version: 66.12
glider: 197
mission: 6
dive: 11
start: 7 28 114 8 44 38
data:
$ID,197
$MISSION,6
$DIVE,11
$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,-6950.6279
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,280714,083557,7054.482,-14430.807,8,3.9,28,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.4
$GPS2,280714,084421,7054.452,-14430.829,12,3.9,32,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,341.2,10288,-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,-145.9,181,2707,415,608,0.0,0.0,0,83,0.00,0.00,-63.33,0.000,16386,0.000,0.000,180,2707,2155,2173,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.05,-145.9,181,2708,2174,2139,4.4,-5.5,6,134,10.85,1.85,-31.33,0.000,18692,0.472,0.154,2177,3704,3888,3866,3911,0,0,0,0,0,0,14.21,14.39,14.65
$GC,358,-0.80,-145.9,2176,3704,3868,3912,83.4,-25.9,58,366,0.32,1.73,0.00,0.000,3078,0.312,0.080,2266,2701,3889,3867,3911,0,0,0,0,0,0,14.37,14.54,28.83
$GC,670,-0.80,-145.9,2266,2701,3869,3913,135.8,-15.1,90,678,0.00,1.83,0.00,0.000,260,0.000,0.131,2262,3698,3890,3867,3913,0,0,0,0,0,0,28.83,14.48,28.83
$GC,787,-0.77,-145.9,2262,3698,3867,3912,154.5,-15.7,113,796,0.00,1.73,0.00,0.000,1030,0.000,0.084,2261,2695,3890,3867,3913,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1092,-0.77,-145.9,2262,2695,3865,3913,196.1,-12.3,144,1101,0.00,2.45,0.00,0.000,516,0.000,0.102,2262,1290,3889,3865,3913,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1159,-0.81,-145.9,2262,1291,3866,3914,204.1,-11.9,157,1169,0.00,2.58,0.00,0.000,1030,0.000,0.129,2256,2699,3889,3866,3913,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1465,-0.84,-145.9,2257,2700,3866,3913,240.7,-11.7,188,1473,0.00,2.45,0.00,0.000,516,0.000,0.097,2256,1286,3888,3865,3912,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1547,-0.89,-145.9,2257,1286,3865,3914,249.8,-10.7,204,1555,0.00,2.58,0.00,0.000,1030,0.000,0.127,2256,2712,3889,3865,3913,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1859,-0.92,-145.9,2251,2708,3865,3913,285.5,-11.5,216,1867,0.00,2.45,0.00,0.000,516,0.000,0.097,2250,1292,3888,3864,3913,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1947,-0.97,-145.9,2251,1292,3864,3913,295.1,-10.9,233,1956,0.00,2.55,0.00,0.000,1030,0.000,0.126,2245,2700,3888,3863,3913,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,2010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2010,begin apogee
$GC,2013,-0.21,0.0,2245,2394,3865,3914,302.4,-11.2,236,2196,0.80,0.00,177.98,1.103,10246,0.257,0.000,2457,2394,3289,3244,3335,0,0,0,0,0,0,14.55,28.83,13.52
$STATE,2198,end apogee,CONTROL_FINISHED_OK
$STATE,2198,begin climb
$GC,2199,1.05,145.9,2456,2394,3236,3330,308.6,0.0,242,2340,1.33,2.65,123.85,1.183,10756,0.139,0.104,2875,995,2680,2615,2745,0,0,0,0,0,0,14.04,13.89,13.40
$GC,2429,0.80,145.9,2876,995,2606,2736,286.7,17.8,281,2438,0.38,2.60,0.00,0.000,5126,0.313,0.109,2794,2401,2669,2604,2735,0,0,0,0,0,0,14.04,14.16,28.83
$GC,2737,0.63,145.9,2794,2405,2603,2735,241.5,14.3,297,2740,0.25,0.00,0.00,0.000,4102,0.315,0.000,2738,2405,2668,2602,2734,0,0,0,0,0,0,14.30,28.83,28.83
$GC,3037,0.57,155.6,2744,2405,2602,2735,208.3,10.6,327,3043,0.00,0.00,2.17,0.369,8198,0.000,0.000,2738,2405,2656,2588,2725,0,0,0,0,0,0,28.83,28.83,13.81
$GC,3337,0.58,214.7,2738,2405,2594,2737,179.0,8.1,357,3420,0.00,0.00,75.35,0.995,8454,0.000,0.000,2738,2404,2407,2333,2482,0,0,0,0,0,0,28.83,28.83,13.78
$GC,3714,0.63,251.2,2738,2405,2317,2470,143.4,9.3,397,3756,0.00,2.47,35.35,0.983,8452,0.000,0.119,2738,3721,2256,2175,2338,0,0,0,0,0,0,28.83,14.25,13.81
$GC,3865,0.57,251.2,2738,3721,2159,2325,127.2,11.4,425,3873,0.00,2.28,0.00,0.000,1030,0.000,0.078,2745,2396,2241,2158,2324,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4177,0.63,298.1,2746,2396,2157,2324,97.8,8.7,457,4201,0.00,0.00,19.00,0.448,8198,0.000,0.000,2745,2395,2077,1987,2167,0,0,0,0,0,0,28.83,28.83,14.21
$GC,4497,0.71,334.5,2746,2396,2018,2192,68.0,9.3,489,4524,0.00,0.00,20.17,0.363,8454,0.000,0.000,2745,2394,1926,1828,2025,0,0,0,0,0,0,28.83,28.83,14.31
$GC,4819,0.91,429.2,2746,2396,1852,2049,42.0,6.3,522,4873,0.25,0.00,46.08,0.295,10246,0.103,0.000,2838,2395,1539,1433,1646,0,0,0,0,0,0,14.56,28.83,14.35
$GC,5169,1.27,666.2,2839,2396,1461,1650,11.5,-0.9,557,5289,0.28,2.50,110.47,0.206,10756,0.102,0.108,2947,994,571,456,687,0,0,0,0,0,0,14.54,14.40,14.34
$GC,5318,1.32,673.7,2947,995,459,688,2.9,10.7,581,5333,0.00,2.55,3.97,0.207,9222,0.000,0.112,2947,2402,542,428,656,0,0,0,0,0,0,28.83,14.43,14.38
$STATE,5338,end climb,SURFACE_DEPTH_REACHED
$STATE,5338,begin surface coast
$FINISH,0.8,1.011921
$STATE,5357,end surface coast,CONTROL_FINISHED_OK
$STATE,5357,begin surface
$SM_CCo,5379,0.88,0.266,0,0,538,675.07
$SM_GC,2.50,8.30,0.57,0.88,0.092,0.124,0.266,185,2715,538,-7.30,-0.23,675.07,0,0,0,0,0,0,14.45,14.47,14.41
$RAFOS_CLK,517122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,065916
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.47
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3933248
$TM_FREEKB,7827044
$24V_AH,13.40,12.592
$10V_AH,12.71,0.000
$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,22.750,38.325,614.400,0.875,0.000,0.000,0.000,316.625,0.000,0.000,34.364,0.000,3431.019,692.969,1710.036,52.966,0.000,1549.142,0.000,872.437,0.000,0.531,0.000
$DEVICE_MAMPS,472.005,153.765,1182.690,266.220,0.000,0.000,0.000,174.420,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5373.000,5403.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.685,13.384,0.000,0.000
$MEM,310080
$DATA_FILE_SIZE,20102,586
$CAP_FILE_SIZE,94291,0
$CFSIZE,1047117824,1040744448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6030.37,0x2378b6,7,5
$SOUNDSPEED,1446.2
$EKF,5571,4255.007812,-8670.238281,0.814416,0.163407,-0.124423,0.009491,0.000047,0.000436,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.116,205.27,1
$GPS,280714,101726,7054.710,-14430.739,135,0.9,156,28.3