version: 66.12
glider: 197
mission: 6
dive: 19
start: 7 28 114 23 31 4
data:
$ID,197
$MISSION,6
$DIVE,19
$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,-6960.7041
$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,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,0.02
$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,36
$R_STBD_OVSHOOT,24
$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,0.00069999998
$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,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
$GPS1,280714,231749,7054.413,-14429.650,38,1.2,59,28.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.1
$GPS2,280714,233051,7054.301,-14429.617,12,1.2,32,28.3
$SPEED_LIMITS,0.211,0.245
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,304.2,90399,-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,15,begin dive
$GC,17,-0.81,-145.9,173,2559,403,602,0.0,0.0,0,83,0.00,0.00,-63.20,0.000,16386,0.000,0.000,170,2559,2116,2125,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.81,-145.9,170,2560,2125,2108,3.6,-3.7,6,134,11.00,2.12,-32.95,0.000,18692,0.466,0.146,2215,3707,3888,3861,3916,0,0,0,0,0,0,14.23,14.39,14.65
$GC,268,-0.61,-145.9,2216,3711,3867,3920,53.4,-27.8,40,278,0.25,1.98,0.00,0.000,3078,0.302,0.072,2288,2552,3894,3867,3921,0,0,0,0,0,0,14.37,14.52,28.83
$GC,583,-0.64,-145.9,2288,2553,3867,3924,104.5,-15.1,72,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2553,3895,3867,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-0.70,-145.9,2289,2552,3867,3923,147.6,-13.7,102,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2553,3894,3867,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.80,-145.9,2288,2553,3867,3923,184.9,-11.7,132,1185,0.17,0.00,0.00,0.000,4102,0.129,0.000,2226,2553,3894,3866,3922,0,0,0,0,0,0,14.64,28.83,28.83
$GC,1482,-0.80,-145.9,2227,2553,3866,3923,226.4,-13.8,162,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2552,3893,3865,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,-0.82,-145.9,2227,2553,3863,3923,264.0,-4.3,184,1944,0.00,2.40,0.00,0.000,516,0.000,0.093,2226,1144,3892,3863,3922,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2029,-0.87,-145.9,2226,1144,3863,3922,276.1,-12.6,202,2036,0.00,2.53,0.00,0.000,1030,0.000,0.122,2217,2548,3892,3863,3922,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2361,-0.89,-145.9,2216,2549,3860,3922,319.8,-13.3,218,2369,0.00,2.42,0.00,0.000,516,0.000,0.091,2216,1137,3890,3860,3920,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2423,-0.93,-145.9,2218,1137,3860,3922,327.8,-12.7,230,2431,0.00,2.55,0.00,0.000,1030,0.000,0.119,2208,2554,3890,3859,3922,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2755,-0.93,-145.9,2208,2555,3860,3923,372.1,-13.3,246,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2554,3890,3859,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-0.93,-145.9,2208,2555,3860,3922,411.6,-13.0,256,3064,0.00,2.45,0.00,0.000,516,0.000,0.091,2208,1137,3890,3859,3922,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,3122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3122,begin apogee
$GC,3127,-0.16,0.0,2202,2398,3860,3922,420.4,-12.9,269,3259,0.90,0.00,126.50,1.366,10246,0.282,0.000,2433,2397,3289,3244,3335,0,0,0,0,0,0,14.45,28.83,13.45
$STATE,3261,end apogee,CONTROL_FINISHED_OK
$STATE,3261,begin climb
$GC,3262,0.81,145.9,2433,2398,3232,3326,424.5,0.0,273,3398,1.08,0.00,123.78,1.339,10246,0.156,0.000,2752,2398,2686,2615,2758,0,0,0,0,0,0,14.02,28.83,13.33
$GC,3693,0.74,145.9,2753,2398,2600,2746,379.2,13.1,288,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2398,2672,2599,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3993,0.66,145.9,2753,2398,2600,2746,340.2,12.9,298,4001,0.20,2.45,0.00,0.000,4612,0.301,0.094,2717,996,2672,2599,2745,0,0,0,0,0,0,14.40,14.49,28.83
$GC,4015,0.65,165.5,2717,997,2599,2746,337.7,11.1,302,4038,0.00,2.53,16.27,1.203,9222,0.000,0.107,2717,2410,2614,2534,2695,0,0,0,0,0,0,28.83,14.50,13.87
$GC,4362,0.66,172.7,2717,2411,2510,2678,296.9,11.8,320,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2410,2595,2514,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4662,0.66,183.6,2719,2411,2514,2678,262.1,11.6,330,4684,0.00,2.55,15.25,1.139,8708,0.000,0.096,2717,996,2534,2454,2615,0,0,0,0,0,0,28.83,14.51,13.99
$GC,4713,0.71,199.2,2717,996,2447,2604,256.3,11.3,339,4735,0.00,2.50,13.00,1.115,9222,0.000,0.106,2717,2399,2473,2392,2554,0,0,0,0,0,0,28.83,14.45,13.94
$GC,5028,0.74,205.9,2717,2399,2383,2546,218.8,11.8,368,5033,0.00,0.00,1.48,0.228,8198,0.000,0.000,2717,2399,2450,2368,2532,0,0,0,0,0,0,28.83,28.83,14.49
$GC,5329,0.80,246.3,2717,2400,2385,2538,185.5,9.9,398,5374,0.00,0.00,42.10,1.070,8454,0.000,0.000,2717,2399,2285,2203,2367,0,0,0,0,0,0,28.83,28.83,13.92
$GC,5669,0.91,301.3,2717,2400,2176,2344,151.4,9.1,433,5723,0.20,0.00,48.00,1.020,10246,0.113,0.000,2796,2399,2057,1970,2145,0,0,0,0,0,0,14.55,28.83,13.84
$GC,6018,0.91,301.3,2797,2400,1939,2129,103.7,12.8,468,6027,0.00,2.35,0.00,0.000,260,0.000,0.119,2796,3714,2033,1938,2128,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6121,0.83,301.3,2796,3710,1939,2133,88.3,15.0,488,6132,0.20,2.20,0.00,0.000,5126,0.287,0.072,2762,2397,2032,1938,2126,0,0,0,0,0,0,14.38,14.51,28.83
$GC,6436,0.93,353.0,2762,2398,1938,2128,55.8,9.3,520,6464,0.00,0.00,21.62,0.321,8710,0.000,0.000,2762,2397,1851,1753,1950,0,0,0,0,0,0,28.83,28.83,14.37
$GC,6759,1.11,447.7,2763,2398,1780,1971,31.5,6.9,553,6812,0.28,2.53,45.95,0.262,10756,0.099,0.098,2877,997,1463,1356,1570,0,0,0,0,0,0,14.62,14.51,14.36
$GC,6861,1.11,447.7,2877,997,1368,1570,18.8,13.5,570,6870,0.00,2.53,0.00,0.000,1030,0.000,0.111,2877,2401,1469,1369,1570,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7174,1.33,650.1,2878,2402,1376,1570,11.7,0.9,602,7279,0.12,2.55,93.95,0.210,10756,0.145,0.097,2941,996,639,515,764,0,0,0,0,0,0,14.57,14.47,14.40
$STATE,7337,end climb,SURFACE_DEPTH_REACHED
$STATE,7337,begin surface coast
$FINISH,1.1,1.019532
$STATE,7357,end surface coast,CONTROL_FINISHED_OK
$STATE,7357,begin surface
$SM_CCo,7380,12.88,0.187,0,0,538,675.07
$SM_GC,2.42,8.35,2.88,12.88,0.100,0.119,0.187,182,2549,538,-7.17,-0.74,675.07,0,0,0,0,0,0,14.50,14.50,14.45
$RAFOS_CLK,524855
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,232107
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.85
$INTERNAL_PRESSURE,8.64952
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3929664
$TM_FREEKB,7750576
$24V_AH,13.33,14.743
$10V_AH,13.17,0.000
$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,22.750,43.825,547.900,12.875,0.000,0.000,0.000,509.650,0.000,0.000,35.064,0.000,5220.958,665.346,2050.884,67.148,0.000,1744.743,0.000,947.002,1425.000,0.531,0.000
$DEVICE_MAMPS,465.885,146.115,1365.525,187.425,0.000,0.000,0.000,171.360,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7374.000,7414.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.501,13.375,0.000,0.000
$MEM,306544
$DATA_FILE_SIZE,20083,633
$CAP_FILE_SIZE,110562,0
$CFSIZE,1047117824,1039548416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7951.07,0x2378b6,7,5
$SOUNDSPEED,1447.8
$EKF,7292,4255.098145,-8670.920898,1.055982,1.572747,0.119353,0.029326,0.000141,0.001318,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.100,187.92,1
$GPS,290714,013233,7054.705,-14431.088,11,1.3,31,28.3