version: 66.12
glider: 197
mission: 6
dive: 13
start: 7 28 114 12 7 26
data:
$ID,197
$MISSION,6
$DIVE,13
$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,-6953.1494
$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,24
$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
$GPS1,280714,115526,7054.911,-14430.858,26,1.4,47,28.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.6
$GPS2,280714,120709,7054.875,-14431.118,9,1.7,29,28.3
$SPEED_LIMITS,0.192,0.240
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,349.3,9516,-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,-145.9,181,2703,481,629,0.0,0.0,0,88,0.00,0.00,-64.05,0.000,16386,0.000,0.000,179,2703,2175,2181,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.05,-145.9,180,2703,2181,2171,4.6,-6.5,7,137,10.82,1.90,-30.83,0.000,18692,0.466,0.154,2179,3718,3888,3865,3912,0,0,0,0,0,0,14.17,14.35,14.59
$GC,361,-0.81,-145.9,2180,3713,3867,3916,81.5,-25.2,59,369,0.30,1.77,0.00,0.000,3078,0.309,0.076,2263,2688,3890,3866,3914,0,0,0,0,0,0,14.30,14.46,28.83
$GC,674,-0.81,-145.9,2263,2688,3866,3918,134.3,-15.5,91,682,0.00,1.83,0.00,0.000,260,0.000,0.129,2264,3709,3888,3865,3912,0,0,0,0,0,0,28.83,14.40,28.83
$GC,716,-0.77,-145.9,2259,3710,3866,3918,141.2,-15.7,99,723,0.00,1.75,0.00,0.000,1030,0.000,0.077,2259,2668,3891,3866,3917,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1029,-0.77,-145.9,2260,2668,3866,3918,186.7,-13.7,131,1037,0.00,2.38,0.00,0.000,516,0.000,0.096,2259,1298,3891,3865,3917,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1185,-0.81,-145.9,2259,1302,3865,3917,206.0,-12.2,162,1197,0.00,2.58,0.00,0.000,1030,0.000,0.124,2254,2710,3891,3865,3917,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1491,-0.84,-145.9,2255,2708,3865,3917,241.7,-11.1,193,1500,0.00,2.45,0.00,0.000,516,0.000,0.095,2254,1296,3890,3864,3917,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1574,-0.88,-145.9,2255,1297,3864,3918,250.8,-11.0,209,1582,0.00,2.55,0.00,0.000,1030,0.000,0.122,2248,2707,3890,3863,3917,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1886,-0.91,-145.9,2249,2708,3862,3917,286.3,-11.2,221,1894,0.00,2.45,0.00,0.000,516,0.000,0.094,2249,1292,3889,3861,3917,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2009,-0.96,-145.9,2249,1292,3861,3918,299.5,-10.7,245,2016,0.00,2.53,0.00,0.000,1030,0.000,0.122,2244,2697,3888,3860,3917,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,2019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2019,begin apogee
$GC,2022,-0.21,0.0,2246,2405,3861,3918,300.7,-10.4,247,2158,0.80,0.00,125.62,2.103,10246,0.260,0.000,2456,2401,3294,3253,3335,0,0,0,0,1,0,14.52,28.83,12.99
$STATE,2160,end apogee,CONTROL_FINISHED_OK
$STATE,2160,begin climb
$GC,2161,1.05,145.9,2457,2402,3249,3344,304.7,0.0,251,2302,1.33,2.67,126.40,1.209,10756,0.131,0.099,2874,996,2687,2623,2752,0,0,0,0,0,0,13.90,13.85,13.38
$GC,2376,0.80,145.9,2873,996,2618,2744,288.2,16.8,287,2384,0.38,2.60,0.00,0.000,5126,0.312,0.106,2788,2406,2680,2616,2744,0,0,0,0,0,0,13.97,14.09,28.83
$GC,2688,0.63,145.9,2792,2408,2614,2744,243.6,13.9,305,2691,0.25,0.00,0.00,0.000,4102,0.318,0.000,2736,2407,2679,2615,2744,0,0,0,0,0,0,14.27,28.83,28.83
$GC,2989,0.58,160.9,2736,2408,2615,2744,210.9,10.3,335,3004,0.00,0.00,12.00,1.076,8198,0.000,0.000,2736,2407,2635,2565,2706,0,0,0,0,0,0,28.83,28.83,13.91
$GC,3299,0.58,211.7,2736,2408,2551,2698,180.1,8.5,366,3354,0.00,0.00,44.90,1.062,8198,0.000,0.000,2733,2407,2414,2339,2490,0,0,0,0,0,0,28.83,28.83,13.83
$GC,3649,0.65,265.4,2737,2408,2334,2483,146.7,8.4,401,3702,0.00,0.00,46.58,1.014,8198,0.000,0.000,2736,2404,2200,2118,2282,0,0,0,0,0,0,28.83,28.83,13.82
$GC,3999,0.70,291.6,2735,2410,2103,2274,112.8,9.8,436,4028,0.00,2.42,23.25,0.969,8452,0.000,0.119,2736,3709,2095,2007,2184,0,0,0,0,0,0,28.83,14.31,13.93
$GC,4117,0.70,291.6,2737,3710,1992,2171,99.7,11.7,458,4127,0.00,2.22,0.00,0.000,1030,0.000,0.075,2743,2398,2080,1991,2170,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4431,0.78,323.6,2744,2401,1988,2169,68.8,9.5,490,4454,0.12,2.40,12.65,0.349,10500,0.146,0.121,2798,3705,1971,1877,2066,0,0,0,0,0,0,14.51,14.47,14.31
$GC,4478,0.67,323.6,2799,3705,1890,2071,63.2,13.9,498,4488,0.25,2.20,1.50,0.266,13318,0.282,0.074,2752,2402,1971,1878,2065,0,0,0,0,0,0,14.35,14.45,14.37
$GC,4793,0.88,426.5,2752,2402,1897,2090,38.3,5.9,530,4856,0.20,2.42,50.25,0.282,10500,0.117,0.121,2829,3710,1551,1448,1655,0,0,0,0,0,0,14.59,14.45,14.35
$GC,4950,0.81,426.5,2830,3711,1465,1656,19.4,13.3,558,4959,0.20,2.22,0.00,0.000,5126,0.274,0.076,2794,2400,1559,1463,1656,0,0,0,0,0,0,14.40,14.49,28.83
$GC,5264,1.29,673.4,2794,2400,1465,1658,13.5,-1.4,590,5388,0.43,2.58,116.05,0.211,10756,0.085,0.106,2963,994,542,424,661,0,0,0,0,0,0,14.59,14.42,14.35
$STATE,5431,end climb,SURFACE_DEPTH_REACHED
$STATE,5431,begin surface coast
$FINISH,0.8,1.019232
$STATE,5441,end surface coast,CONTROL_FINISHED_OK
$STATE,5441,begin surface
$SM_CCo,5464,1.05,0.247,0,0,537,675.07
$SM_GC,2.40,8.38,3.17,1.05,0.093,0.117,0.247,183,2706,537,-7.29,-0.34,675.07,0,0,0,0,0,0,14.47,14.46,14.42
$RAFOS_CLK,520628
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,115820
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.53
$INTERNAL_PRESSURE,8.63976
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3932352
$TM_FREEKB,7810260
$24V_AH,12.99,13.119
$10V_AH,12.63,0.000
$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,23.450,47.600,559.200,1.050,0.000,0.000,0.000,453.075,0.000,0.000,31.977,0.000,3541.523,613.701,1954.318,57.148,0.000,1671.568,0.000,921.099,964.000,0.532,0.000
$DEVICE_MAMPS,465.885,153.765,2102.985,247.095,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5457.000,5486.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.543,13.380,0.000,0.000
$MEM,309256
$DATA_FILE_SIZE,20142,619
$CAP_FILE_SIZE,101278,0
$CFSIZE,1047117824,1040433152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6078.23,0x2378b6,7,5
$SOUNDSPEED,1446.5
$EKF,5583,4255.406250,-8670.506836,0.840148,0.000300,0.004020,-0.092566,0.000049,0.000454,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.118,215.96,1
$GPS,280714,134026,7055.117,-14431.148,67,0.9,87,28.3