version: 66.12
glider: 197
mission: 6
dive: 2
start: 7 27 114 20 29 14
data:
$ID,197
$MISSION,6
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,30
$T_BOOST,4
$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,33
$T_MISSION,43
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,1.028
$MASS,54283
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0029
$HD_B,0.013
$HD_C,1.7e-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,674.87756
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6869.1221
$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,2560
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,1956
$C_ROLL_CLIMB,1956
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,3292
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,0
$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,-65.523643
$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
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$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
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270714,202505,7055.050,-14430.354,31,1.3,31,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.8
$GPS2,270714,202857,7055.017,-14430.340,13,1.3,33,28.3
$SPEED_LIMITS,0.210,0.245
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,313.3,20125,-22.7,-12.121,-26.31,1854
$D_GRID,100
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.12,-145.9,186,1958,416,606,0.0,0.0,0,93,0.00,0.00,-72.62,0.000,16386,0.000,0.000,185,1958,2339,2354,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.12,-145.9,186,1959,2355,2326,3.9,-5.1,7,143,10.50,2.58,-27.17,0.000,18692,0.457,0.146,2182,3360,3888,3865,3912,0,0,0,0,0,0,14.28,14.49,14.76
$GC,367,-0.93,-145.9,2183,3361,3866,3916,81.0,-25.1,59,376,0.32,2.45,0.00,0.000,3078,0.315,0.093,2254,1946,3890,3865,3916,0,0,0,0,0,0,14.38,14.52,28.83
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,481,-0.21,0.0,2254,1946,3865,3918,101.7,-17.5,71,574,0.88,0.00,79.35,1.676,10246,0.265,0.000,2485,1945,3294,3247,3341,0,0,0,0,1,0,14.36,28.83,13.29
$STATE,576,end apogee,CONTROL_FINISHED_OK
$STATE,576,begin climb
$GC,577,1.12,145.9,2486,1945,3248,3346,106.7,0.0,80,714,1.40,2.62,120.62,1.008,11012,0.155,0.109,2911,3363,2685,2627,2743,0,0,0,0,0,0,14.12,13.97,13.56
$GC,938,0.91,227.1,2912,3364,2621,2739,95.5,7.6,144,1020,0.30,2.47,70.38,0.951,13318,0.332,0.088,2859,1945,2354,2288,2421,0,0,0,0,0,0,14.21,14.35,13.69
$GC,1315,0.85,260.8,2859,1946,2276,2411,55.7,10.3,186,1349,0.00,2.58,20.35,0.913,8708,0.000,0.120,2868,539,2229,2154,2304,0,0,0,0,1,0,28.83,14.32,13.81
$GC,1573,0.96,405.7,2868,540,2170,2323,39.9,4.1,236,1735,0.00,2.53,152.52,0.905,9222,0.000,0.105,2868,1957,1634,1533,1736,0,0,0,0,0,0,28.83,14.46,13.65
$GC,2029,1.32,624.5,2868,1957,1504,1715,12.3,-0.0,290,2045,0.32,0.00,11.82,0.200,10754,0.106,0.000,2987,1956,1521,1416,1626,0,0,0,0,0,0,14.43,28.83,28.83
$FREEZE,12.25,2.915,-1.437,0,1,0
$STATE,2045,end climb,NO_VERTICAL_VELOCITY
$STATE,2045,begin surface
$SM_CCo,2048,117.18,0.208,0,0,497,684.88
$SM_GC,1.80,9.02,0.00,0.00,0.144,0.000,0.000,180,1956,502,-7.40,0.00,684.39,0,0,0,0,0,0,14.40,28.83,28.83
$RAFOS_CLK,219548
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,270714,202025
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.03
$INTERNAL_PRESSURE,8.63976
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3937280
$TM_FREEKB,7889176
$24V_AH,13.29,10.478
$10V_AH,12.65,0.000
$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,22.750,15.225,455.050,117.175,0.000,0.000,0.000,0.000,0.000,0.000,36.107,0.000,1046.739,615.528,678.104,18.647,0.000,922.221,0.000,436.961,0.000,0.532,0.000
$DEVICE_MAMPS,456.705,146.115,1676.115,208.080,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2024.000,2032.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.460,13.466,0.000,0.000
$MEM,314776
$DATA_FILE_SIZE,10144,292
$CAP_FILE_SIZE,58857,0
$CFSIZE,1047117824,1042038784
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,3026.88,0x2378b6,7,5
$INTR,1,479.69,0x2378b6,2,5
$INTR,2,2200.45,0x2378b6,7,5
$SOUNDSPEED,1440.2
$EKF,2332,4255.015625,-8669.803711,12.240740,0.001821,0.002788,0.004448,0.000008,0.000077,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.192,200.22,1
$GPS,270714,210803,7054.788,-14430.060,7,1.9,27,28.3