version: 66.12
glider: 197
mission: 6
dive: 8
start: 7 28 114 3 36 43
data:
$ID,197
$MISSION,6
$DIVE,8
$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,-6946.8486
$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,14
$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
$GPS1,280714,032755,7053.895,-14431.250,21,1.0,42,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.4
$GPS2,280714,033626,7053.945,-14431.314,14,0.9,34,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,341.7,11242,-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,-145.9,167,1595,408,609,0.0,0.0,0,83,0.00,0.00,-63.30,0.000,16386,0.000,0.000,167,1595,2091,2094,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.05,-145.9,168,1596,2095,2090,3.4,-3.1,6,140,10.25,2.58,-35.78,0.000,19204,0.441,0.136,2177,3017,3888,3865,3912,0,0,0,0,0,0,14.26,14.41,14.67
$GC,165,-0.74,-145.9,2177,3017,3865,3913,24.7,-25.8,19,174,0.47,2.50,0.00,0.000,3078,0.329,0.092,2283,1597,3889,3865,3914,0,0,0,0,0,0,14.30,14.43,28.83
$GC,469,-0.74,-145.9,2284,1597,3865,3918,79.7,-15.9,50,477,0.00,2.47,0.00,0.000,516,0.000,0.112,2283,192,3894,3872,3916,0,0,0,0,0,0,28.83,14.49,28.83
$GC,701,-0.77,-145.9,2284,192,3865,3918,114.4,-15.2,96,711,0.00,2.50,0.00,0.000,1030,0.000,0.106,2277,1597,3891,3865,3918,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1016,-0.81,-145.9,2278,1598,3865,3918,157.7,-13.0,128,1025,0.00,2.58,0.00,0.000,260,0.000,0.130,2266,3023,3891,3864,3918,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1194,-0.81,-145.9,2268,3023,3865,3919,181.9,-13.1,163,1203,0.00,2.47,0.00,0.000,1030,0.000,0.094,2268,1598,3891,3864,3918,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1632,-0.86,-145.9,2269,1598,3864,3918,217.9,-11.2,194,1640,0.00,2.58,0.00,0.000,260,0.000,0.129,2259,3017,3890,3863,3918,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1864,-0.90,-145.9,2260,3018,3862,3918,245.3,-12.3,240,1874,0.00,2.47,0.00,0.000,1030,0.000,0.096,2259,1603,3890,3862,3918,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2178,-0.97,-145.9,2260,1602,3862,3919,280.4,-11.1,254,2186,0.12,2.60,0.00,0.000,4356,0.148,0.129,2200,3023,3888,3859,3918,0,0,0,0,0,0,14.59,14.50,28.83
$STATE,2314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2314,begin apogee
$GC,2319,-0.21,0.0,2200,1591,3860,3918,300.0,-15.1,281,2448,0.98,0.00,118.97,2.026,10246,0.262,0.000,2458,1590,3295,3250,3341,0,0,0,0,1,0,14.44,28.83,12.96
$STATE,2450,end apogee,CONTROL_FINISHED_OK
$STATE,2450,begin climb
$GC,2451,1.05,145.9,2458,1591,3249,3343,305.3,0.0,285,2602,1.33,2.70,127.55,2.251,10756,0.131,0.112,2875,203,2697,2638,2757,0,0,0,0,1,0,13.90,13.59,12.72
$GC,2826,0.79,145.9,2876,206,2646,2764,267.4,16.0,353,2834,0.40,2.53,0.00,0.000,5126,0.308,0.094,2787,1606,2705,2646,2764,0,0,0,0,0,0,14.04,14.14,28.83
$GC,3138,0.65,145.9,2787,1607,2645,2764,229.2,11.4,378,3142,0.20,0.00,0.00,0.000,4102,0.311,0.000,2743,1606,2704,2646,2763,0,0,0,0,0,0,14.26,28.83,28.83
$GC,3439,0.62,171.8,2743,1604,2646,2763,199.9,9.8,408,3475,0.00,2.58,26.17,1.180,8452,0.000,0.116,2743,3013,2583,2511,2656,0,0,0,0,0,0,28.83,14.27,13.84
$GC,3699,0.54,187.6,2744,3013,2505,2656,172.6,10.3,458,3722,0.20,2.50,14.38,1.186,13318,0.294,0.093,2706,1598,2520,2442,2599,0,0,0,0,0,0,14.29,14.40,13.89
$GC,4026,0.70,286.6,2707,1598,2440,2596,150.5,6.1,492,4122,0.17,2.65,86.97,1.042,10500,0.130,0.117,2772,3013,2110,2022,2198,0,0,0,0,0,0,14.52,14.08,13.71
$GC,4347,0.64,286.6,2773,3014,2008,2195,112.3,12.6,551,4356,0.20,2.50,0.00,0.000,5126,0.285,0.093,2737,1600,2100,2007,2194,0,0,0,0,0,0,14.28,14.38,28.83
$GC,4652,0.75,325.2,2738,1600,2007,2194,84.3,9.1,582,4681,0.00,2.58,17.58,0.417,8708,0.000,0.117,2746,202,1971,1875,2067,0,0,0,0,0,0,28.83,14.40,14.23
$GC,4895,0.90,368.1,2746,202,1892,2068,61.6,8.9,629,4925,0.22,2.47,21.98,0.366,11270,0.110,0.099,2829,1600,1790,1696,1884,0,0,0,0,0,0,14.54,14.49,14.30
$GC,5228,0.93,393.6,2829,1600,1711,1887,25.9,9.8,664,5251,0.00,2.60,13.23,0.254,8452,0.000,0.121,2829,3013,1684,1589,1780,0,0,0,0,0,0,28.83,14.47,14.38
$GC,5475,1.21,598.7,2830,3013,1601,1782,13.6,0.7,712,5584,0.25,2.47,97.03,0.216,11270,0.107,0.095,2929,1596,849,745,954,0,0,0,0,0,0,14.59,14.56,14.35
$STATE,5717,end climb,SURFACE_DEPTH_REACHED
$STATE,5717,begin surface coast
$FINISH,0.8,1.018335
$STATE,5738,end surface coast,CONTROL_FINISHED_OK
$STATE,5738,begin surface
$SM_CCo,5758,36.50,0.190,0,0,538,675.07
$SM_GC,1.68,8.32,0.00,36.50,0.100,0.000,0.190,173,1596,538,-7.31,-0.11,675.07,0,0,0,0,0,0,14.54,28.83,14.43
$RAFOS_CLK,413991
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,280714,014957
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.00
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3934592
$TM_FREEKB,7851800
$24V_AH,12.72,11.851
$10V_AH,12.55,0.000
$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,23.125,50.900,523.850,36.500,0.000,0.000,0.000,320.100,0.000,0.000,36.645,0.000,3450.440,666.420,2006.436,53.010,0.000,1616.252,0.000,1097.794,1490.000,0.531,0.000
$DEVICE_MAMPS,440.640,136.170,2251.395,189.720,0.000,0.000,0.000,172.890,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5752.000,5782.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.997,13.378,0.000,0.000
$MEM,311372
$DATA_FILE_SIZE,23395,744
$CAP_FILE_SIZE,103778,0
$CFSIZE,1047117824,1041154048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,6016.26,0x2378b6,7,5
$INTR,1,5747.48,0x2378b6,7,5
$SOUNDSPEED,1446.1
$EKF,5729,4254.090332,-8671.170898,0.826100,-0.079812,-0.131796,-0.054030,0.000053,0.000490,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.064,203.65,1
$GPS,280714,051209,7053.908,-14431.415,11,1.7,31,28.3