version: 66.12
glider: 197
mission: 6
dive: 22
start: 7 29 114 6 4 15
data:
$ID,197
$MISSION,6
$DIVE,22
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-6964.4834
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,290714,055443,7055.676,-14433.077,34,0.8,54,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-72.0
$GPS2,290714,060357,7055.660,-14432.956,11,1.0,31,28.3
$SPEED_LIMITS,0.206,0.244
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,306.1,87235,-22.3,-11.905,-26.01,1887
$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,-0.80,-145.9,185,2556,403,602,0.0,0.0,0,83,0.00,0.00,-63.25,0.000,16386,0.000,0.000,184,2557,2081,2084,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.80,-145.9,185,2559,2084,2080,3.2,-2.8,6,139,10.93,2.47,-34.47,0.000,18948,0.468,0.112,2227,1145,3888,3865,3911,0,0,0,0,0,0,14.24,14.45,14.66
$GC,363,-0.70,-145.9,2228,1142,3866,3914,71.2,-20.1,59,373,0.20,2.53,0.00,0.000,3078,0.327,0.116,2259,2546,3889,3865,3914,0,0,0,0,0,0,14.39,14.52,28.83
$GC,668,-0.70,-145.9,2260,2543,3866,3915,125.6,-16.6,90,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2546,3889,3865,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,-0.70,-145.9,2259,2547,3866,3915,171.4,-14.3,120,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2546,3890,3865,3915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.75,-145.9,2260,2547,3865,3915,210.3,-12.5,150,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2546,3890,3865,3915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1569,-0.81,-145.9,2260,2546,3864,3915,244.5,-10.7,180,1577,0.00,2.40,0.00,0.000,516,0.000,0.091,2259,1144,3889,3863,3915,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1621,-0.90,-145.9,2260,1143,3857,3915,250.3,-11.0,190,1632,0.17,2.53,0.00,0.000,5126,0.125,0.118,2179,2552,3888,3862,3915,0,0,0,0,0,0,14.68,14.64,28.83
$GC,1936,-0.85,-145.9,2183,2553,3860,3915,298.1,-15.5,202,1940,0.15,0.00,0.00,0.000,2054,0.321,0.000,2212,2552,3887,3859,3915,0,0,0,0,0,0,14.56,28.83,28.83
$GC,2235,-0.85,-145.9,2213,2552,3860,3915,339.1,-13.7,212,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2552,3887,3860,3915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2535,-0.85,-145.9,2212,2552,3860,3915,378.8,-13.1,222,2545,0.00,2.40,0.00,0.000,516,0.000,0.090,2213,1143,3887,3859,3915,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2634,-0.88,-145.9,2213,1142,3859,3915,391.1,-12.1,241,2642,0.00,2.53,0.00,0.000,1030,0.000,0.117,2204,2560,3887,3859,3915,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2962,-0.88,-145.9,2204,2561,3860,3915,433.8,-13.0,256,2969,0.00,2.42,0.00,0.000,516,0.000,0.090,2204,1140,3887,3859,3915,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3008,-0.88,-145.9,2205,1135,3860,3915,440.0,-12.9,265,3016,0.00,2.53,0.00,0.000,1030,0.000,0.117,2195,2554,3886,3858,3915,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3325,-0.88,-145.9,2196,2554,3859,3915,483.2,-13.7,278,3335,0.00,2.42,0.00,0.000,516,0.000,0.090,2195,1135,3887,3859,3915,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3363,-0.88,-145.9,2195,1134,3860,3915,488.6,-13.7,285,3371,0.00,2.53,0.00,0.000,1030,0.000,0.117,2186,2555,3886,3858,3914,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,3449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3449,begin apogee
$GC,3452,-0.16,0.0,2187,2401,3859,3915,500.6,-14.0,292,3583,0.95,0.00,125.78,1.466,10246,0.284,0.000,2437,2399,3289,3243,3335,0,0,0,0,0,0,14.60,28.83,13.44
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3586,0.80,145.9,2433,2400,3234,3328,504.4,0.0,296,3725,1.02,0.00,124.40,1.442,10758,0.156,0.000,2742,2399,2683,2611,2755,0,0,0,0,0,0,14.03,28.83,13.29
$GC,4020,0.72,145.9,2742,2400,2602,2751,459.1,13.1,316,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2399,2674,2601,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4320,0.65,145.9,2743,2401,2600,2750,420.5,12.8,326,4323,0.17,0.00,0.00,0.000,4102,0.317,0.000,2706,2398,2675,2601,2750,0,0,0,0,0,0,14.40,28.83,28.83
$GC,4621,0.66,160.5,2707,2399,2601,2751,386.8,11.1,336,4637,0.00,0.00,12.15,1.246,8198,0.000,0.000,2706,2398,2636,2560,2713,0,0,0,0,0,0,28.83,28.83,13.95
$GC,4921,0.67,172.1,2707,2399,2541,2700,352.8,11.3,346,4931,0.00,2.40,3.35,0.837,8452,0.000,0.116,2702,3711,2593,2511,2675,0,0,0,0,0,0,28.83,14.56,13.90
$GC,4960,0.60,172.1,2706,3711,2525,2682,347.8,13.5,353,4969,0.00,2.20,1.60,0.241,9222,0.000,0.070,2707,2392,2590,2509,2671,0,0,0,0,0,0,28.83,14.59,14.50
$GC,5287,0.61,185.4,2707,2389,2528,2694,310.8,11.2,368,5310,0.00,0.00,20.10,1.219,8198,0.000,0.000,2707,2388,2536,2454,2619,0,0,0,0,0,0,28.83,28.83,13.99
$GC,5588,0.61,186.0,2708,2391,2434,2598,275.1,11.9,378,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2391,2516,2434,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5888,0.61,187.9,2707,2392,2435,2598,240.1,11.8,392,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2391,2515,2434,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6188,0.65,216.0,2707,2392,2435,2597,207.1,10.4,422,6218,0.00,0.00,25.73,1.115,8454,0.000,0.000,2707,2391,2410,2330,2491,0,0,0,0,0,0,28.83,28.83,14.04
$GC,6512,0.74,269.6,2707,2391,2312,2470,174.8,9.0,456,6569,0.00,2.38,46.95,1.074,8452,0.000,0.115,2707,3708,2176,2087,2266,0,0,0,0,0,0,28.83,14.31,13.87
$GC,6658,0.78,280.5,2708,3708,2076,2257,159.2,11.3,482,6668,0.00,2.20,2.22,0.403,9222,0.000,0.070,2714,2400,2146,2055,2237,0,0,0,0,0,0,28.83,14.42,13.81
$GC,7638,0.91,340.9,2715,2401,2072,2249,129.2,8.6,514,7708,0.22,2.40,61.10,1.011,10500,0.106,0.116,2803,3710,1889,1792,1987,0,0,0,0,0,0,14.54,14.19,13.78
$GC,7732,0.83,340.9,2804,3711,1779,1978,115.3,17.3,528,7740,0.22,2.25,0.00,0.000,5126,0.288,0.070,2769,2394,1876,1777,1976,0,0,0,0,0,0,14.16,14.27,28.83
$GC,8045,0.89,344.0,2764,2393,1771,1974,76.8,11.7,560,8052,0.00,2.38,0.00,0.000,260,0.000,0.119,2764,3709,1871,1770,1973,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8061,0.93,344.0,2764,3710,1769,1971,74.6,12.5,563,8070,0.00,2.22,0.00,0.000,1030,0.000,0.072,2770,2396,1871,1770,1972,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8367,1.03,388.1,2773,2395,1769,1973,42.5,9.5,594,8391,0.17,0.00,18.98,0.289,10246,0.117,0.000,2838,2394,1707,1605,1810,0,0,0,0,0,0,14.49,28.83,14.30
$GC,8687,1.27,614.2,2839,2392,1637,1817,13.6,-0.4,626,8797,0.15,0.00,105.40,0.219,10758,0.128,0.000,2905,2394,784,669,900,0,0,0,0,0,0,14.55,28.83,14.35
$STATE,8911,end climb,SURFACE_DEPTH_REACHED
$STATE,8911,begin surface coast
$FINISH,1.1,1.004876
$STATE,8931,end surface coast,CONTROL_FINISHED_OK
$STATE,8931,begin surface
$SM_CCo,8951,29.02,0.190,0,0,540,675.07
$SM_GC,2.14,8.10,0.30,29.02,0.082,0.134,0.190,179,2559,540,-7.18,-0.45,675.07,0,0,0,0,0,0,14.50,14.50,14.42
$RAFOS_CLK,137816
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,290714,034645
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.23
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3928320
$TM_FREEKB,7715332
$24V_AH,13.29,15.663
$10V_AH,12.82,0.000
$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,22.475,43.725,547.750,29.025,0.000,0.000,0.000,340.700,0.000,0.000,33.245,0.000,6164.438,690.990,1950.417,68.612,0.000,1629.534,0.000,979.280,1494.000,0.531,0.000
$DEVICE_MAMPS,468.180,133.875,1465.740,189.720,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8948.000,8993.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.882,13.436,0.000,0.000
$MEM,305240
$DATA_FILE_SIZE,23373,656
$CAP_FILE_SIZE,115349,0
$CFSIZE,1047117824,1039040512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7859.63,0x2378b6,7,5
$SOUNDSPEED,1448.4
$EKF,8414,4256.658203,-8674.859375,1.074165,1.573760,-1.105588,0.020475,0.000997,0.009348,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.085,154.55,1
$GPS,290714,082426,7056.289,-14434.321,39,1.0,59,28.3