version: 66.12
glider: 197
mission: 6
dive: 24
start: 7 29 114 11 7 59
data:
$ID,197
$MISSION,6
$DIVE,24
$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,-6967.0005
$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,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,0.00069999998
$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
$GPS1,290714,105703,7056.762,-14435.512,16,1.4,36,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-72.9
$GPS2,290714,110745,7056.697,-14435.188,12,1.0,32,28.3
$SPEED_LIMITS,0.206,0.244
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,300.2,84916,-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,16,-0.80,-145.9,170,2560,471,631,0.0,0.0,0,83,0.00,0.00,-63.45,0.000,16386,0.000,0.000,169,2558,2185,2192,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.80,-145.9,169,2560,2194,2180,3.9,-4.6,6,133,11.00,0.00,-30.62,0.000,18950,0.465,0.000,2224,2559,3893,3866,3921,0,0,0,0,0,0,14.22,28.83,14.64
$GC,427,-0.70,-145.9,2225,2560,3866,3922,82.2,-20.3,43,436,0.15,2.45,0.00,0.000,2564,0.331,0.087,2260,1147,3895,3865,3925,0,0,0,0,0,0,14.42,14.53,28.83
$GC,530,-0.70,-145.9,2260,1145,3865,3922,99.9,-16.2,63,538,0.00,2.53,0.00,0.000,1030,0.000,0.116,2255,2551,3892,3864,3921,0,0,0,0,0,0,28.83,14.52,28.83
$GC,842,-0.70,-145.9,2255,2551,3866,3928,151.8,-16.1,95,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2551,3893,3865,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.73,-145.9,2254,2552,3866,3922,194.7,-13.0,125,1151,0.00,2.42,0.00,0.000,516,0.000,0.092,2254,1141,3892,3864,3921,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1210,-0.78,-145.9,2255,1140,3864,3922,203.2,-12.4,138,1220,0.00,2.53,0.00,0.000,1030,0.000,0.118,2249,2552,3892,3864,3921,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1516,-0.83,-145.9,2251,2552,3863,3921,241.0,-12.0,169,1525,0.00,2.42,0.00,0.000,516,0.000,0.091,2253,1137,3891,3862,3921,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1554,-0.90,-145.9,2250,1134,3862,3922,245.8,-12.1,176,1563,0.15,2.53,0.00,0.000,5126,0.138,0.117,2185,2551,3891,3861,3921,0,0,0,0,0,0,14.67,14.62,28.83
$GC,1859,-0.86,-145.9,2186,2551,3860,3920,291.5,-15.1,189,1868,0.00,2.42,0.00,0.000,516,0.000,0.093,2186,1137,3890,3860,3921,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1942,-0.84,-145.9,2186,1137,3860,3921,303.6,-14.4,205,1952,0.17,2.53,0.00,0.000,3078,0.319,0.117,2213,2554,3890,3859,3921,0,0,0,0,0,0,14.55,14.66,28.83
$GC,2256,-0.84,-145.9,2213,2554,3860,3921,344.9,-13.1,217,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2554,3890,3859,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2556,-0.84,-145.9,2213,2555,3859,3927,383.5,-12.9,227,2564,0.00,2.42,0.00,0.000,516,0.000,0.091,2212,1137,3889,3858,3921,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2648,-0.87,-145.9,2213,1136,3858,3921,395.0,-12.2,245,2658,0.00,2.50,0.00,0.000,1030,0.000,0.114,2206,2549,3889,3858,3921,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2982,-0.87,-145.9,2206,2550,3859,3921,438.6,-13.1,261,2991,0.00,2.40,0.00,0.000,516,0.000,0.090,2206,1139,3887,3858,3916,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3040,-0.89,-145.9,2206,1139,3858,3921,446.1,-12.8,272,3050,0.00,2.50,0.00,0.000,1030,0.000,0.114,2195,2553,3889,3858,3920,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3626,-0.89,-145.9,2193,2554,3858,3921,485.1,-13.4,283,3634,0.00,2.42,0.00,0.000,516,0.000,0.091,2197,1144,3888,3857,3920,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3678,-0.89,-145.9,2196,1144,3858,3921,492.0,-13.2,293,3688,0.00,2.50,0.00,0.000,1030,0.000,0.114,2186,2552,3889,3858,3921,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,3751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3751,begin apogee
$GC,3754,-0.16,0.0,2186,2400,3859,3921,501.9,-13.5,297,3936,0.98,0.00,175.38,1.287,10246,0.282,0.000,2437,2399,3287,3240,3334,0,0,0,0,0,0,14.53,28.83,13.43
$STATE,3939,end apogee,CONTROL_FINISHED_OK
$STATE,3939,begin climb
$GC,3940,0.80,145.9,2438,2400,3237,3332,507.9,0.0,303,4082,1.00,2.65,123.80,1.454,10756,0.151,0.093,2748,996,2683,2612,2755,0,0,0,0,0,0,13.99,13.81,13.24
$GC,4246,0.75,145.9,2753,1000,2603,2748,480.9,12.1,357,4255,0.00,2.55,0.00,0.000,1030,0.000,0.103,2748,2398,2677,2603,2752,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4580,0.66,145.9,2749,2399,2603,2747,436.5,13.4,373,4583,0.17,0.00,0.00,0.000,4102,0.310,0.000,2712,2399,2674,2602,2747,0,0,0,0,0,0,14.26,28.83,28.83
$GC,4880,0.64,152.8,2712,2400,2603,2748,401.9,11.5,383,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2399,2674,2602,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5180,0.62,158.1,2712,2400,2602,2745,367.4,11.6,393,5187,0.00,0.00,3.95,0.956,8198,0.000,0.000,2712,2398,2646,2569,2723,0,0,0,0,0,0,28.83,28.83,13.91
$GC,5480,0.63,166.0,2713,2400,2587,2736,333.0,11.5,403,5496,0.00,0.00,13.70,1.230,8198,0.000,0.000,2712,2399,2615,2536,2694,0,0,0,0,0,0,28.83,28.83,14.00
$GC,5780,0.63,171.3,2713,2401,2517,2682,297.9,11.6,413,5789,0.00,2.30,0.00,0.000,260,0.000,0.115,2712,3712,2602,2517,2687,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5798,0.59,171.3,2712,3713,2520,2682,295.6,12.0,416,5807,0.08,2.22,0.00,0.000,5126,0.292,0.072,2687,2402,2599,2517,2681,0,0,0,0,0,0,14.50,14.61,28.83
$GC,6116,0.65,203.9,2687,2403,2518,2682,262.7,10.1,429,6153,0.00,0.00,33.38,1.180,8198,0.000,0.000,2687,2402,2457,2376,2539,0,0,0,0,0,0,28.83,28.83,13.95
$GC,6446,0.73,223.6,2688,2402,2356,2519,227.7,10.8,452,6472,0.12,0.00,15.43,1.121,10246,0.146,0.000,2737,2402,2369,2290,2448,0,0,0,0,0,0,14.60,28.83,13.99
$GC,6766,0.73,234.2,2738,2402,2282,2443,187.1,11.3,484,6773,0.00,0.00,3.12,0.715,8198,0.000,0.000,2736,2402,2335,2255,2416,0,0,0,0,0,0,28.83,28.83,13.92
$GC,7067,0.76,272.3,2738,2402,2278,2429,154.8,9.8,514,7116,0.00,2.55,41.30,1.057,8708,0.000,0.096,2745,998,2170,2084,2257,0,0,0,0,0,0,28.83,14.35,13.93
$GC,7186,0.84,297.3,2746,998,2076,2245,142.6,10.5,534,7215,0.00,2.53,21.27,1.021,9222,0.000,0.106,2745,2406,2074,1982,2166,0,0,0,0,0,0,28.83,14.42,13.86
$GC,7510,0.92,326.1,2746,2406,1961,2152,108.2,10.3,568,7545,0.12,2.40,24.55,0.996,10500,0.138,0.117,2804,3703,1951,1849,2053,0,0,0,0,0,0,14.51,14.35,13.94
$GC,7564,0.84,326.1,2804,3704,1844,2045,100.9,14.9,577,7575,0.22,2.20,0.00,0.000,5126,0.285,0.070,2763,2401,1943,1843,2044,0,0,0,0,0,0,14.30,14.41,28.83
$GC,7870,0.90,349.1,2764,2401,1838,2044,66.9,10.7,608,7884,0.00,0.00,8.62,0.331,8198,0.000,0.000,2763,2400,1867,1764,1970,0,0,0,0,0,0,28.83,28.83,14.33
$GC,8180,1.04,418.9,2764,2400,1793,1980,36.1,8.1,639,8222,0.17,2.35,34.45,0.276,10500,0.117,0.119,2835,3713,1581,1475,1687,0,0,0,0,0,0,14.56,14.50,14.39
$GC,8266,0.97,418.9,2836,3713,1490,1687,25.3,14.7,654,8275,0.17,2.20,0.00,0.000,5126,0.288,0.073,2807,2402,1589,1491,1687,0,0,0,0,0,0,14.43,14.54,28.83
$GC,8572,1.24,613.2,2808,2402,1497,1687,13.0,1.3,685,8670,0.22,2.42,89.75,0.213,10500,0.103,0.119,2902,3713,787,669,906,0,0,0,0,0,0,14.60,14.44,14.40
$STATE,8759,end climb,SURFACE_DEPTH_REACHED
$STATE,8759,begin surface coast
$FINISH,1.0,1.019478
$STATE,8779,end surface coast,CONTROL_FINISHED_OK
$STATE,8779,begin surface
$SM_CCo,8802,29.25,0.186,0,0,541,675.07
$SM_GC,1.99,8.20,2.03,29.25,0.097,0.077,0.186,184,2541,541,-7.18,0.85,675.07,0,0,0,0,0,0,14.50,14.55,14.45
$RAFOS_CLK,523519
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,290714,082815
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.33
$INTERNAL_PRESSURE,8.63976
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3927424
$TM_FREEKB,7688740
$24V_AH,13.24,16.308
$10V_AH,12.78,0.000
$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,22.950,63.225,588.700,29.250,0.000,0.000,0.000,407.200,0.000,0.000,34.205,0.000,6172.104,765.387,2158.878,76.065,0.000,1835.611,0.000,1071.460,1487.000,0.531,0.000
$DEVICE_MAMPS,465.120,118.575,1454.265,185.895,0.000,0.000,0.000,183.600,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8801.000,8854.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.543,13.399,0.000,0.000
$MEM,304372
$DATA_FILE_SIZE,23446,721
$CAP_FILE_SIZE,124334,0
$CFSIZE,1047117824,1038696448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9162.49,0x2378b6,7,5
$SOUNDSPEED,1449.6
$EKF,8627,4257.600098,-8677.094727,1.003247,-0.338180,-0.048355,-0.030381,0.000297,0.002785,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.068,149.83,1
$GPS,290714,133143,7057.322,-14436.601,36,0.9,57,28.3