version: 66.12
glider: 197
mission: 6
dive: 431
start: 10 1 114 16 55 50
data:
$ID,197
$MISSION,6
$DIVE,431
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,100
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,30
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54283
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,657.89459
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14992.121
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$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,1
$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
$GPS1,011014,164513,7152.646,-14732.298,8,1.3,8,27.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.9
$GPS2,011014,164513,7152.646,-14732.298,8,1.3,8,27.4
$SPEED_LIMITS,0.192,0.261
$TGT_NAME,a
$TGT_LATLONG,7154.000,-14730.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,0.4,2835,-19.8,-11.111,-23.05,2425
$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,18,-0.74,-175.1,150,1794,410,584,0.0,0.0,0,91,0.00,0.00,-70.97,0.000,16386,0.000,0.000,145,1791,2133,2150,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.74,-175.1,145,1792,2150,2120,3.2,-1.6,7,157,10.70,2.45,-46.78,0.000,18948,0.431,0.099,2242,389,3897,3873,3922,0,0,0,0,0,0,14.15,14.42,14.76
$GC,383,-0.70,-175.1,2243,389,3874,3927,63.5,-19.0,65,388,0.12,2.47,0.00,0.000,3078,0.288,0.076,2258,1792,3899,3873,3926,0,0,0,0,0,0,14.12,14.33,28.83
$STATE,611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,611,begin apogee
$GC,617,-0.16,0.0,2259,2187,3873,3927,100.3,-15.0,89,769,0.68,0.00,146.77,1.042,10246,0.243,0.000,2432,2186,3181,3138,3224,0,0,0,0,0,0,14.10,28.83,13.60
$STATE,770,end apogee,CONTROL_FINISHED_OK
$STATE,770,begin climb
$GC,772,0.74,175.1,2433,2187,3126,3223,108.5,0.0,104,926,0.98,2.65,143.65,1.031,10500,0.171,0.096,2721,3584,2460,2380,2541,0,0,0,0,0,0,14.10,13.84,13.37
$GC,1093,0.83,279.1,2722,3585,2373,2538,98.9,6.7,168,1146,0.00,2.45,46.12,0.474,9222,0.000,0.058,2730,2165,2043,1951,2136,0,0,0,0,0,0,28.83,14.15,13.81
$GC,1452,0.95,369.3,2730,2166,1967,2139,72.7,7.3,210,1502,0.20,2.62,41.95,0.384,10500,0.104,0.099,2814,3587,1675,1579,1772,0,0,0,0,0,0,14.38,14.22,14.04
$GC,1538,0.93,369.3,2813,3587,1581,1773,62.1,14.5,224,1544,0.00,2.40,0.00,0.000,1030,0.000,0.061,2821,2187,1677,1582,1772,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1843,0.98,410.9,2821,2186,1590,1773,28.8,9.3,255,1864,0.00,0.00,19.62,0.257,8198,0.000,0.000,2821,2185,1505,1403,1608,0,0,0,0,0,0,28.83,28.83,14.15
$FREEZE,8.80,1.343,-1.507,2,1,0
$FREEZE,8.31,1.344,-1.507,2,1,0
$FREEZE,7.90,1.344,-1.506,2,1,0
$FREEZE,7.47,1.344,-1.506,2,1,0
$FREEZE,7.07,1.344,-1.505,2,1,0
$FREEZE,6.59,1.343,-1.505,2,1,0
$FREEZE,5.98,1.343,-1.504,2,1,0
$FREEZE,5.60,1.344,-1.504,2,1,0
$FREEZE,4.94,1.344,-1.504,2,1,0
$FREEZE,4.32,1.344,-1.503,2,1,0
$FREEZE,3.57,1.344,-1.503,2,1,0
$GC,2165,1.16,584.4,2822,2186,1413,1608,9.6,3.8,287,2254,0.12,2.60,76.38,0.195,10500,0.140,0.100,2885,3588,796,682,911,0,0,0,0,0,0,14.40,14.31,14.21
$FREEZE,1.75,1.344,-1.501,2,1,0
$STATE,2256,end climb,SURFACE_DEPTH_REACHED
$STATE,2256,begin surface coast
$FREEZE,1.87,1.313,-1.503,2,1,0
$FREEZE,1.69,1.313,-1.502,2,1,0
$FINISH,1.7,1.022056
$STATE,2267,end surface coast,CONTROL_FINISHED_OK
$STATE,2267,begin surface
$SM_CCo,2287,31.70,0.187,0,0,498,657.89
$SM_GC,2.56,8.02,3.15,31.70,0.077,0.068,0.187,178,1807,498,-7.18,0.85,657.89,0,0,0,0,0,0,14.44,14.41,14.26
$RAFOS_CLK,511353
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7112.27,-14733.32,011014,163925
$TT8_MAMPS,0.041195,0.041195
$HUMID,55.31
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.70
$XPDR_PINGS,2
$SC_FREEKB,3745056
$24V_AH,13.37,167.215
$10V_AH,12.65,0.000
$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,20.825,22.200,474.500,31.700,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,1158.919,533.394,597.132,73.956,0.000,841.285,0.000,464.451,0.000,0.531,0.000
$DEVICE_MAMPS,430.695,100.980,1041.930,186.660,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,67.168,0.000,0.000,0.000
$MEM,84656
$DATA_FILE_SIZE,10165,304
$CAP_FILE_SIZE,73463,0
$CFSIZE,1047117824,975077376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1441.8
$GPS,011014,173533,7153.058,-14733.395,11,1.3,31,27.4