version: 66.12
glider: 197
mission: 6
dive: 12
start: 7 28 114 10 26 7
data:
$ID,197
$MISSION,6
$DIVE,12
$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,-6951.8906
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,280714,101726,7054.710,-14430.739,135,0.9,156,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.4
$GPS2,280714,102550,7054.666,-14430.839,13,0.9,33,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,345.2,9892,-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,-145.9,184,2717,473,640,0.0,0.0,0,73,0.00,0.00,-52.88,0.000,16386,0.000,0.000,184,2715,1883,1883,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.05,-145.9,184,2717,1884,1891,3.2,-3.3,5,136,10.88,1.83,-41.42,0.000,18692,0.474,0.155,2176,3704,3889,3867,3911,0,0,0,0,0,0,14.21,14.40,14.64
$GC,360,-0.81,-145.9,2177,3704,3868,3913,82.8,-25.8,59,368,0.30,1.75,0.00,0.000,3078,0.311,0.078,2261,2695,3890,3867,3913,0,0,0,0,0,0,14.33,14.47,28.83
$GC,672,-0.81,-145.9,2261,2692,3869,3916,135.4,-15.2,91,681,0.00,1.83,0.00,0.000,260,0.000,0.132,2256,3707,3891,3868,3914,0,0,0,0,0,0,28.83,14.54,28.83
$GC,795,-0.78,-145.9,2257,3710,3868,3916,155.5,-16.4,115,804,0.00,1.73,0.00,0.000,1030,0.000,0.082,2256,2703,3891,3867,3915,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1107,-0.78,-145.9,2257,2704,3868,3916,198.8,-12.6,147,1115,0.00,2.45,0.00,0.000,516,0.000,0.098,2256,1285,3890,3866,3914,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1204,-0.81,-145.9,2257,1284,3867,3915,210.6,-11.6,166,1213,0.00,2.58,0.00,0.000,1030,0.000,0.128,2250,2701,3890,3866,3915,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1510,-0.84,-145.9,2250,2703,3866,3915,247.9,-12.0,197,1517,0.00,2.45,0.00,0.000,516,0.000,0.095,2250,1288,3889,3865,3914,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1612,-0.88,-145.9,2250,1286,3866,3915,259.8,-11.8,217,1619,0.00,2.55,0.00,0.000,1030,0.000,0.125,2244,2701,3890,3866,3915,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1934,-0.91,-145.9,2245,2702,3865,3915,298.3,-11.8,231,1941,0.00,2.42,0.00,0.000,516,0.000,0.095,2244,1292,3889,3864,3914,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,1949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1949,begin apogee
$GC,1953,-0.21,0.0,2241,2402,3866,3915,300.4,-11.8,234,2136,0.82,0.00,178.27,1.099,10246,0.265,0.000,2459,2401,3291,3247,3335,0,0,0,0,0,0,14.55,28.83,13.53
$STATE,2139,end apogee,CONTROL_FINISHED_OK
$STATE,2139,begin climb
$GC,2140,1.05,145.9,2459,2402,3240,3330,306.9,0.0,240,2274,1.33,0.00,123.93,1.187,10502,0.132,0.000,2866,2401,2694,2630,2758,0,0,0,0,0,0,14.05,28.83,13.39
$GC,2550,0.77,145.9,2866,2402,2603,2737,253.1,17.7,259,2554,0.38,0.00,0.00,0.000,4102,0.317,0.000,2782,2401,2670,2603,2737,0,0,0,0,0,0,14.22,28.83,28.83
$GC,2850,0.63,145.9,2782,2402,2604,2738,212.6,12.4,287,2858,0.20,2.50,0.00,0.000,4612,0.311,0.099,2746,992,2670,2603,2737,0,0,0,0,0,0,14.36,14.45,28.83
$GC,2883,0.58,148.4,2746,992,2603,2737,209.0,11.0,293,2890,0.00,2.53,0.00,0.000,1030,0.000,0.109,2746,2400,2670,2603,2737,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3195,0.56,198.0,2746,2401,2603,2738,177.4,8.6,325,3261,0.12,0.00,55.70,0.995,12550,0.296,0.000,2717,2401,2476,2402,2550,0,0,0,0,0,0,14.42,28.83,13.81
$GC,3555,0.64,262.6,2718,2402,2389,2539,147.0,7.8,363,3625,0.00,2.47,60.53,0.991,8452,0.000,0.119,2717,3715,2208,2125,2291,0,0,0,0,0,0,28.83,14.17,13.76
$GC,3684,0.65,268.5,2717,3711,2113,2283,134.7,10.8,385,3692,0.00,2.25,0.00,0.000,1030,0.000,0.076,2717,2404,2196,2111,2282,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3997,0.77,317.1,2717,2404,2109,2281,106.9,8.6,417,4051,0.17,0.00,49.65,0.955,10246,0.123,0.000,2785,2402,1994,1900,2089,0,0,0,0,0,0,14.50,28.83,13.83
$GC,4346,0.77,317.1,2786,2403,1878,2069,64.6,12.2,452,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2402,1972,1877,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,0.88,406.0,2786,2403,1876,2068,37.0,6.6,482,4695,0.00,2.38,38.75,0.281,8452,0.000,0.127,2785,3709,1635,1533,1737,0,0,0,0,0,0,28.83,14.44,14.35
$GC,4744,0.88,406.6,2785,3710,1551,1738,28.1,11.1,499,4754,0.00,2.25,1.73,0.239,9222,0.000,0.079,2794,2390,1632,1532,1733,0,0,0,0,0,0,28.83,14.47,14.40
$GC,5049,1.30,629.7,2794,2390,1554,1746,12.1,-0.2,530,5166,0.43,2.55,104.50,0.210,11012,0.083,0.108,2965,992,722,605,839,0,0,0,0,0,0,14.57,14.40,14.35
$GC,5205,1.33,661.7,2965,992,610,839,3.9,9.5,555,5228,0.00,2.55,15.77,0.190,9222,0.000,0.116,2965,2401,590,474,706,0,0,0,0,0,0,28.83,14.44,14.39
$STATE,5231,end climb,SURFACE_DEPTH_REACHED
$STATE,5231,begin surface coast
$FINISH,0.8,1.001153
$STATE,5251,end surface coast,CONTROL_FINISHED_OK
$STATE,5251,begin surface
$SM_CCo,5273,6.55,0.195,0,0,538,675.07
$SM_GC,3.27,8.45,0.55,6.55,0.098,0.128,0.195,183,2701,538,-7.30,-0.68,675.07,0,0,0,0,0,0,14.45,14.45,14.40
$RAFOS_CLK,507604
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,280714,083849
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.55
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3932800
$TM_FREEKB,7818808
$24V_AH,13.39,12.839
$10V_AH,13.41,0.000
$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,23.075,41.650,628.825,6.550,0.000,0.000,0.000,310.050,0.000,0.000,35.880,0.000,3346.074,727.329,1660.832,52.014,0.000,1553.036,0.000,837.546,0.000,0.532,0.000
$DEVICE_MAMPS,473.535,154.530,1186.515,195.075,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5256.000,5286.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.535,13.370,0.000,0.000
$MEM,309652
$DATA_FILE_SIZE,20103,561
$CAP_FILE_SIZE,92596,0
$CFSIZE,1047117824,1040596992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6088.38,0x2378b6,7,5
$SOUNDSPEED,1445.6
$EKF,5362,4255.244629,-8670.286133,0.797942,0.010578,0.005086,0.000815,0.000045,0.000424,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.131,209.28,1
$GPS,280714,115526,7054.911,-14430.858,26,1.4,47,28.3