version: 66.12
glider: 197
mission: 6
dive: 15
start: 7 28 114 15 32 8
data:
$ID,197
$MISSION,6
$DIVE,15
$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,-6955.6665
$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,35
$R_STBD_OVSHOOT,17
$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
$GPS1,280714,152351,7055.375,-14431.091,8,1.7,29,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.5
$GPS2,280714,153151,7055.377,-14431.281,13,6.0,33,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,344.0,8596,-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,-145.9,164,2693,473,626,0.0,0.0,0,83,0.00,0.00,-63.05,0.000,16386,0.000,0.000,163,2692,2141,2143,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.05,-145.9,163,2692,2144,2140,3.5,-4.1,6,140,10.95,1.88,-31.67,0.000,18692,0.471,0.155,2176,3708,3889,3867,3911,0,0,0,0,0,0,14.21,14.40,14.64
$GC,364,-0.81,-145.9,2177,3709,3868,3912,82.0,-25.3,59,375,0.35,1.73,0.00,0.000,3078,0.310,0.075,2262,2699,3888,3864,3912,0,0,0,0,0,0,14.36,14.53,28.83
$GC,670,-0.79,-145.9,2262,2700,3868,3914,134.0,-15.7,90,678,0.00,1.80,0.00,0.000,260,0.000,0.128,2257,3713,3890,3867,3913,0,0,0,0,0,0,28.83,14.50,28.83
$GC,737,-0.76,-145.9,2258,3714,3867,3914,145.2,-17.1,103,746,0.00,1.73,0.00,0.000,1030,0.000,0.077,2257,2702,3890,3867,3913,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1042,-0.76,-145.9,2258,2706,3868,3914,188.7,-13.4,134,1050,0.00,2.45,0.00,0.000,516,0.000,0.094,2257,1288,3890,3867,3913,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1178,-0.80,-145.9,2258,1287,3867,3914,205.2,-11.7,161,1189,0.00,2.55,0.00,0.000,1030,0.000,0.122,2252,2701,3890,3867,3913,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1484,-0.82,-145.9,2253,2702,3866,3914,242.9,-12.0,192,1492,0.00,2.42,0.00,0.000,516,0.000,0.092,2255,1292,3889,3865,3913,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1595,-0.87,-145.9,2253,1292,3866,3914,255.9,-11.6,214,1603,0.00,2.55,0.00,0.000,1030,0.000,0.122,2246,2709,3889,3865,3913,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2048,-0.90,-145.9,2247,2711,3865,3914,290.8,-11.7,226,2056,0.00,2.45,0.00,0.000,516,0.000,0.092,2243,1290,3888,3864,3913,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2134,begin apogee
$GC,2138,-0.21,0.0,2244,2401,3866,3914,300.4,-11.7,243,2322,0.82,0.00,178.65,1.094,10246,0.268,0.000,2460,2400,3295,3247,3344,0,0,0,0,0,0,14.48,28.83,13.50
$STATE,2324,end apogee,CONTROL_FINISHED_OK
$STATE,2324,begin climb
$GC,2325,1.05,145.9,2460,2400,3238,3334,306.7,0.0,249,2464,1.33,2.60,124.28,1.180,10756,0.135,0.094,2875,993,2681,2617,2746,0,0,0,0,0,0,14.02,13.86,13.36
$GC,2528,0.80,145.9,2872,992,2607,2737,289.6,18.3,274,2537,0.38,2.60,0.00,0.000,5126,0.315,0.107,2794,2401,2671,2605,2737,0,0,0,0,0,0,13.95,14.07,28.83
$GC,2841,0.63,145.9,2795,2402,2603,2737,243.7,14.0,288,2845,0.25,0.00,0.00,0.000,4102,0.314,0.000,2738,2402,2669,2602,2737,0,0,0,0,0,0,14.23,28.83,28.83
$GC,3142,0.58,162.6,2738,2403,2602,2737,210.2,10.3,318,3165,0.00,2.58,13.27,1.055,8708,0.000,0.098,2743,990,2617,2543,2691,0,0,0,0,0,0,28.83,14.32,13.87
$GC,3204,0.54,167.3,2747,991,2541,2684,203.4,10.9,329,3215,0.17,2.55,0.00,0.000,5126,0.268,0.108,2708,2402,2609,2536,2683,0,0,0,0,0,0,14.25,14.37,28.83
$GC,3509,0.60,218.7,2710,2403,2533,2684,175.3,8.5,360,3563,0.00,0.00,50.40,1.041,8198,0.000,0.000,2709,2403,2395,2317,2474,0,0,0,0,0,0,28.83,28.83,13.79
$GC,3859,0.73,283.8,2709,2403,2294,2451,145.9,7.8,395,3942,0.17,0.00,73.47,0.962,10246,0.125,0.000,2774,2403,2124,2035,2213,0,0,0,0,0,0,14.48,28.83,13.74
$GC,4239,0.71,287.6,2775,2404,2021,2202,102.2,10.9,433,4248,0.00,2.50,0.00,0.000,516,0.000,0.099,2784,989,2110,2019,2201,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4318,0.71,288.4,2789,993,2021,2201,93.6,11.1,448,4327,0.00,2.55,0.00,0.000,1030,0.000,0.109,2784,2408,2110,2020,2201,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4623,0.71,304.9,2785,2408,2019,2201,59.6,10.3,479,4637,0.00,0.00,8.90,0.267,8198,0.000,0.000,2784,2408,2046,1955,2138,0,0,0,0,0,0,28.83,28.83,14.33
$GC,4933,0.84,411.2,2784,2409,1988,2167,36.6,5.7,510,4994,0.00,2.40,51.62,0.278,8452,0.000,0.122,2784,3712,1608,1504,1712,0,0,0,0,0,0,28.83,14.40,14.36
$GC,5073,0.86,428.5,2784,3712,1528,1717,23.7,10.2,535,5088,0.00,2.22,9.52,0.242,9222,0.000,0.075,2793,2398,1543,1438,1648,0,0,0,0,0,0,28.83,14.52,14.39
$GC,5393,1.29,652.8,2793,2398,1464,1659,13.0,-0.3,568,5411,0.43,0.00,14.02,0.213,10754,0.083,0.000,2956,2397,1440,1334,1546,0,0,0,0,0,0,14.59,28.83,28.83
$FREEZE,12.69,3.263,-1.428,0,1,0
$STATE,5412,end climb,NO_VERTICAL_VELOCITY
$STATE,5412,begin surface
$SM_CCo,5414,106.28,0.210,0,0,497,684.88
$SM_GC,1.82,8.98,0.57,0.00,0.150,0.116,0.000,179,2716,500,-7.32,-0.34,684.88,0,0,0,0,0,0,14.47,14.50,28.83
$RAFOS_CLK,368474
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14430.80,280714,134945
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.94
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3931456
$TM_FREEKB,7793620
$24V_AH,13.36,13.626
$10V_AH,13.29,0.000
$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,23.825,42.175,524.150,106.275,0.000,0.000,0.000,286.500,0.000,0.000,35.356,0.000,3480.441,752.141,1670.704,54.352,0.000,1551.338,0.000,850.287,1476.000,0.531,0.000
$DEVICE_MAMPS,471.240,154.530,1179.630,209.610,0.000,0.000,0.000,186.660,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5416.000,5441.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.357,13.373,0.000,0.000
$MEM,308404
$DATA_FILE_SIZE,20067,570
$CAP_FILE_SIZE,95159,0
$CFSIZE,1047117824,1040154624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5963.44,0x2378b6,7,5
$SOUNDSPEED,1445.4
$EKF,5571,4255.958984,-8670.607422,12.696110,0.039895,0.015876,-0.030851,0.000063,0.000594,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.091,194.92,1
$GPS,280714,170456,7055.698,-14430.819,40,1.4,60,28.3