version: 66.12
glider: 197
mission: 6
dive: 10
start: 7 28 114 7 4 7
data:
$ID,197
$MISSION,6
$DIVE,10
$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,-6949.3691
$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,23
$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,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
$GPS1,280714,065220,7054.224,-14431.107,104,0.8,125,28.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.6
$GPS2,280714,070350,7054.229,-14431.040,11,0.8,31,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,342.3,10707,-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,16,-1.05,-145.9,188,2704,479,631,0.0,0.0,0,74,0.00,0.00,-53.78,0.000,16386,0.000,0.000,187,2704,1925,1932,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.05,-145.9,187,2705,1933,1921,3.3,-4.2,5,132,11.00,1.88,-39.70,0.000,18692,0.478,0.158,2176,3712,3889,3865,3913,0,0,0,0,0,0,14.21,14.40,14.64
$GC,355,-0.81,-145.9,2176,3713,3867,3918,81.9,-25.3,58,365,0.35,1.75,0.00,0.000,3078,0.309,0.080,2262,2691,3891,3866,3917,0,0,0,0,0,0,14.35,14.54,28.83
$GC,661,-0.78,-145.9,2263,2693,3863,3919,133.7,-15.5,89,668,0.00,1.83,0.00,0.000,260,0.000,0.133,2257,3715,3893,3868,3918,0,0,0,0,0,0,28.83,14.51,28.83
$GC,883,-0.76,-145.9,2258,3716,3866,3919,169.2,-14.8,133,891,0.00,1.70,0.00,0.000,1030,0.000,0.085,2258,2702,3892,3866,3918,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1195,-0.76,-145.9,2259,2703,3866,3919,209.4,-12.5,165,1203,0.00,2.45,0.00,0.000,516,0.000,0.103,2258,1294,3891,3865,3918,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1312,-0.80,-145.9,2258,1294,3865,3919,223.1,-11.0,188,1325,0.00,2.58,0.00,0.000,1030,0.000,0.129,2254,2711,3889,3860,3918,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1639,-0.84,-145.9,2253,2712,3866,3919,261.5,-11.7,215,1646,0.00,2.47,0.00,0.000,516,0.000,0.099,2253,1286,3890,3863,3917,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1721,-0.89,-145.9,2252,1287,3864,3918,270.7,-11.5,231,1728,0.00,2.55,0.00,0.000,1030,0.000,0.127,2248,2700,3888,3859,3918,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,1971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1971,begin apogee
$GC,1974,-0.21,0.0,2248,2397,3862,3919,300.3,-11.7,241,2157,0.80,0.00,176.07,1.102,10246,0.258,0.000,2460,2395,3286,3240,3333,0,0,0,0,0,0,14.56,28.83,13.53
$STATE,2159,end apogee,CONTROL_FINISHED_OK
$STATE,2159,begin climb
$GC,2160,1.05,145.9,2460,2396,3237,3329,306.6,0.0,247,2295,1.33,0.00,124.62,1.179,10246,0.131,0.000,2868,2395,2697,2632,2762,0,0,0,0,0,0,14.07,28.83,13.40
$GC,2572,0.77,145.9,2868,2396,2602,2739,252.3,18.0,261,2575,0.38,0.00,0.00,0.000,4102,0.320,0.000,2785,2394,2669,2601,2738,0,0,0,0,0,0,14.23,28.83,28.83
$GC,2873,0.62,145.9,2785,2395,2601,2739,211.6,12.6,289,2880,0.20,2.50,0.00,0.000,4612,0.320,0.105,2746,993,2669,2601,2738,0,0,0,0,0,0,14.36,14.45,28.83
$GC,2935,0.59,160.6,2746,993,2601,2740,204.9,10.4,301,2949,0.00,2.53,4.50,0.884,9222,0.000,0.113,2746,2399,2639,2567,2711,0,0,0,0,0,0,28.83,14.47,13.93
$GC,3245,0.59,220.5,2746,2400,2582,2726,174.4,8.1,333,3630,0.00,2.45,61.72,1.037,8452,0.000,0.119,2746,3708,2384,2310,2458,0,0,0,0,0,0,28.83,14.16,13.75
$GC,3684,0.49,220.5,2746,3708,2293,2447,161.0,13.1,355,3692,0.28,2.25,0.00,0.000,5126,0.278,0.074,2692,2401,2368,2294,2443,0,0,0,0,0,0,14.19,14.30,28.83
$GC,3997,0.65,297.9,2691,2399,2292,2443,136.6,7.2,387,4079,0.12,2.47,70.35,0.988,10500,0.148,0.122,2744,3703,2060,1972,2148,0,0,0,0,0,0,14.44,14.07,13.70
$GC,4149,0.61,297.9,2745,3704,1960,2138,119.4,13.7,413,4157,0.00,2.25,0.00,0.000,1030,0.000,0.076,2754,2402,2049,1960,2138,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4462,0.62,307.7,2754,2401,1956,2138,85.3,10.6,445,4466,0.00,0.00,1.73,0.219,8198,0.000,0.000,2753,2400,2034,1943,2126,0,0,0,0,0,0,28.83,28.83,14.34
$GC,4762,0.69,339.7,2754,2400,1954,2131,55.8,9.5,475,4785,0.00,0.00,16.15,0.323,8454,0.000,0.000,2755,2403,1905,1808,2003,0,0,0,0,0,0,28.83,28.83,14.26
$GC,5082,0.88,428.6,2754,2400,1837,2026,32.4,6.6,508,5137,0.15,2.45,43.47,0.266,10500,0.132,0.125,2818,3715,1544,1440,1648,0,0,0,0,0,0,14.54,14.42,14.34
$GC,5191,0.84,428.6,2818,3716,1456,1649,20.2,13.5,527,5201,0.00,2.25,0.00,0.000,1030,0.000,0.083,2826,2401,1551,1454,1649,0,0,0,0,0,0,28.83,14.46,28.83
$FREEZE,11.57,3.119,-1.420,0,1,0
$STATE,5456,end climb,NO_VERTICAL_VELOCITY
$STATE,5456,begin surface
$SM_CCo,5459,120.60,0.209,0,0,499,684.88
$SM_GC,2.21,8.07,0.55,0.00,0.106,0.119,0.000,182,2707,506,-7.31,-0.68,683.65,0,0,0,0,0,0,14.49,14.54,28.83
$RAFOS_CLK,207527
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,065518
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.92
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3933696
$TM_FREEKB,7835460
$24V_AH,13.40,12.356
$10V_AH,13.40,0.000
$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,22.675,37.425,498.625,120.600,0.000,0.000,0.000,440.300,0.000,0.000,33.698,0.000,3574.175,717.298,1795.766,55.093,0.000,1664.109,0.000,830.541,1499.000,0.532,0.000
$DEVICE_MAMPS,478.125,157.590,1178.865,208.845,0.000,0.000,0.000,167.535,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5458.000,5485.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.828,13.385,0.000,0.000
$MEM,310484
$DATA_FILE_SIZE,16757,554
$CAP_FILE_SIZE,94532,0
$CFSIZE,1047117824,1040875520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6158.11,0x2378b6,7,5
$SOUNDSPEED,1444.8
$EKF,5513,4254.790527,-8670.504883,11.570520,0.028288,0.008521,-0.020788,0.000151,0.001416,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.109,197.71,1
$GPS,280714,083557,7054.482,-14430.807,8,3.9,28,28.3