version: 66.12
glider: 197
mission: 3
dive: 4
start: 1 14 114 20 7 35
data:
$ID,197
$MISSION,3
$DIVE,4
$N_DIVES,4
$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,-2977.4697
$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,32
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$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
$GPS1,140114,200205,4743.600,-12224.190,12,1.5,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-69.8
$GPS2,140114,200718,4743.588,-12224.188,9,1.5,14,18.2
$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,242.6,1024,-17.5,-10.000,-21.04,2225
$D_GRID,173
$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,-146.6,175,2096,761,891,0.0,0.0,0,121,0.00,0.00,-102.15,0.000,16386,0.000,0.000,174,2096,3403,3411,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.91,-146.6,175,2096,3413,3396,4.0,-3.5,11,142,10.40,2.45,-0.98,0.000,18692,0.431,0.116,2311,3516,3450,3450,3451,0,0,0,0,0,0,14.56,14.77,14.94
$GC,258,-0.67,-146.6,2312,3517,3450,3454,34.8,-20.0,27,265,0.30,2.35,0.00,0.000,3078,0.266,0.070,2400,2109,3451,3447,3455,0,0,0,0,0,0,14.70,14.82,28.83
$GC,442,-0.64,-146.6,2400,2108,3448,3458,60.4,-12.4,46,447,0.00,2.42,0.00,0.000,516,0.000,0.099,2400,683,3449,3441,3457,0,0,0,0,0,0,28.83,14.85,28.83
$GC,606,-0.59,-146.6,2401,682,3446,3458,81.8,-12.5,66,613,0.15,2.40,0.00,0.000,3078,0.291,0.093,2426,2099,3451,3445,3458,0,0,0,0,0,0,14.76,14.86,28.83
$GC,790,-0.59,-146.6,2427,2099,3446,3455,100.5,-9.4,85,795,0.00,2.40,0.00,0.000,260,0.000,0.103,2418,3515,3451,3445,3458,0,0,0,0,0,0,28.83,14.83,28.83
$GC,851,-0.59,-146.6,2419,3515,3446,3459,106.3,-10.4,92,857,0.00,2.33,0.00,0.000,1030,0.000,0.069,2418,2093,3451,3444,3459,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1038,-0.59,-146.6,2418,2095,3445,3459,126.6,-11.1,111,1043,0.00,2.38,0.00,0.000,516,0.000,0.101,2414,691,3451,3444,3459,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1214,-0.59,-146.6,2418,692,3445,3460,147.4,-11.9,133,1219,0.00,2.40,0.00,0.000,1030,0.000,0.093,2409,2103,3451,3444,3459,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1245,-0.21,0.0,2409,2312,3445,3459,150.7,-11.4,136,1364,0.50,0.00,112.75,2.089,10246,0.239,0.000,2551,2312,2851,2793,2909,0,0,0,0,0,0,14.76,28.83,13.42
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1365,begin climb
$GC,1366,0.91,146.6,2552,2311,2795,2910,156.1,0.0,149,1486,1.17,0.00,115.53,2.024,10502,0.154,0.000,2909,2312,2253,2172,2334,0,0,0,0,0,0,14.16,28.83,13.40
$GC,1663,0.74,146.6,2911,2312,2176,2334,120.6,15.0,181,1668,0.20,2.40,0.00,0.000,4356,0.278,0.099,2864,3713,2254,2175,2334,0,0,0,0,0,0,14.53,14.60,28.83
$GC,1696,0.58,146.6,2865,3713,2176,2334,115.9,14.2,185,1701,0.25,2.35,0.00,0.000,5126,0.274,0.067,2812,2298,2254,2175,2334,0,0,0,0,0,0,14.56,14.65,28.83
$GC,1885,0.58,146.6,2812,2296,2176,2334,96.7,10.2,204,1890,0.00,2.40,0.00,0.000,516,0.000,0.099,2819,883,2254,2175,2334,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1913,0.58,146.6,2820,883,2181,2334,94.2,10.6,207,1919,0.00,2.40,0.00,0.000,1030,0.000,0.091,2819,2295,2254,2175,2334,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2097,0.60,164.6,2820,2294,2176,2334,76.4,9.2,226,2112,0.00,2.47,8.77,1.303,8452,0.000,0.103,2819,3707,2178,2093,2264,0,0,0,0,0,0,28.83,14.73,14.20
$GC,2201,0.55,164.6,2820,3708,2095,2264,66.9,11.1,237,2207,0.00,2.35,0.00,0.000,1030,0.000,0.066,2824,2298,2178,2094,2263,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2385,0.55,164.6,2828,2298,2094,2263,46.5,10.7,256,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2297,2178,2094,2263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2565,0.55,164.6,2827,2296,2095,2263,27.6,10.3,274,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2297,2178,2093,2263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2745,0.56,172.6,2828,2297,2095,2263,9.2,9.6,292,2750,0.00,0.00,3.53,0.217,8198,0.000,0.000,2827,2297,2143,2056,2231,0,0,0,0,0,0,28.83,28.83,14.79
$STATE,2824,end climb,SURFACE_DEPTH_REACHED
$STATE,2824,begin surface coast
$FINISH,1.2,1.022626
$STATE,2845,end surface coast,CONTROL_FINISHED_OK
$STATE,2845,begin surface
$SM_CCo,2857,155.57,0.158,0,0,683,531.57
$SM_GC,2.02,7.75,0.32,155.57,0.096,0.103,0.158,171,2089,683,-7.61,0.79,531.57,0,0,0,0,0,0,14.88,14.88,14.73
$RAFOS_CLK,29
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,140114,191950
$TT8_MAMPS,0.043442,0.043442
$HUMID,39.64
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,16.70
$XPDR_PINGS,0
$SC_FREEKB,3936640
$TM_FREEKB,7878756
$24V_AH,13.4,6.850
$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,20.725,34.175,240.575,155.575,0.000,0.000,0.000,203.700,0.000,0.000,17.367,0.000,1714.125,472.154,1108.271,32.547,0.000,1042.450,0.000,624.462,0.000,0.538,0.000
$DEVICE_MAMPS,431.460,120.870,2089.215,157.590,0.000,0.000,0.000,136.935,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2852.000,2838.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.840,12.877,0.000,0.000
$MEM,318400
$DATA_FILE_SIZE,10157,302
$CAP_FILE_SIZE,68743,0
$CFSIZE,1024409600,1020739584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140114,205845,4743.220,-12224.758,8,3.7,28,18.2