version: 66.12
glider: 197
mission: 6
dive: 9
start: 7 28 114 5 21 28
data:
$ID,197
$MISSION,6
$DIVE,9
$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,-6948.1055
$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,2700
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,28
$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,3
$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
$GPS1,280714,051209,7053.908,-14431.415,11,1.7,31,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.4
$GPS2,280714,052109,7053.947,-14431.380,12,1.5,32,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,341.0,11241,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.05,-145.9,151,2722,475,605,0.0,0.0,0,73,0.00,0.00,-52.92,0.000,16386,0.000,0.000,145,2722,1884,1900,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.05,-145.9,146,2723,1894,1870,3.3,-3.6,5,136,11.05,1.75,-40.22,0.000,18692,0.471,0.154,2178,3704,3889,3864,3915,0,0,0,0,0,0,14.21,14.40,14.66
$GC,360,-0.82,-145.9,2176,3700,3866,3920,81.8,-24.4,59,368,0.28,1.73,0.00,0.000,3078,0.310,0.080,2256,2693,3892,3865,3920,0,0,0,0,0,0,14.34,14.54,28.83
$GC,672,-0.80,-145.9,2257,2694,3866,3922,136.5,-16.4,91,680,0.00,1.80,0.00,0.000,260,0.000,0.132,2252,3701,3893,3866,3921,0,0,0,0,0,0,28.83,14.57,28.83
$GC,904,-0.80,-145.9,2252,3701,3866,3921,173.7,-15.7,137,913,0.00,1.73,0.00,0.000,1030,0.000,0.084,2252,2703,3893,3866,3921,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1217,-0.80,-145.9,2253,2703,3866,3921,214.9,-12.8,169,1226,0.00,2.47,0.00,0.000,516,0.000,0.103,2252,1286,3893,3865,3921,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1280,-0.83,-145.9,2252,1284,3865,3921,222.7,-12.1,181,1290,0.00,2.55,0.00,0.000,1030,0.000,0.127,2245,2690,3893,3865,3921,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1594,-0.85,-145.9,2246,2690,3865,3921,261.1,-12.1,207,1602,0.00,2.42,0.00,0.000,516,0.000,0.101,2245,1293,3891,3864,3919,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1706,-0.89,-145.9,2245,1292,3865,3921,274.0,-11.5,229,1716,0.00,2.55,0.00,0.000,1030,0.000,0.127,2242,2700,3891,3863,3920,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,1928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1929,begin apogee
$GC,1931,-0.21,0.0,2243,2391,3864,3921,301.0,-12.0,238,2062,0.80,0.00,125.45,1.227,10246,0.259,0.000,2455,2394,3289,3246,3333,0,0,0,0,0,0,14.54,28.83,13.56
$STATE,2064,end apogee,CONTROL_FINISHED_OK
$STATE,2064,begin climb
$GC,2065,1.05,145.9,2455,2395,3239,3327,305.5,0.0,242,2204,1.33,2.67,123.12,1.189,10756,0.142,0.106,2872,995,2686,2623,2749,0,0,0,0,0,0,14.09,13.92,13.43
$GC,2308,0.80,145.9,2873,994,2615,2736,282.7,17.4,283,2318,0.38,2.58,0.00,0.000,5126,0.314,0.111,2790,2398,2675,2614,2736,0,0,0,0,0,0,14.08,14.20,28.83
$GC,2613,0.63,145.9,2791,2400,2613,2737,239.6,14.0,298,2616,0.22,0.00,0.00,0.000,4102,0.322,0.000,2741,2399,2674,2612,2736,0,0,0,0,0,0,14.33,28.83,28.83
$GC,2914,0.57,158.9,2743,2399,2618,2737,206.2,10.5,328,2928,0.00,0.00,10.62,1.040,8198,0.000,0.000,2741,2399,2641,2574,2709,0,0,0,0,0,0,28.83,28.83,13.94
$GC,3224,0.54,190.7,2741,2400,2556,2698,174.5,9.5,359,3258,0.15,0.00,28.15,1.058,12550,0.301,0.000,2708,2399,2506,2431,2581,0,0,0,0,0,0,14.40,28.83,13.91
$GC,3562,0.66,269.0,2709,2400,2415,2565,148.2,7.1,394,3645,0.12,2.47,68.85,1.017,10500,0.155,0.122,2754,3713,2179,2101,2257,0,0,0,0,0,0,14.54,14.13,13.76
$GC,3724,0.58,269.0,2755,3719,2084,2251,129.8,13.2,422,3733,0.20,2.28,0.00,0.000,5126,0.277,0.080,2720,2395,2166,2082,2250,0,0,0,0,0,0,14.23,14.33,28.83
$GC,4038,0.71,326.8,2720,2395,2079,2250,101.9,8.2,454,4098,0.12,2.50,53.88,0.952,10500,0.152,0.124,2768,3714,1951,1853,2049,0,0,0,0,0,0,14.50,14.16,13.82
$GC,4127,0.65,326.8,2769,3713,1839,2041,91.7,13.9,466,4136,0.15,2.28,0.00,0.000,5126,0.293,0.080,2743,2400,1936,1838,2034,0,0,0,0,0,0,14.18,14.30,28.83
$GC,4432,0.75,357.9,2744,2400,1832,2033,60.6,9.5,497,4449,0.00,0.00,13.15,0.304,8198,0.000,0.000,2743,2399,1831,1731,1932,0,0,0,0,0,0,28.83,28.83,14.26
$GC,4743,0.96,447.7,2744,2400,1764,1950,36.8,6.5,528,4797,0.30,0.00,45.03,0.279,10246,0.100,0.000,2852,2399,1465,1361,1570,0,0,0,0,0,0,14.57,28.83,14.33
$GC,5093,1.29,658.8,2852,2400,1388,1573,12.5,0.4,563,5204,0.28,2.40,100.38,0.211,10500,0.102,0.121,2953,3716,602,483,722,0,0,0,0,0,0,14.58,14.39,14.32
$GC,5233,1.23,658.8,2953,3716,487,722,4.0,12.3,585,5242,0.15,2.28,0.00,0.000,5126,0.279,0.089,2931,2404,605,489,722,0,0,0,0,0,0,14.31,14.40,28.83
$STATE,5255,end climb,SURFACE_DEPTH_REACHED
$STATE,5255,begin surface coast
$FINISH,1.1,1.018508
$STATE,5265,end surface coast,CONTROL_FINISHED_OK
$STATE,5266,begin surface
$SM_CCo,5286,8.48,0.194,0,0,538,675.07
$SM_GC,3.56,8.32,0.55,8.48,0.100,0.125,0.194,187,2704,538,-7.30,-0.68,675.07,0,0,0,0,0,0,14.45,14.47,14.40
$RAFOS_CLK,509191
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,280714,033053
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.14
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3934144
$TM_FREEKB,7843516
$24V_AH,13.43,12.087
$10V_AH,12.76,0.000
$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,23.850,39.575,568.625,8.475,0.000,0.000,0.000,343.000,0.000,0.000,34.372,0.000,3375.860,666.672,1743.573,51.848,0.000,1542.387,0.000,875.998,0.000,0.531,0.000
$DEVICE_MAMPS,471.240,153.765,1227.060,193.545,0.000,0.000,0.000,176.715,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5282.000,5313.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.095,13.366,0.000,0.000
$MEM,310928
$DATA_FILE_SIZE,20086,589
$CAP_FILE_SIZE,94480,0
$CFSIZE,1047117824,1041022976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.2
$EKF,5455,4254.380859,-8670.825195,1.078683,0.193342,0.060889,-0.060292,0.000037,0.000342,0.000099,0.002925,0.002925,0.000050
$CURRENT,0.068,209.17,1
$GPS,280714,065220,7054.224,-14431.107,104,0.8,125,28.3