,0.158,178,2352,1398,-7.47,-0.62,320.12,0,0,0,0,0,0,14.85,14.84,14.77
$IRIDIUM_FIX,4722.92,-12226.07,020513,060602
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.76
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.4,76.0
$SC_FREEKB,3934368
$24V_AH,13.3,3.249
$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,20.550,43.825,240.050,70.125,0.000,0.000,0.000,355.325,1.750,0.000,14.712,1825.018,197.378,405.258,1723.663,52.783,33.208,1407.979,0.000,1272.058,0.000,16.215,0.000
$DEVICE_MAMPS,436.815,115.515,2314.890,158.355,0.000,0.000,0.000,175.950,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3653.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.374,0.000,0.000,0.000
$MEM,322976
$DATA_FILE_SIZE,26768,845
$CAP_FILE_SIZE,119095,0
$CFSIZE,1024409600,1021231104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,085705,4743.095,-12225.750,29,0.9,29,18.2