version: 66.12
glider: 197
mission: 6
dive: 23
start: 7 29 114 8 35 15
data:
$ID,197
$MISSION,6
$DIVE,23
$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,-6965.7427
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,290714,082426,7056.289,-14434.321,39,1.0,59,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-72.8
$GPS2,290714,083502,7056.255,-14434.019,13,1.3,33,28.3
$SPEED_LIMITS,0.206,0.244
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.5,85971,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.80,-145.9,172,2560,482,619,0.0,0.0,0,84,0.00,0.00,-63.62,0.000,16386,0.000,0.000,171,2560,2188,2195,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.80,-145.9,172,2560,2195,2183,4.0,-4.1,6,135,11.15,2.47,-30.48,0.000,18948,0.472,0.110,2227,1141,3892,3870,3914,0,0,0,0,0,0,14.21,14.42,14.63
$GC,359,-0.70,-145.9,2225,1140,3864,3919,67.7,-20.5,58,367,0.20,2.53,0.00,0.000,3078,0.332,0.115,2257,2546,3891,3864,3919,0,0,0,0,0,0,14.35,14.50,28.83
$GC,671,-0.70,-145.9,2254,2552,3865,3920,123.4,-16.9,90,679,0.00,2.42,0.00,0.000,516,0.000,0.087,2257,1140,3892,3864,3920,0,0,0,0,0,0,28.83,14.57,28.83
$GC,798,-0.73,-145.9,2258,1138,3865,3920,143.2,-14.9,115,809,0.00,2.53,0.00,0.000,1030,0.000,0.115,2250,2551,3891,3864,3919,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1103,-0.73,-145.9,2250,2552,3866,3920,188.9,-14.0,146,1111,0.00,2.42,0.00,0.000,516,0.000,0.089,2249,1135,3891,3864,3919,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1196,-0.77,-145.9,2250,1136,3864,3920,201.2,-13.2,164,1203,0.00,2.53,0.00,0.000,1030,0.000,0.116,2240,2550,3892,3864,3920,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1508,-0.80,-145.9,2240,2552,3861,3916,241.4,-12.4,196,1516,0.00,2.40,0.00,0.000,516,0.000,0.090,2240,1142,3890,3861,3919,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1565,-0.85,-145.9,2236,1142,3861,3920,248.6,-12.5,207,1576,0.00,2.53,0.00,0.000,1030,0.000,0.116,2230,2556,3889,3860,3919,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1881,-0.88,-145.9,2230,2557,3860,3920,288.8,-12.8,219,1890,0.00,2.42,0.00,0.000,516,0.000,0.090,2230,1138,3889,3860,3919,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1994,-0.92,-145.9,2230,1139,3859,3920,302.7,-12.0,241,2002,0.00,2.53,0.00,0.000,1030,0.000,0.116,2219,2555,3889,3859,3919,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2306,-0.92,-145.9,2219,2556,3860,3920,341.8,-12.5,253,2314,0.00,2.42,0.00,0.000,516,0.000,0.090,2219,1135,3889,3859,3919,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2368,-0.96,-145.9,2220,1134,3859,3919,349.4,-12.4,265,2375,0.00,2.53,0.00,0.000,1030,0.000,0.116,2210,2555,3889,3859,3919,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2700,-0.96,-145.9,2210,2557,3859,3919,391.6,-12.6,281,2708,0.00,2.42,0.00,0.000,516,0.000,0.090,2213,1134,3889,3859,3919,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2792,-0.98,-145.9,2210,1133,3858,3919,403.0,-11.8,299,2801,0.00,2.53,0.00,0.000,1030,0.000,0.117,2199,2553,3888,3858,3919,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3126,-0.98,-145.9,2200,2554,3859,3919,446.6,-13.3,315,3135,0.00,2.42,0.00,0.000,516,0.000,0.090,2199,1133,3888,3858,3918,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3229,-0.98,-145.9,2201,1133,3857,3919,460.1,-13.0,335,3239,0.00,2.53,0.00,0.000,1030,0.000,0.117,2189,2553,3888,3858,3918,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,3522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3522,begin apogee
$GC,3525,-0.16,0.0,2191,2397,3858,3919,500.3,-13.7,348,3677,0.95,0.00,137.18,2.238,10246,0.286,0.000,2436,2395,3297,3248,3347,0,0,0,0,1,0,14.61,28.83,12.87
$STATE,3680,end apogee,CONTROL_FINISHED_OK
$STATE,3680,begin climb
$GC,3681,0.80,145.9,2436,2396,3250,3351,505.5,0.0,353,3823,1.02,2.58,127.43,1.490,10756,0.149,0.091,2750,999,2690,2621,2760,0,0,0,0,0,0,13.89,13.78,13.23
$GC,3887,0.74,145.9,2754,999,2611,2756,492.0,12.9,387,3897,0.00,2.60,0.00,0.000,1030,0.000,0.102,2754,2400,2683,2611,2755,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4202,0.64,145.9,2754,2401,2609,2756,449.6,13.6,399,4205,0.25,0.00,0.00,0.000,4102,0.304,0.000,2699,2400,2682,2609,2756,0,0,0,0,0,0,14.23,28.83,28.83
$GC,4501,0.65,167.3,2699,2401,2603,2756,417.2,10.7,409,4528,0.00,2.38,18.08,1.408,8452,0.000,0.112,2698,3718,2602,2520,2684,0,0,0,0,0,0,28.83,14.34,13.81
$GC,4557,0.58,167.3,2699,3722,2516,2682,410.7,12.8,419,4566,0.00,2.22,0.00,0.000,1030,0.000,0.070,2704,2400,2598,2515,2681,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4871,0.59,177.1,2704,2401,2514,2682,374.7,11.4,431,4877,0.00,0.00,3.47,1.030,8198,0.000,0.000,2704,2400,2568,2484,2653,0,0,0,0,0,0,28.83,28.83,13.62
$GC,5171,0.60,185.7,2704,2400,2506,2670,340.1,11.4,441,5189,0.00,0.00,15.02,1.361,8198,0.000,0.000,2704,2400,2533,2450,2616,0,0,0,0,0,0,28.83,28.83,13.95
$GC,5470,0.60,185.7,2710,2400,2437,2602,304.4,12.0,451,5480,0.00,2.33,0.00,0.000,260,0.000,0.117,2704,3710,2519,2436,2602,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5519,0.54,185.7,2704,3711,2437,2602,297.8,13.9,460,5527,0.20,2.20,0.00,0.000,5126,0.293,0.070,2666,2395,2518,2436,2601,0,0,0,0,0,0,14.47,14.57,28.83
$GC,5836,0.64,235.2,2663,2395,2437,2602,267.2,9.2,473,5884,0.10,0.00,43.12,1.219,10246,0.162,0.000,2709,2394,2332,2251,2414,0,0,0,0,0,0,14.67,28.83,13.87
$GC,6166,0.68,235.2,2710,2394,2232,2398,226.3,12.2,496,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2394,2314,2231,2397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6466,0.73,249.9,2710,2395,2229,2398,191.3,11.1,526,6481,0.00,0.00,12.20,1.069,8198,0.000,0.000,2709,2394,2272,2188,2356,0,0,0,0,0,0,28.83,28.83,14.05
$GC,6776,0.84,299.2,2706,2394,2173,2344,160.1,9.2,557,6831,0.12,2.45,44.10,1.053,10500,0.142,0.119,2769,3713,2057,1966,2148,0,0,0,0,0,0,14.59,14.32,13.90
$GC,6851,0.78,299.2,2769,3714,1961,2142,150.5,15.5,569,6859,0.15,2.22,0.00,0.000,5126,0.299,0.070,2748,2400,2051,1961,2142,0,0,0,0,0,0,14.28,14.40,28.83
$GC,7163,0.85,324.0,2750,2399,1954,2140,114.9,10.6,601,7188,0.00,0.00,21.45,1.001,8198,0.000,0.000,2748,2399,1970,1871,2069,0,0,0,0,0,0,28.83,28.83,13.97
$GC,7483,0.94,357.7,2755,2399,1847,2050,80.9,10.1,633,7506,0.12,2.42,13.80,0.395,10500,0.143,0.119,2805,3712,1831,1730,1932,0,0,0,0,0,0,14.57,14.45,14.31
$GC,7540,0.87,357.7,2805,3712,1750,1933,73.0,15.9,643,7550,0.17,2.20,0.00,0.000,5126,0.301,0.073,2777,2401,1843,1752,1934,0,0,0,0,0,0,14.40,14.53,28.83
$GC,7854,0.96,406.0,2777,2401,1756,1943,38.1,9.3,675,7891,0.00,2.40,24.50,0.287,8452,0.000,0.119,2776,3709,1634,1531,1738,0,0,0,0,0,0,28.83,14.50,14.39
$GC,7896,1.06,446.4,2778,3709,1532,1743,34.2,9.7,681,7925,0.15,2.20,19.27,0.285,11270,0.129,0.072,2842,2396,1469,1361,1578,0,0,0,0,0,0,14.57,14.55,14.39
$GC,8219,1.32,666.2,2843,2396,1378,1579,13.0,-0.1,715,8328,0.22,2.55,101.35,0.213,10756,0.104,0.101,2931,994,574,457,691,0,0,0,0,0,0,14.62,14.45,14.38
$STATE,8391,end climb,SURFACE_DEPTH_REACHED
$STATE,8391,begin surface coast
$FINISH,1.0,1.019153
$STATE,8411,end surface coast,CONTROL_FINISHED_OK
$STATE,8411,begin surface
$SM_CCo,8435,4.82,0.198,0,0,538,675.07
$SM_GC,3.16,8.35,2.88,4.82,0.103,0.111,0.198,184,2557,538,-7.17,-0.42,675.07,0,0,0,0,0,0,14.51,14.49,14.44
$RAFOS_CLK,809381
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14436.17,290714,055816
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.20
$INTERNAL_PRESSURE,8.63976
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3927872
$TM_FREEKB,7702092
$24V_AH,12.87,15.989
$10V_AH,12.69,0.000
$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,23.175,73.500,580.975,4.825,0.000,0.000,0.000,403.950,0.000,0.000,36.188,0.000,6071.287,741.368,2182.524,76.130,0.000,1825.359,0.000,1109.302,0.000,0.531,0.000
$DEVICE_MAMPS,472.005,119.340,2238.390,198.135,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8433.000,8485.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.525,13.382,0.000,0.000
$MEM,304832
$DATA_FILE_SIZE,26711,748
$CAP_FILE_SIZE,124520,0
$CFSIZE,1047117824,1038876672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9060.13,0x2378b6,7,5
$SOUNDSPEED,1449.5
$EKF,8511,4257.071289,-8676.129883,1.045730,0.019068,0.056935,-0.005302,0.000133,0.001250,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.080,147.36,1
$GPS,290714,105703,7056.762,-14435.512,16,1.4,36,28.3