version: 66.12
glider: 197
mission: 6
dive: 7
start: 7 28 114 1 56 26
data:
$ID,197
$MISSION,6
$DIVE,7
$N_DIVES,0
$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,-6945.5898
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,280714,014708,7053.890,-14430.721,34,0.8,54,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.5
$GPS2,280714,015609,7053.927,-14430.884,13,0.9,33,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,341.1,11259,-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,-145.9,164,1606,450,642,0.0,0.0,0,83,0.00,0.00,-63.55,0.000,16386,0.000,0.000,163,1605,2177,2193,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.05,-145.9,164,1606,2193,2162,4.0,-4.5,6,139,10.30,2.60,-32.67,0.000,19204,0.444,0.141,2175,3012,3889,3864,3915,0,0,0,0,0,0,14.23,14.39,14.66
$GC,363,-0.84,-145.9,2176,3012,3864,3920,80.4,-25.0,59,373,0.35,2.50,0.00,0.000,3078,0.308,0.096,2255,1592,3892,3864,3920,0,0,0,0,0,0,14.36,14.51,28.83
$GC,668,-0.84,-145.9,2256,1592,3864,3921,131.8,-15.4,90,678,0.00,2.40,0.00,0.000,516,0.000,0.116,2255,199,3892,3864,3921,0,0,0,0,0,0,28.83,14.51,28.83
$GC,903,-0.86,-145.9,2255,200,3865,3921,166.6,-13.9,136,910,0.00,2.50,0.00,0.000,1030,0.000,0.108,2251,1602,3892,3864,3920,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1214,-0.89,-145.9,2251,1603,3866,3921,206.8,-12.3,168,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1602,3892,3864,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.93,-145.9,2248,1603,3864,3921,241.5,-10.8,198,1524,0.00,2.53,0.00,0.000,260,0.000,0.132,2242,3010,3892,3863,3921,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1747,-0.95,-145.9,2243,3010,3862,3921,270.6,-12.7,244,1756,0.00,2.45,0.00,0.000,1030,0.000,0.095,2242,1599,3891,3862,3921,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,2028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2029,begin apogee
$GC,2031,-0.21,0.0,2242,1599,3862,3921,303.4,-11.6,255,2165,0.80,0.00,124.25,1.635,10246,0.241,0.000,2461,1596,3291,3246,3337,0,0,0,0,1,0,14.57,28.83,13.01
$STATE,2167,end apogee,CONTROL_FINISHED_OK
$STATE,2167,begin climb
$GC,2168,1.05,145.9,2461,1597,3247,3343,307.8,0.0,259,2310,1.27,2.62,126.22,1.221,10756,0.119,0.112,2876,198,2685,2630,2741,0,0,0,0,0,0,13.99,13.90,13.40
$GC,2534,0.80,145.9,2876,198,2627,2729,266.8,16.8,325,2542,0.38,2.53,0.00,0.000,5126,0.311,0.097,2792,1604,2676,2624,2728,0,0,0,0,0,0,14.19,14.31,28.83
$GC,2846,0.65,145.9,2792,1604,2625,2729,225.4,12.6,351,2849,0.22,0.00,0.00,0.000,4102,0.314,0.000,2741,1604,2676,2623,2729,0,0,0,0,0,0,14.36,28.83,28.83
$GC,3147,0.64,183.5,2742,1604,2624,2729,194.6,9.2,381,3189,0.00,2.58,30.98,1.079,8452,0.000,0.122,2741,3010,2529,2459,2600,0,0,0,0,0,0,28.83,14.31,13.86
$GC,3413,0.62,230.1,2741,3011,2450,2600,166.4,8.7,432,3463,0.00,2.50,40.08,1.039,9222,0.000,0.094,2750,1592,2340,2270,2411,0,0,0,0,0,0,28.83,14.47,13.81
$GC,3757,0.68,271.6,2750,1593,2256,2401,132.7,9.0,469,3800,0.00,2.58,26.00,1.029,8964,0.000,0.117,2759,203,2184,2106,2263,0,0,0,0,1,0,28.83,14.30,13.79
$GC,4024,0.76,307.9,2760,200,2127,2274,106.7,9.3,520,4075,0.00,2.47,41.35,0.977,9222,0.000,0.099,2759,1598,2026,1940,2113,0,0,0,0,0,0,28.83,14.44,13.82
$GC,4369,0.81,324.5,2759,1600,1915,2104,70.2,10.3,557,4386,0.00,2.58,6.65,0.251,8452,0.000,0.121,2760,3015,1970,1875,2066,0,0,0,0,0,0,28.83,14.40,14.23
$GC,4610,0.94,403.7,2758,3016,1907,2078,46.1,7.1,604,4660,0.20,2.50,40.53,0.312,11270,0.119,0.095,2843,1597,1643,1544,1743,0,0,0,0,0,0,14.54,14.50,14.31
$GC,4954,1.19,578.9,2843,1593,1572,1749,14.7,2.2,641,5051,0.22,2.65,83.88,0.220,10500,0.110,0.122,2925,3015,925,827,1024,0,0,0,0,0,0,14.59,14.40,14.33
$STATE,5214,end climb,SURFACE_DEPTH_REACHED
$STATE,5214,begin surface coast
$FINISH,2.1,1.018447
$STATE,5255,end surface coast,CONTROL_FINISHED_OK
$STATE,5255,begin surface
$SM_CCo,5258,51.53,0.184,0,0,496,684.88
$SM_GC,1.95,8.32,2.55,0.00,0.103,0.098,0.000,178,1601,500,-7.29,0.65,684.88,0,0,0,0,0,0,14.52,14.50,28.83
$RAFOS_CLK,520467
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14423.93,280714,001112
$TT8_MAMPS,0.041944,0.041944
$HUMID,47.55
$INTERNAL_PRESSURE,8.63976
$TCM_TEMP,12.70
$XPDR_PINGS,1
$SC_FREEKB,3935040
$TM_FREEKB,7860612
$24V_AH,13.01,11.530
$10V_AH,12.61,0.000
$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,22.075,40.525,519.925,51.525,0.000,0.000,0.000,351.850,0.250,0.000,36.026,0.000,3326.059,665.384,1920.507,49.088,0.000,1605.156,0.000,1027.278,0.000,0.531,0.000
$DEVICE_MAMPS,443.700,140.760,1634.805,183.600,0.000,0.000,0.000,173.655,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5271.000,5296.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.020,13.384,0.000,0.000
$MEM,311868
$DATA_FILE_SIZE,23409,696
$CAP_FILE_SIZE,95384,0
$CFSIZE,1047117824,1041317888
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,6095.13,0x2378b6,7,5
$INTR,1,2029.66,0x2378b6,2,5
$SOUNDSPEED,1446.5
$EKF,5492,4254.060547,-8670.974609,2.067021,0.034039,-0.033730,-0.000432,0.000035,0.000328,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.064,206.75,1
$GPS,280714,032755,7053.895,-14431.250,21,1.0,42,28.3