version: 66.11
glider: 197
mission: 2
dive: 13
start: 5 2 113 11 17 55
data:
$ID,197
$MISSION,2
$DIVE,13
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,71
$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,-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,-2367.1506
$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,28
$R_STBD_OVSHOOT,22
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,020513,110851,4743.616,-12224.717,7,2.2,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-68.9
$GPS2,020513,111657,4743.641,-12224.711,11,2.1,30,18.2
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.240,0.055
$KALMAN_X,-6968.3,19.4,66.0,7144.8,-459.2
$KALMAN_Y,-5714.0,203.8,165.4,7283.3,133.2
$MHEAD_RNG_PITCHd_Wd,58.8,1829,-14.9,-8.498,-19.07,2610
$D_GRID,174
$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,-0.80,-146.6,179,2353,1466,1315,0.0,0.0,0,86,0.00,0.00,-66.20,0.000,16386,0.000,0.000,177,2354,3099,3131,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.80,-146.6,180,2354,3133,3066,3.1,-3.1,12,113,10.55,2.53,-4.70,0.000,18948,0.436,0.131,2321,941,3305,3326,3284,0,0,0,0,0,0,14.54,14.66,14.88
$GC,343,-0.80,-146.6,1376,941,3316,3280,46.4,-14.2,73,350,0.00,2.42,0.00,0.000,1030,0.000,0.100,2313,2348,3305,3328,3283,0,0,0,0,0,0,28.83,14.73,28.83
$GC,472,-0.80,-146.6,1376,2346,3316,3281,65.2,-14.3,104,478,0.00,2.45,0.00,0.000,516,0.000,0.109,2313,939,3306,3329,3283,0,0,0,0,0,0,28.83,14.76,28.83
$GC,709,-0.80,-146.6,1376,938,3316,3280,96.8,-12.2,162,715,0.00,2.42,0.00,0.000,1030,0.000,0.102,2302,2351,3305,3329,3282,0,0,0,0,0,0,28.83,14.81,28.83
$GC,837,-0.80,-146.6,1376,2349,3316,3280,113.2,-11.6,193,845,0.10,2.42,0.00,0.000,2564,0.331,0.107,2320,945,3306,3329,3283,0,0,0,0,0,0,14.76,14.84,28.83
$GC,1003,-0.80,-146.6,1380,944,3316,3280,134.4,-12.7,233,1010,0.00,2.40,0.00,0.000,1030,0.000,0.103,2312,2349,3306,3329,3283,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1132,-0.80,-146.6,1376,2347,3316,3279,151.1,-13.2,264,1138,0.00,2.42,0.00,0.000,516,0.000,0.109,2312,940,3306,3329,3283,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1305,-0.21,0.0,2301,2298,3329,3283,174.1,-13.7,305,1428,0.77,0.00,118.32,2.254,10246,0.263,0.000,2512,2297,2705,2780,2630,0,0,0,0,0,0,14.81,28.83,13.34
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1430,0.80,146.6,2512,2297,2779,2633,179.7,0.0,327,1562,1.12,2.62,119.57,2.113,10500,0.181,0.113,2837,3707,2109,2214,2005,0,0,0,0,0,0,14.00,13.93,13.29
$GC,1692,0.80,146.6,1792,3707,2173,1998,156.1,11.9,382,1699,0.00,2.42,0.00,0.000,1030,0.000,0.075,2843,2282,2109,2214,2005,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1821,0.80,146.6,1792,2280,2173,1999,141.6,12.3,413,1828,0.00,2.47,0.00,0.000,516,0.000,0.111,2853,877,2109,2214,2005,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1874,0.80,146.6,1824,877,2174,1998,136.3,8.9,425,1881,0.00,2.45,0.00,0.000,1030,0.000,0.096,2853,2290,2109,2214,2005,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2003,0.80,146.6,1800,2289,2173,1998,123.3,9.2,456,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2290,2109,2214,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,0.80,146.6,1808,2288,2174,1998,108.1,12.2,487,2138,0.00,2.45,0.00,0.000,260,0.000,0.116,2853,3700,2109,2214,2005,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2203,0.80,146.6,1808,3698,2174,1998,98.6,13.9,504,2210,0.00,2.35,0.00,0.000,1030,0.000,0.076,2861,2287,2109,2213,2005,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2332,0.80,146.6,1808,2284,2173,1998,82.8,11.7,535,2339,0.00,2.47,0.00,0.000,260,0.000,0.116,2861,3701,2109,2213,2005,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2426,0.80,146.6,1856,3701,2175,1998,70.1,14.8,557,2433,0.00,2.35,0.00,0.000,1030,0.000,0.076,2869,2282,2109,2214,2005,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2555,0.80,146.6,1808,2280,2173,1998,54.0,10.3,588,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2282,2109,2213,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,0.80,146.6,1808,2280,2172,1998,40.7,10.9,619,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2282,2109,2214,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,0.80,146.6,1808,2280,2173,1998,26.4,11.6,650,2818,0.00,2.47,0.00,0.000,260,0.000,0.115,2869,3703,2109,2214,2004,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2864,0.80,146.6,1824,3703,2173,1999,20.0,13.1,662,2871,0.15,2.35,0.00,0.000,5126,0.285,0.076,2846,2284,2109,2214,2005,0,0,0,0,0,0,14.74,14.82,28.83
$GC,2933,0.84,176.4,1792,2281,2173,1998,14.1,7.3,678,2951,0.00,0.00,12.38,0.203,8710,0.000,0.000,2846,2283,1983,2092,1874,0,0,0,0,0,0,28.83,28.83,14.73
$GC,3013,0.84,176.4,1792,2281,2053,1867,7.2,8.9,696,3020,0.00,2.42,0.00,0.000,516,0.000,0.111,2855,884,1982,2092,1873,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3070,0.84,180.2,1824,884,2053,1867,2.2,8.3,709,3078,0.00,2.42,1.35,0.236,9222,0.000,0.096,2855,2300,1966,2077,1856,0,0,0,0,0,0,28.83,14.78,14.75
$STATE,3083,end climb,SURFACE_DEPTH_REACHED
$STATE,3083,begin surface coast
$FINISH,0.9,1.009143
$STATE,3105,end surface coast,CONTROL_FINISHED_OK
$STATE,3105,begin surface
$SM_CCo,3119,56.83,0.151,0,0,1397,320.12
$SM_GC,1.93,7.90,0.10,56.83,0.097,0.194,0.151,177,2362,1397,-7.47,-0.54,320.12,0,0,0,0,0,0,14.82,14.80,14.74
$IRIDIUM_FIX,4745.30,-12222.84,020513,101035
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.48
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$SC_FREEKB,3933216
$24V_AH,13.3,3.935
$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,20.600,48.850,251.625,56.825,0.000,0.000,0.000,327.275,0.000,0.000,34.125,1540.516,164.696,400.204,1509.911,45.955,33.225,1297.514,0.000,1079.410,0.000,0.538,0.000
$DEVICE_MAMPS,436.050,193.545,2253.690,151.470,0.000,0.000,0.000,179.010,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3132.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.335,0.000,0.000,0.000
$MEM,322900
$DATA_FILE_SIZE,23380,716
$CAP_FILE_SIZE,106586,0
$CFSIZE,1024409600,1020952576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,121205,4743.934,-12224.122,36,1.0,36,18.2