version: 66.12
glider: 197
mission: 6
dive: 16
start: 7 28 114 17 13 22
data:
$ID,197
$MISSION,6
$DIVE,16
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,480
$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,115
$T_MISSION,145
$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,-6956.9277
$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,2520
$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,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,25
$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
$GPS1,280714,170456,7055.698,-14430.819,40,1.4,60,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.5
$GPS2,280714,171309,7055.709,-14430.945,11,1.4,31,28.3
$SPEED_LIMITS,0.211,0.245
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,339.8,7967,-22.7,-12.174,-26.38,1847
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.13,-145.9,168,2546,417,604,0.0,0.0,0,94,0.00,0.00,-73.60,0.000,16386,0.000,0.000,165,2546,2401,2413,2389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.13,-145.9,165,2547,2413,2390,4.4,-5.3,7,138,10.65,2.17,-25.50,0.000,18692,0.467,0.149,2138,3712,3888,3866,3910,0,0,0,0,0,0,14.22,14.40,14.65
$GC,362,-0.87,-145.9,2143,3713,3868,3913,85.5,-27.8,58,373,0.32,2.00,0.00,0.000,3078,0.321,0.074,2232,2547,3889,3867,3912,0,0,0,0,0,0,14.36,14.50,28.83
$GC,667,-0.83,-145.9,2233,2548,3867,3914,145.2,-18.1,89,675,0.00,2.08,0.00,0.000,260,0.000,0.130,2226,3701,3889,3864,3914,0,0,0,0,0,0,28.83,14.54,28.83
$GC,769,-0.78,-145.9,2227,3702,3868,3914,164.2,-17.9,109,777,0.17,1.98,0.00,0.000,3078,0.301,0.078,2263,2547,3890,3867,3914,0,0,0,0,0,0,14.45,14.59,28.83
$GC,1081,-0.85,-145.9,2264,2546,3866,3914,204.7,-11.6,141,1089,0.00,2.42,0.00,0.000,516,0.000,0.096,2263,1141,3889,3866,3913,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1113,-0.93,-145.9,2264,1141,3866,3914,208.4,-11.4,147,1122,0.12,2.55,0.00,0.000,5126,0.148,0.125,2208,2551,3889,3865,3913,0,0,0,0,0,0,14.64,14.58,28.83
$GC,1436,-0.93,-145.9,2208,2551,3866,3914,254.6,-14.5,178,1446,0.00,2.42,0.00,0.000,516,0.000,0.095,2207,1144,3889,3865,3914,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1555,-0.93,-145.9,2208,1145,3866,3914,271.3,-13.9,201,1564,0.00,2.55,0.00,0.000,1030,0.000,0.123,2199,2556,3889,3865,3913,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1860,-0.93,-145.9,2200,2557,3864,3914,315.0,-14.3,212,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2557,3889,3864,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.93,-145.9,2199,2557,3864,3914,357.0,-13.8,222,2169,0.00,2.45,0.00,0.000,516,0.000,0.096,2199,1135,3887,3861,3913,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2243,-0.93,-145.9,2199,1136,3864,3914,368.3,-13.4,238,2253,0.12,2.55,0.00,0.000,3078,0.334,0.122,2213,2558,3888,3863,3914,0,0,0,0,0,0,14.54,14.66,28.83
$GC,2557,-0.95,-145.9,2213,2558,3863,3914,408.5,-12.7,250,2566,0.00,2.42,0.00,0.000,516,0.000,0.092,2212,1138,3891,3862,3920,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2610,-0.99,-145.9,2213,1139,3862,3914,415.2,-12.3,260,2618,0.00,2.53,0.00,0.000,1030,0.000,0.119,2206,2555,3888,3862,3914,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,2651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2651,begin apogee
$GC,2654,-0.21,0.0,2206,2403,3862,3913,420.6,-12.9,263,2839,0.93,0.00,179.40,1.192,10246,0.275,0.000,2447,2402,3294,3245,3344,0,0,0,0,0,0,14.57,28.83,13.47
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin climb
$GC,2842,1.13,145.9,2448,2402,3236,3333,426.9,0.0,269,2984,1.40,2.65,124.00,1.324,10756,0.142,0.095,2884,988,2682,2616,2749,0,0,0,0,0,0,14.02,13.85,13.32
$GC,3143,0.89,145.9,2885,989,2607,2738,389.0,18.7,322,3154,0.32,2.58,0.00,0.000,5126,0.319,0.108,2814,2400,2671,2605,2738,0,0,0,0,0,0,14.10,14.23,28.83
$GC,3449,0.72,145.9,2815,2401,2604,2738,338.5,16.4,333,3452,0.28,0.00,0.00,0.000,4102,0.332,0.000,2754,2400,2674,2604,2744,0,0,0,0,0,0,14.31,28.83,28.83
$GC,3749,0.64,145.9,2753,2400,2604,2738,298.6,13.1,343,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2400,2670,2603,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4049,0.57,145.9,2754,2401,2604,2738,259.8,12.7,353,4052,0.20,0.00,0.00,0.000,4102,0.304,0.000,2708,2400,2670,2603,2738,0,0,0,0,0,0,14.49,28.83,28.83
$GC,4348,0.60,174.4,2709,2401,2604,2738,228.4,10.6,375,4382,0.00,0.00,25.00,1.092,8198,0.000,0.000,2708,2400,2567,2487,2648,0,0,0,0,0,0,28.83,28.83,14.02
$GC,4679,0.68,215.4,2709,2401,2477,2642,193.9,9.9,408,4722,0.00,0.00,35.88,1.067,8198,0.000,0.000,2708,2400,2401,2321,2482,0,0,0,0,0,0,28.83,28.83,13.90
$GC,5019,0.82,275.6,2708,2401,2309,2470,160.8,8.8,442,5082,0.22,2.40,53.00,1.026,10500,0.110,0.116,2796,3715,2151,2063,2239,0,0,0,0,0,0,14.55,14.23,13.79
$GC,5106,0.70,275.6,2796,3715,2053,2231,148.9,16.3,456,5114,0.25,2.28,0.00,0.000,5126,0.288,0.073,2752,2391,2141,2052,2230,0,0,0,0,0,0,14.19,14.32,28.83
$GC,5419,0.76,294.7,2753,2389,2047,2230,113.4,11.1,488,5441,0.00,2.47,15.00,0.965,8452,0.000,0.121,2752,3716,2079,1985,2173,0,0,0,0,0,0,28.83,14.37,13.97
$GC,5475,0.76,294.7,2752,3717,1977,2164,106.5,13.1,498,5485,0.00,2.25,0.00,0.000,1030,0.000,0.075,2759,2394,2069,1976,2163,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5789,0.84,321.8,2759,2395,1973,2161,72.0,10.7,530,5806,0.00,0.00,10.40,0.339,8198,0.000,0.000,2759,2394,1978,1879,2077,0,0,0,0,0,0,28.83,28.83,14.32
$GC,6100,1.05,419.3,2759,2394,1909,2102,44.7,6.8,561,6155,0.28,2.45,47.42,0.300,10500,0.099,0.122,2870,3715,1580,1474,1686,0,0,0,0,0,0,14.59,14.46,14.35
$GC,6184,0.94,419.3,2870,3715,1490,1686,34.1,16.5,575,6193,0.25,2.22,0.00,0.000,5126,0.288,0.076,2823,2401,1589,1492,1686,0,0,0,0,0,0,14.38,14.50,28.83
$GC,6497,1.35,647.5,2824,2399,1499,1691,11.4,-0.5,607,6612,0.38,2.38,105.78,0.206,10500,0.088,0.118,2965,3716,650,533,767,0,0,0,0,0,0,14.59,14.40,14.37
$STATE,6650,end climb,SURFACE_DEPTH_REACHED
$STATE,6650,begin surface coast
$FINISH,1.0,1.019720
$STATE,6655,end surface coast,CONTROL_FINISHED_OK
$STATE,6655,begin surface
$SM_CCo,6678,13.57,0.190,0,0,538,675.07
$SM_GC,2.70,8.48,2.05,13.57,0.100,0.078,0.190,176,2536,538,-7.28,0.68,675.07,0,0,0,0,0,0,14.48,14.51,14.41
$RAFOS_CLK,642173
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,280714,152644
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.82
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3931008
$TM_FREEKB,7783160
$24V_AH,13.32,13.885
$10V_AH,12.71,0.000
$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,24.375,52.375,595.875,13.575,0.000,0.000,0.000,306.175,0.000,0.000,33.733,0.000,4598.294,726.303,1801.504,59.760,0.000,1616.663,0.000,940.744,0.000,0.531,0.000
$DEVICE_MAMPS,466.650,149.175,1324.215,189.720,0.000,0.000,0.000,177.480,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6669.000,6700.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.609,13.408,0.000,0.000
$MEM,307916
$DATA_FILE_SIZE,20109,633
$CAP_FILE_SIZE,105058,0
$CFSIZE,1047117824,1039990784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.0
$EKF,6758,4256.478516,-8670.363281,1.025577,0.204779,-0.125848,-0.085413,0.000095,0.000892,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.052,185.48,1
$GPS,280714,190557,7056.300,-14430.441,12,1.5,33,28.4