version: 66.12
glider: 197
mission: 6
dive: 5
start: 7 27 114 22 52 3
data:
$ID,197
$MISSION,6
$DIVE,5
$N_DIVES,5
$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,1000
$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,-6902.2144
$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,1600
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,16
$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
$GPS1,270714,224539,7054.345,-14429.929,7,1.0,27,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.6
$GPS2,270714,225145,7054.314,-14430.043,10,1.4,30,28.3
$SPEED_LIMITS,0.210,0.245
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,316.9,20908,-22.7,-12.121,-26.31,1854
$D_GRID,1000
$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,-145.9,181,1601,481,611,0.0,0.0,0,83,0.00,0.00,-63.58,0.000,16386,0.000,0.000,180,1600,2168,2182,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.12,-145.9,181,1601,2183,2156,4.0,-4.8,6,139,10.30,2.65,-31.38,0.000,18692,0.446,0.147,2180,3011,3888,3865,3912,0,0,0,0,0,0,14.23,14.41,14.67
$GC,363,-0.95,-145.9,2181,3012,3867,3916,81.8,-24.7,59,373,0.30,2.47,0.00,0.000,3078,0.311,0.096,2247,1601,3891,3866,3916,0,0,0,0,0,0,14.37,14.50,28.83
$GC,668,-0.95,-145.9,2248,1602,3866,3918,134.7,-16.0,90,678,0.00,2.58,0.00,0.000,260,0.000,0.130,2241,3016,3892,3866,3918,0,0,0,0,0,0,28.83,14.47,28.83
$GC,902,-0.95,-145.9,2241,3017,3866,3917,174.0,-15.8,136,910,0.00,2.50,0.00,0.000,1030,0.000,0.099,2241,1597,3891,3866,3917,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,1093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1093,begin apogee
$GC,1095,-0.21,0.0,2242,1597,3866,3918,200.9,-13.5,156,1219,0.93,0.00,112.32,2.082,10246,0.250,0.000,2490,1595,3294,3247,3341,0,0,0,0,1,0,14.47,28.83,13.13
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1223,1.12,145.9,2490,1596,3249,3345,205.7,0.0,168,1361,1.33,2.70,122.40,1.094,10756,0.103,0.118,2930,197,2683,2629,2737,0,0,0,0,0,0,13.97,13.91,13.45
$GC,1586,0.86,145.9,2930,197,2629,2728,170.3,13.7,232,1594,0.40,2.53,0.00,0.000,5126,0.315,0.099,2837,1604,2677,2628,2727,0,0,0,0,0,0,14.19,14.31,28.83
$GC,1898,0.85,250.1,2841,1606,2627,2728,145.6,6.3,264,1992,0.00,2.70,87.95,0.997,8708,0.000,0.122,2846,197,2262,2198,2327,0,0,0,0,0,0,28.83,14.12,13.68
$GC,2146,0.76,250.1,2850,198,2192,2307,116.4,13.1,309,2156,0.20,2.53,0.00,0.000,5126,0.295,0.099,2806,1603,2249,2191,2307,0,0,0,0,0,0,14.22,14.31,28.83
$GC,2452,0.76,275.9,2807,1608,2186,2307,82.6,10.7,340,2475,0.00,2.62,14.27,0.321,8708,0.000,0.123,2815,199,2168,2098,2238,0,0,0,0,0,0,28.83,14.42,14.23
$GC,2698,0.83,330.6,2815,200,2122,2256,57.6,9.1,388,2733,0.00,2.50,28.27,0.352,9222,0.000,0.103,2815,1603,1943,1855,2032,0,0,0,0,0,0,28.83,14.48,14.28
$GC,3037,0.95,409.3,2815,1603,1875,2040,29.5,7.8,424,3086,0.17,2.58,37.97,0.262,10756,0.134,0.125,2882,193,1621,1525,1718,0,0,0,0,0,0,14.56,14.45,14.36
$GC,3135,1.02,461.6,2882,194,1537,1718,19.1,9.2,441,3171,0.00,2.50,25.30,0.230,9222,0.000,0.105,2882,1599,1410,1310,1510,0,0,0,0,0,0,28.83,14.46,14.33
$FREEZE,12.57,4.334,-1.398,0,1,0
$STATE,3384,end climb,NO_VERTICAL_VELOCITY
$STATE,3384,begin surface
$SM_CCo,3387,106.05,0.212,0,0,497,684.88
$SM_GC,1.55,8.23,0.00,0.00,0.107,0.000,0.000,174,1599,501,-7.40,-0.03,684.63,0,0,0,0,0,0,14.52,28.83,28.83
$RAFOS_CLK,353934
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14423.93,270714,220442
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.55
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3935936
$TM_FREEKB,7877300
$24V_AH,13.13,10.979
$10V_AH,12.59,0.000
$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,21.850,31.525,428.500,106.050,0.000,0.000,0.000,228.550,0.000,0.000,32.567,0.000,2093.957,603.892,1313.393,38.103,0.000,1263.797,0.000,695.674,0.000,0.531,0.000
$DEVICE_MAMPS,445.995,146.880,2082.330,211.905,0.000,0.000,0.000,153.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3385.000,3398.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.113,13.432,0.000,0.000
$MEM,313140
$DATA_FILE_SIZE,16792,468
$CAP_FILE_SIZE,70472,0
$CFSIZE,1047117824,1041629184
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,1094.20,0x2378b6,2,5
$INTR,1,3605.73,0x2378b6,7,5
$SOUNDSPEED,1442.8
$EKF,3775,4254.406738,-8669.152344,12.564631,0.001555,0.013336,-0.002040,0.000014,0.000129,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.187,214.31,1
$GPS,270714,235455,7054.090,-14429.805,47,1.0,67,28.3