version: 66.12
glider: 197
mission: 3
dive: 3
start: 1 14 114 19 10 6
data:
$ID,197
$MISSION,3
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,30
$T_BOOST,0
$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,50
$T_MISSION,62
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53993
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,530.88647
$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,-2975.9778
$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,2625
$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,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$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,4
$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,-60.583042
$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
$DEEPGLIDERMB,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
$GPS1,140114,190612,4744.030,-12223.862,8,1.6,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-65.9
$GPS2,140114,190949,4744.024,-12223.832,14,1.4,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,218.1,1749,-17.5,-10.000,-21.04,2225
$D_GRID,170
$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,-0.91,-146.6,181,2105,756,893,0.0,0.0,0,121,0.00,0.00,-101.88,0.000,16386,0.000,0.000,180,2105,3349,3354,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.91,-146.6,185,2106,3356,3344,3.7,-3.2,11,143,10.18,2.42,-5.82,0.000,18692,0.421,0.116,2316,3508,3599,3583,3616,0,0,0,0,0,0,14.60,14.84,15.07
$GC,263,-0.70,-146.6,2317,3508,3584,3619,34.2,-20.9,28,268,0.32,2.30,0.00,0.000,3078,0.275,0.067,2396,2099,3601,3583,3619,0,0,0,0,0,0,14.73,14.87,28.83
$GC,452,-0.66,-146.6,2397,2098,3583,3620,62.9,-14.8,47,456,0.00,2.38,0.00,0.000,516,0.000,0.099,2396,688,3601,3582,3620,0,0,0,0,0,0,28.83,14.85,28.83
$GC,572,-0.62,-146.6,2397,688,3583,3620,79.9,-13.9,62,577,0.12,2.38,0.00,0.000,3078,0.294,0.092,2419,2093,3601,3582,3620,0,0,0,0,0,0,14.78,14.88,28.83
$GC,761,-0.62,-146.6,2420,2093,3583,3621,99.3,-9.8,81,766,0.00,2.40,0.00,0.000,260,0.000,0.101,2410,3520,3600,3581,3620,0,0,0,0,0,0,28.83,14.86,28.83
$GC,797,-0.62,-146.6,2411,3519,3582,3621,102.6,-10.1,85,804,0.00,2.33,0.00,0.000,1030,0.000,0.067,2410,2087,3601,3581,3621,0,0,0,0,0,0,28.83,14.90,28.83
$GC,985,-0.62,-146.6,2411,2088,3582,3622,123.9,-10.8,104,990,0.00,2.38,0.00,0.000,516,0.000,0.099,2410,687,3600,3580,3621,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1145,-0.62,-146.6,2410,689,3580,3621,143.5,-12.2,124,1150,0.00,2.42,0.00,0.000,1030,0.000,0.096,2406,2108,3601,3581,3621,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1206,-0.21,0.0,2406,2302,3580,3619,150.5,-11.8,130,1324,0.50,0.00,111.78,2.076,10246,0.231,0.000,2551,2302,3004,2940,3068,0,0,0,0,0,0,14.73,28.83,13.55
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1327,0.91,146.6,2551,2302,2935,3069,155.6,0.0,143,1441,1.15,0.00,108.57,1.714,10758,0.151,0.000,2908,2302,2402,2330,2474,0,0,0,0,0,0,14.21,28.83,13.57
$GC,1618,0.72,146.6,2909,2302,2333,2474,126.6,13.6,175,1623,0.22,2.40,0.00,0.000,4356,0.278,0.099,2856,3709,2406,2339,2473,0,0,0,0,0,0,14.56,14.65,28.83
$GC,1695,0.55,146.6,2857,3709,2333,2474,117.1,12.6,184,1701,0.25,2.33,0.00,0.000,5126,0.272,0.065,2804,2298,2402,2332,2473,0,0,0,0,0,0,14.61,14.71,28.83
$GC,1879,0.60,191.7,2805,2297,2333,2474,101.4,7.9,203,1905,0.00,2.42,21.70,1.717,8708,0.000,0.096,2813,894,2218,2137,2299,0,0,0,0,0,0,28.83,14.61,13.98
$GC,1932,0.63,216.4,2814,894,2139,2299,96.8,8.9,209,1952,0.00,2.42,12.18,1.561,9222,0.000,0.091,2813,2308,2116,2030,2203,0,0,0,0,0,0,28.83,14.66,13.94
$GC,2133,0.65,227.1,2813,2308,2031,2203,77.8,9.5,229,2144,0.00,2.40,5.03,1.157,8452,0.000,0.099,2813,3709,2072,1983,2161,0,0,0,0,0,0,28.83,14.69,14.15
$GC,2192,0.62,227.1,2814,3709,1984,2161,71.4,11.1,236,2196,0.00,2.33,0.00,0.000,1030,0.000,0.065,2820,2293,2072,1983,2161,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2380,0.62,231.9,2821,2292,1984,2162,52.8,9.8,255,2383,0.00,0.00,2.30,0.584,8198,0.000,0.000,2820,2292,2051,1961,2142,0,0,0,0,0,0,28.83,28.83,14.23
$GC,2560,0.65,231.9,2821,2292,1967,2143,34.6,10.0,273,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2292,2052,1962,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,0.68,231.9,2822,2292,1963,2143,16.5,10.7,291,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2293,2052,1962,2142,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2899,end climb,SURFACE_DEPTH_REACHED
$STATE,2899,begin surface coast
$FINISH,1.1,1.010313
$STATE,2919,end surface coast,CONTROL_FINISHED_OK
$STATE,2919,begin surface
$SM_CCo,2932,129.48,0.152,0,0,831,531.07
$SM_GC,2.16,7.68,0.30,129.48,0.093,0.106,0.152,174,2097,831,-7.60,1.05,531.07,0,0,0,0,0,0,14.91,14.92,14.78
$RAFOS_CLK,37
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,140114,191923
$TT8_MAMPS,0.043442,0.043442
$HUMID,40.31
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.60
$XPDR_PINGS,0
$SC_FREEKB,3937024
$TM_FREEKB,7883124
$24V_AH,13.6,6.656
$10V_AH,13.5,0.000
$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,20.425,33.925,261.550,129.475,0.000,0.000,0.000,0.000,0.000,0.000,17.123,0.000,1772.039,451.799,888.085,17.604,0.000,827.644,0.000,629.858,0.000,0.537,0.000
$DEVICE_MAMPS,420.750,120.870,2076.210,152.235,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2901.000,2897.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.064,15.272,0.000,0.000
$MEM,318380
$DATA_FILE_SIZE,10120,309
$CAP_FILE_SIZE,104064,0
$CFSIZE,1024409600,1020854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140114,200205,4743.600,-12224.190,12,1.5,28,18.2