version: 66.12
glider: 197
mission: 6
dive: 6
start: 7 28 114 0 14 50
data:
$ID,197
$MISSION,6
$DIVE,6
$N_DIVES,7
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,90
$T_MISSION,115
$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,-6944.3296
$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,2530
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,280714,001037,7054.096,-14430.211,11,1.0,11,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.7
$GPS2,280714,001433,7054.099,-14430.316,15,0.9,35,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,358.1,10931,-20.9,-11.111,-24.89,2022
$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,-1.05,-145.9,169,1601,408,604,0.0,0.0,0,79,0.00,0.00,-54.40,0.000,16386,0.000,0.000,166,1602,1854,1866,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.05,-145.9,168,1602,1866,1845,3.2,-4.0,6,142,10.25,2.62,-44.28,0.000,18692,0.447,0.141,2176,3019,3888,3863,3914,0,0,0,0,0,0,14.31,14.47,14.73
$GC,366,-0.82,-145.9,2176,3019,3863,3916,78.3,-24.8,60,375,0.38,2.50,0.00,0.000,3078,0.313,0.096,2261,1597,3891,3864,3918,0,0,0,0,0,0,14.36,14.50,28.83
$GC,679,-0.82,-145.9,2261,1597,3864,3921,129.8,-15.4,92,687,0.00,2.58,0.00,0.000,260,0.000,0.132,2255,3016,3892,3864,3920,0,0,0,0,0,0,28.83,14.50,28.83
$GC,911,-0.82,-145.9,2256,3016,3864,3920,166.4,-15.7,138,919,0.00,2.50,0.00,0.000,1030,0.000,0.099,2255,1592,3891,3863,3920,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1223,-0.85,-145.9,2256,1593,3863,3920,206.8,-12.5,170,1231,0.00,2.47,0.00,0.000,516,0.000,0.119,2255,190,3891,3862,3920,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1455,-0.90,-145.9,2256,189,3862,3919,235.3,-12.2,216,1463,0.00,2.53,0.00,0.000,1030,0.000,0.114,2255,1601,3891,3863,3919,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1767,-0.95,-145.9,2255,1602,3860,3920,270.5,-11.4,236,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1602,3889,3860,3919,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2036,begin apogee
$GC,2038,-0.21,0.0,2256,1602,3860,3917,300.1,-11.0,245,2162,0.75,0.00,113.53,2.018,10246,0.238,0.000,2461,1604,3291,3246,3337,0,0,0,0,1,0,14.56,28.83,12.98
$STATE,2164,end apogee,CONTROL_FINISHED_OK
$STATE,2164,begin climb
$GC,2165,1.05,145.9,2462,1602,3247,3343,304.8,0.0,249,2306,1.30,2.70,119.88,2.289,10756,0.127,0.113,2878,197,2699,2643,2756,0,0,0,0,1,0,13.96,13.69,12.78
$GC,2530,0.79,145.9,2878,198,2649,2764,267.6,16.2,315,2540,0.40,2.55,0.00,0.000,5126,0.310,0.103,2788,1603,2705,2648,2763,0,0,0,0,0,0,14.14,14.25,28.83
$GC,2844,0.64,145.9,2789,1604,2648,2763,228.3,12.2,341,2847,0.20,0.00,0.00,0.000,4102,0.310,0.000,2744,1604,2705,2648,2763,0,0,0,0,0,0,14.29,28.83,28.83
$GC,3145,0.62,185.4,2744,1604,2649,2763,198.7,9.1,371,3189,0.00,2.67,36.97,1.154,8452,0.000,0.125,2744,3017,2528,2457,2599,0,0,0,0,0,0,28.83,14.21,13.83
$GC,3412,0.54,194.2,2744,3018,2452,2597,169.7,10.7,422,3423,0.20,2.53,3.30,1.043,13318,0.294,0.096,2709,1594,2501,2426,2576,0,0,0,0,0,0,14.29,14.40,13.59
$GC,3718,0.70,286.7,2709,1594,2441,2588,147.9,6.4,453,3812,0.15,2.65,84.97,1.052,10500,0.140,0.122,2764,3013,2106,2017,2195,0,0,0,0,0,0,14.54,14.09,13.73
$GC,4037,0.65,286.7,2765,3013,2009,2190,110.2,12.4,512,4046,0.00,2.50,0.00,0.000,1030,0.000,0.098,2769,1602,2099,2008,2190,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4342,0.68,306.9,2770,1602,2008,2189,77.9,10.1,543,4359,0.00,2.58,7.85,0.361,8452,0.000,0.125,2769,3013,2039,1948,2131,0,0,0,0,0,0,28.83,14.46,14.28
$GC,4582,0.66,314.3,2770,3013,1973,2144,52.1,10.7,590,4600,0.15,2.50,5.80,0.306,13318,0.295,0.098,2747,1592,2009,1919,2100,0,0,0,0,0,0,14.39,14.47,14.35
$GC,4903,0.92,441.4,2747,1593,1939,2112,34.3,4.6,623,4974,0.25,2.53,60.45,0.278,10756,0.110,0.119,2844,193,1489,1385,1594,0,0,0,0,0,0,14.61,14.46,14.31
$GC,5198,1.33,674.5,2845,193,1399,1593,14.2,-0.7,678,5314,0.35,2.47,109.15,0.214,11270,0.098,0.099,2971,1602,540,439,642,0,0,0,0,0,0,14.57,14.52,14.35
$STATE,5367,end climb,SURFACE_DEPTH_REACHED
$STATE,5367,begin surface coast
$FINISH,1.0,1.018183
$STATE,5377,end surface coast,CONTROL_FINISHED_OK
$STATE,5377,begin surface
$SM_CCo,5458,0.00,0.000,0,0,541,675.07
$SM_GC,1.99,8.50,0.00,0.00,0.103,0.000,0.000,170,1602,541,-7.33,0.03,675.07,0,0,0,0,0,0,14.49,28.83,28.83
$RAFOS_CLK,519696
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,280714,000602
$TT8_MAMPS,0.041944,0.041944
$HUMID,46.65
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3935488
$TM_FREEKB,7868868
$24V_AH,12.78,11.281
$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,22.875,40.875,541.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,38.077,0.000,3395.051,577.495,1535.868,34.226,0.000,1207.272,0.000,1035.172,520.000,0.532,0.000
$DEVICE_MAMPS,446.760,140.760,2288.880,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5357.000,5368.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.223,13.488,0.000,0.000
$MEM,312252
$DATA_FILE_SIZE,23403,702
$CAP_FILE_SIZE,105266,0
$CFSIZE,1047117824,1041448960
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,4966.75,0x2378b6,7,5
$INTR,1,2036.80,0x2378b6,2,5
$INTR,2,5387.61,0x2378b6,7,5
$SOUNDSPEED,1446.0
$EKF,5541,4254.047852,-8670.507812,0.990901,0.096906,0.253131,-0.076546,0.000040,0.000372,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.063,209.00,1
$GPS,280714,014708,7053.890,-14430.721,34,0.8,54,28.3