version: 66.12
glider: 197
mission: 6
dive: 4
start: 7 27 114 22 8 56
data:
$ID,197
$MISSION,6
$DIVE,4
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,240
$D_NO_BLEED,50
$D_BOOST,100
$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,55
$T_MISSION,75
$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,-6900.9585
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,270714,220239,7054.500,-14429.955,42,1.2,62,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.2
$GPS2,270714,220839,7054.461,-14430.029,11,0.9,31,28.3
$SPEED_LIMITS,0.210,0.245
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,316.3,20779,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.12,-145.9,175,1956,487,606,0.0,0.0,0,83,0.00,0.00,-63.20,0.000,16386,0.000,0.000,174,1956,2166,2181,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.12,-145.9,176,1956,2181,2153,4.1,-5.3,6,140,10.65,2.62,-31.12,0.000,18692,0.459,0.142,2180,3373,3888,3865,3912,0,0,0,0,0,0,14.23,14.43,14.68
$GC,364,-0.94,-145.9,2181,3374,3865,3915,83.8,-25.1,59,374,0.32,2.47,0.00,0.000,3078,0.314,0.090,2253,1948,3890,3865,3915,0,0,0,0,0,0,14.35,14.50,28.83
$STATE,448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,448,begin apogee
$GC,451,-0.21,0.0,2253,1947,3866,3917,100.0,-17.6,68,543,0.88,0.00,79.12,1.688,10246,0.266,0.000,2484,1947,3294,3248,3340,0,0,0,0,1,0,14.37,28.83,13.28
$STATE,546,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,547,1.12,145.9,2484,1948,3250,3344,105.1,0.0,77,685,1.42,2.72,123.12,1.107,11012,0.153,0.116,2915,3368,2686,2630,2743,0,0,0,0,0,0,14.06,13.95,13.48
$GC,910,0.87,207.5,2916,3368,2615,2736,94.0,8.7,141,946,0.38,2.47,26.85,0.465,13318,0.329,0.090,2844,1956,2445,2373,2518,0,0,0,0,0,0,14.21,14.34,14.07
$GC,1250,0.88,297.7,2846,1957,2393,2541,65.2,7.1,177,1299,0.00,2.65,43.58,0.381,8708,0.000,0.122,2854,544,2076,1990,2163,0,0,0,0,0,0,28.83,14.31,14.21
$GC,1523,0.95,373.0,2854,544,2014,2175,38.8,7.9,229,1567,0.00,2.55,36.05,0.292,9222,0.000,0.109,2854,1966,1768,1672,1865,0,0,0,0,0,0,28.83,14.47,14.30
$GC,1861,1.28,599.3,2854,1966,1692,1873,13.7,-0.4,265,1977,0.35,2.60,104.95,0.213,10756,0.098,0.122,2989,546,844,735,954,0,0,0,0,0,0,14.54,14.39,14.28
$STATE,2065,end climb,SURFACE_DEPTH_REACHED
$STATE,2065,begin surface coast
$FINISH,0.5,1.018359
$STATE,2086,end surface coast,CONTROL_FINISHED_OK
$STATE,2086,begin surface
$SM_CCo,2108,36.28,0.187,0,0,537,675.07
$SM_GC,1.34,8.25,2.60,36.28,0.076,0.114,0.187,181,1955,537,-7.38,-0.71,675.07,0,0,0,0,0,0,14.50,14.46,14.39
$RAFOS_CLK,207613
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,270714,212133
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.61
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3936384
$TM_FREEKB,7882604
$24V_AH,13.28,10.770
$10V_AH,12.69,0.000
$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,22.250,20.700,413.675,36.275,0.000,0.000,0.000,220.375,0.000,0.000,34.176,0.000,1007.815,502.451,971.652,30.044,0.000,1030.479,0.000,453.952,0.000,0.531,0.000
$DEVICE_MAMPS,459.000,142.290,1687.590,187.425,0.000,0.000,0.000,154.530,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2087.000,2102.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.356,13.330,0.000,0.000
$MEM,313632
$DATA_FILE_SIZE,10103,304
$CAP_FILE_SIZE,49294,0
$CFSIZE,1047117824,1041776640
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2639.33,0x2378b6,7,5
$INTR,1,449.07,0x2378b6,2,5
$SOUNDSPEED,1441.7
$EKF,2206,4254.529297,-8669.604492,0.520765,0.105622,0.122944,-0.033909,0.000008,0.000071,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.184,210.90,1
$GPS,270714,224539,7054.345,-14429.929,7,1.0,27,28.3