version: 66.12
glider: 197
mission: 6
dive: 17
start: 7 28 114 19 15 30
data:
$ID,197
$MISSION,6
$DIVE,17
$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,-6958.1851
$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,34
$R_STBD_OVSHOOT,18
$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
$GPS1,280714,190557,7056.300,-14430.441,12,1.5,33,28.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.3
$GPS2,280714,191513,7056.298,-14430.396,43,0.9,63,28.4
$SPEED_LIMITS,0.211,0.245
$TGT_NAME,3
$TGT_LATLONG,7053.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,147.8,6113,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.13,-145.9,159,2535,478,627,0.0,0.0,0,83,0.00,0.00,-62.83,0.000,16386,0.000,0.000,157,2535,2121,2113,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.13,-145.9,158,2535,2114,2130,3.2,-3.2,6,141,10.77,2.50,-33.92,0.000,18948,0.470,0.121,2154,1144,3889,3868,3910,0,0,0,0,0,0,14.21,14.38,14.65
$GC,364,-0.96,-145.9,2155,1143,3869,3914,79.2,-23.5,59,375,0.28,2.55,0.00,0.000,3078,0.352,0.121,2203,2551,3891,3868,3915,0,0,0,0,0,0,14.34,14.48,28.83
$GC,670,-0.89,-145.9,2204,2551,3868,3915,142.3,-19.1,90,678,0.12,2.40,0.00,0.000,2564,0.351,0.090,2233,1147,3891,3868,3914,0,0,0,0,0,0,14.43,14.53,28.83
$GC,902,-0.89,-145.9,2233,1146,3869,3916,179.5,-14.8,136,912,0.00,2.55,0.00,0.000,1030,0.000,0.122,2222,2553,3891,3868,3914,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1215,-0.89,-145.9,2228,2553,3867,3915,224.0,-13.5,168,1225,0.00,2.42,0.00,0.000,516,0.000,0.092,2226,1146,3890,3866,3914,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1449,-0.93,-145.9,2226,1146,3866,3915,253.5,-12.0,214,1457,0.00,2.53,0.00,0.000,1030,0.000,0.122,2217,2550,3890,3866,3914,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1761,-0.93,-145.9,2217,2551,3866,3915,294.2,-13.2,226,1769,0.00,2.42,0.00,0.000,516,0.000,0.093,2217,1141,3889,3865,3914,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1978,-0.97,-145.9,2218,1140,3865,3915,322.0,-12.5,269,1986,0.00,2.53,0.00,0.000,1030,0.000,0.122,2211,2550,3888,3864,3913,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2305,-0.97,-145.9,2211,2551,3864,3915,365.7,-13.4,284,2315,0.00,2.40,0.00,0.000,516,0.000,0.093,2211,1138,3889,3864,3914,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2379,-1.00,-145.9,2211,1139,3864,3916,375.5,-13.3,298,2388,0.00,2.55,0.00,0.000,1030,0.000,0.120,2205,2556,3888,3863,3914,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2937,-1.00,-145.9,2206,2557,3862,3916,417.4,-2.8,312,2947,0.00,2.42,0.00,0.000,516,0.000,0.091,2205,1141,3888,3863,3914,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,2960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2960,begin apogee
$GC,2965,-0.21,0.0,2202,2406,3863,3915,420.5,-14.0,316,3149,0.95,0.00,179.55,1.189,10246,0.282,0.000,2447,2406,3292,3246,3339,0,0,0,0,0,0,14.53,28.83,13.47
$STATE,3151,end apogee,CONTROL_FINISHED_OK
$STATE,3151,begin climb
$GC,3152,1.13,145.9,2447,2406,3238,3334,427.8,0.0,322,3293,1.40,2.60,123.90,1.330,10756,0.140,0.093,2881,998,2682,2614,2751,0,0,0,0,0,0,13.99,13.84,13.30
$GC,3442,0.89,145.9,2883,998,2610,2741,393.6,18.1,373,3450,0.32,2.58,0.00,0.000,5126,0.313,0.106,2812,2407,2674,2608,2741,0,0,0,0,0,0,14.06,14.18,28.83
$GC,3759,0.72,145.9,2812,2408,2608,2742,343.2,15.8,386,3763,0.25,0.00,0.00,0.000,4102,0.319,0.000,2757,2407,2673,2606,2741,0,0,0,0,0,0,14.28,28.83,28.83
$GC,4060,0.64,145.9,2758,2408,2606,2741,302.8,13.5,396,4069,0.12,2.47,0.00,0.000,4612,0.322,0.090,2740,995,2673,2606,2741,0,0,0,0,0,0,14.35,14.42,28.83
$GC,4103,0.61,145.9,2740,995,2607,2742,297.5,12.2,404,4113,0.00,2.53,0.00,0.000,1030,0.000,0.107,2740,2401,2673,2606,2740,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4427,0.56,145.9,2740,2402,2607,2742,257.1,12.5,418,4435,0.15,2.45,0.00,0.000,4612,0.298,0.091,2713,992,2673,2606,2741,0,0,0,0,0,0,14.45,14.55,28.83
$GC,4453,0.58,167.6,2713,994,2607,2739,254.1,11.0,423,4481,0.00,2.50,18.83,1.131,9222,0.000,0.107,2713,2399,2601,2520,2682,0,0,0,0,0,0,28.83,14.54,13.94
$GC,4785,0.62,197.1,2716,2400,2502,2668,217.2,10.5,459,4819,0.00,0.00,26.02,1.092,8198,0.000,0.000,2712,2399,2474,2394,2555,0,0,0,0,0,0,28.83,28.83,13.93
$GC,5116,0.71,237.3,2713,2400,2384,2544,181.8,9.9,492,5161,0.10,0.00,34.95,1.053,10758,0.171,0.000,2757,2400,2307,2225,2389,0,0,0,0,0,0,14.54,28.83,13.88
$GC,5455,0.75,270.5,2758,2400,2215,2380,143.3,10.3,527,5490,0.00,2.45,28.95,1.004,8452,0.000,0.119,2757,3715,2181,2094,2269,0,0,0,0,0,0,28.83,14.33,13.90
$GC,5520,0.70,270.5,2756,3716,2081,2257,135.8,13.4,538,5528,0.00,2.22,0.00,0.000,1030,0.000,0.071,2766,2402,2168,2079,2257,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5825,0.73,298.7,2767,2401,2075,2256,101.3,10.6,569,5858,0.00,0.00,25.30,0.959,8198,0.000,0.000,2766,2401,2062,1970,2155,0,0,0,0,0,0,28.83,28.83,13.95
$GC,6155,0.81,331.2,2766,2401,1955,2144,65.8,10.4,602,6171,0.00,0.00,12.80,0.340,8198,0.000,0.000,2766,2401,1940,1841,2040,0,0,0,0,0,0,28.83,28.83,14.31
$GC,6465,1.01,421.8,2765,2402,1868,2062,38.3,7.1,633,6519,0.22,0.00,44.05,0.279,10758,0.107,0.000,2860,2401,1569,1464,1674,0,0,0,0,0,0,14.58,28.83,14.36
$GC,6813,1.32,629.0,2861,2401,1486,1677,11.5,0.6,671,6917,0.25,2.45,96.20,0.207,10500,0.102,0.122,2956,3716,724,610,839,0,0,0,0,0,0,14.56,14.38,14.38
$STATE,6960,end climb,SURFACE_DEPTH_REACHED
$STATE,6960,begin surface coast
$FINISH,0.9,1.019336
$STATE,6970,end surface coast,CONTROL_FINISHED_OK
$STATE,6970,begin surface
$SM_CCo,6993,22.05,0.187,0,0,538,675.07
$SM_GC,2.18,8.38,2.03,22.05,0.094,0.080,0.187,179,2555,538,-7.27,1.10,675.07,0,0,0,0,0,0,14.51,14.50,14.42
$RAFOS_CLK,398477
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14436.17,280714,170745
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.94
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3930560
$TM_FREEKB,7772592
$24V_AH,13.30,14.170
$10V_AH,12.70,0.000
$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,23.325,53.875,590.550,22.050,0.000,0.000,0.000,317.175,0.000,0.000,65.261,0.000,4542.068,729.127,1987.055,62.601,0.000,1667.522,0.000,1031.365,1499.000,0.531,0.000
$DEVICE_MAMPS,470.475,122.400,1330.335,186.660,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6987.000,7027.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.465,13.383,0.000,0.000
$MEM,307468
$DATA_FILE_SIZE,23360,697
$CAP_FILE_SIZE,107244,0
$CFSIZE,1047117824,1039843328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7327.20,0x2378b6,7,5
$SOUNDSPEED,1448.6
$EKF,6827,4255.552734,-8669.398438,0.868944,0.352854,0.183757,-0.095500,0.000168,0.001577,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.028,129.17,1
$GPS,280714,210914,7055.485,-14429.144,7,1.8,28,28.4