version: 66.12
glider: 197
mission: 6
dive: 25
start: 7 29 114 13 42 26
data:
$ID,197
$MISSION,6
$DIVE,25
$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,-6968.2612
$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,35
$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
$GPS1,290714,133143,7057.322,-14436.601,36,0.9,57,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-73.1
$GPS2,290714,134209,7057.229,-14436.470,11,1.1,31,28.3
$SPEED_LIMITS,0.206,0.244
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,301.0,83685,-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,-145.9,157,2541,468,629,0.0,0.0,0,83,0.00,0.00,-62.70,0.000,16386,0.000,0.000,155,2538,2154,2160,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.80,-145.9,155,2539,2161,2149,3.8,-3.8,6,134,11.10,2.47,-31.95,0.000,18948,0.466,0.110,2227,1145,3889,3865,3913,0,0,0,0,0,0,14.22,14.43,14.64
$GC,233,-0.66,-145.9,2228,1145,3865,3917,40.2,-23.0,33,243,0.25,2.55,0.00,0.000,3078,0.331,0.112,2272,2556,3891,3865,3917,0,0,0,0,0,0,14.33,14.46,28.83
$GC,538,-0.66,-145.9,2272,2560,3866,3920,95.7,-17.6,64,548,0.00,2.03,0.00,0.000,260,0.000,0.120,2266,3714,3892,3865,3919,0,0,0,0,0,0,28.83,14.54,28.83
$GC,587,-0.63,-145.9,2266,3718,3865,3920,104.5,-18.5,73,596,0.00,1.92,0.00,0.000,1030,0.000,0.070,2266,2547,3892,3865,3920,0,0,0,0,0,0,28.83,14.60,28.83
$GC,892,-0.65,-145.9,2266,2548,3866,3920,153.6,-14.7,104,902,0.00,2.40,0.00,0.000,516,0.000,0.090,2266,1144,3892,3865,3919,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1006,-0.71,-145.9,2266,1144,3865,3927,169.4,-14.4,126,1013,0.00,2.53,0.00,0.000,1030,0.000,0.116,2259,2549,3891,3864,3919,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1318,-0.75,-145.9,2260,2554,3864,3920,209.4,-12.1,158,1326,0.00,2.40,0.00,0.000,516,0.000,0.090,2259,1150,3891,3863,3919,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1405,-0.82,-145.9,2260,1150,3863,3919,219.3,-11.1,175,1414,0.00,2.53,0.00,0.000,1030,0.000,0.119,2255,2558,3891,3863,3919,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1730,-0.88,-145.9,2255,2558,3860,3919,257.4,-11.4,204,1740,0.15,2.42,0.00,0.000,4612,0.143,0.091,2197,1145,3887,3855,3919,0,0,0,0,0,0,14.68,14.62,28.83
$GC,1773,-0.88,-145.9,2198,1145,3860,3919,263.2,-13.7,212,1784,0.00,2.53,0.00,0.000,1030,0.000,0.117,2189,2559,3889,3860,3919,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2098,-0.84,-145.9,2189,2560,3860,3919,310.5,-14.3,226,2106,0.12,2.42,0.00,0.000,2564,0.343,0.086,2212,1144,3888,3859,3918,0,0,0,0,0,0,14.57,14.69,28.83
$GC,2155,-0.87,-145.9,2212,1145,3859,3919,317.9,-12.8,237,2164,0.00,2.50,0.00,0.000,1030,0.000,0.115,2207,2550,3888,3859,3918,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2460,-0.87,-145.9,2208,2551,3859,3919,358.0,-13.2,248,2470,0.00,2.40,0.00,0.000,516,0.000,0.090,2205,1142,3886,3855,3918,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2534,-0.87,-145.9,2208,1143,3859,3921,367.6,-12.2,262,2542,0.00,2.50,0.00,0.000,1030,0.000,0.116,2201,2550,3888,3858,3918,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2857,-0.87,-145.9,2202,2555,3858,3922,411.1,-13.6,276,2866,0.00,2.38,0.00,0.000,516,0.000,0.089,2201,1150,3888,3858,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2925,-0.87,-145.9,2201,1150,3858,3919,420.3,-13.3,289,2933,0.00,2.50,0.00,0.000,1030,0.000,0.115,2194,2558,3885,3853,3918,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3252,-0.87,-145.9,2194,2558,3858,3919,465.1,-13.8,304,3262,0.00,2.40,0.00,0.000,516,0.000,0.089,2194,1150,3887,3857,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3325,-0.87,-145.9,2194,1151,3858,3919,475.0,-13.3,318,3334,0.00,2.53,0.00,0.000,1030,0.000,0.116,2188,2545,3887,3857,3918,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,3527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3527,begin apogee
$GC,3530,-0.16,0.0,2188,2406,3858,3919,503.0,-13.8,328,3712,0.95,0.00,175.80,1.284,10246,0.282,0.000,2435,2404,3287,3239,3336,0,0,0,0,0,0,14.61,28.83,13.47
$STATE,3715,end apogee,CONTROL_FINISHED_OK
$STATE,3715,begin climb
$GC,3716,0.80,145.9,2435,2404,3235,3334,509.1,0.0,334,3858,1.02,2.65,123.60,1.460,10756,0.151,0.091,2756,997,2682,2608,2756,0,0,0,0,0,0,14.02,13.85,13.25
$GC,3992,0.74,145.9,2757,998,2601,2748,484.6,13.3,382,4000,0.00,2.55,0.00,0.000,1030,0.000,0.103,2756,2402,2674,2601,2747,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4325,0.64,145.9,2757,2402,2600,2748,438.6,13.8,398,4328,0.25,0.00,0.00,0.000,4102,0.298,0.000,2700,2403,2673,2600,2747,0,0,0,0,0,0,14.30,28.83,28.83
$GC,4624,0.65,162.7,2701,2404,2600,2748,405.0,11.0,408,4641,0.00,0.00,13.40,1.292,8198,0.000,0.000,2699,2403,2627,2548,2707,0,0,0,0,0,0,28.83,28.83,13.89
$GC,4925,0.66,171.3,2701,2404,2529,2697,370.9,11.4,418,4934,0.00,2.40,2.20,0.407,8452,0.000,0.116,2700,3716,2592,2508,2676,0,0,0,0,0,0,28.83,14.52,13.81
$GC,4948,0.62,171.3,2701,3716,2519,2677,368.0,12.4,422,4955,0.00,2.20,0.00,0.000,1030,0.000,0.070,2704,2400,2598,2519,2678,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5260,0.63,178.1,2705,2399,2527,2690,331.9,11.5,434,5275,0.00,0.00,12.80,1.225,8198,0.000,0.000,2704,2398,2566,2481,2652,0,0,0,0,0,0,28.83,28.83,13.98
$GC,5560,0.63,180.4,2705,2399,2467,2635,296.5,11.8,444,5569,0.00,2.33,0.00,0.000,260,0.000,0.116,2704,3719,2550,2466,2635,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5584,0.60,180.4,2705,3720,2467,2635,293.4,12.5,448,5593,0.00,2.20,0.00,0.000,1030,0.000,0.070,2712,2398,2551,2467,2635,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5897,0.60,184.3,2712,2397,2467,2635,256.2,11.7,460,5901,0.00,0.00,1.17,0.246,8198,0.000,0.000,2712,2397,2539,2455,2624,0,0,0,0,0,0,28.83,28.83,14.60
$GC,6197,0.61,200.9,2711,2397,2466,2631,221.4,11.0,486,6221,0.00,0.00,20.27,1.134,8198,0.000,0.000,2711,2396,2465,2385,2546,0,0,0,0,0,0,28.83,28.83,14.04
$GC,6517,0.66,233.6,2712,2397,2370,2536,185.7,10.1,518,6553,0.00,0.00,27.95,1.092,8198,0.000,0.000,2712,2397,2324,2239,2409,0,0,0,0,0,0,28.83,28.83,13.94
$GC,6847,0.76,283.6,2713,2397,2231,2401,154.4,9.2,551,6900,0.00,0.00,42.80,1.050,8198,0.000,0.000,2712,2397,2120,2028,2213,0,0,0,0,0,0,28.83,28.83,13.88
$GC,7197,0.90,344.8,2713,2396,2015,2203,122.7,8.6,586,7259,0.17,2.50,52.83,1.009,10756,0.119,0.095,2801,996,1873,1774,1972,0,0,0,0,0,0,14.54,14.26,13.83
$GC,7333,0.90,344.8,2801,998,1765,1955,104.8,13.2,610,7341,0.00,2.55,0.00,0.000,1030,0.000,0.107,2801,2403,1858,1763,1954,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7645,0.90,344.8,2801,2405,1757,1955,60.7,13.8,642,7653,0.00,2.35,0.00,0.000,260,0.000,0.119,2800,3718,1855,1757,1954,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7682,0.84,344.8,2801,3718,1756,1953,54.9,16.0,649,7691,0.20,2.22,0.00,0.000,5126,0.289,0.072,2766,2392,1854,1756,1953,0,0,0,0,0,0,14.41,14.53,28.83
$GC,7987,0.99,423.6,2767,2397,1755,1953,26.8,7.6,680,8030,0.15,0.00,33.62,0.249,10246,0.126,0.000,2825,2392,1562,1455,1669,0,0,0,0,0,0,14.60,28.83,14.41
$GC,9117,1.26,613.5,2827,2392,1479,1670,13.2,1.6,714,9219,0.22,2.53,88.35,0.215,11012,0.102,0.098,2921,991,789,668,910,0,0,0,0,0,0,14.57,14.42,14.35
$GC,9233,1.45,727.2,2923,992,667,910,8.5,5.7,732,9277,0.10,2.53,32.78,0.202,11270,0.164,0.105,2969,2403,498,379,617,0,0,0,0,0,0,14.43,14.41,14.33
$STATE,9320,end climb,SURFACE_DEPTH_REACHED
$STATE,9320,begin surface coast
$FINISH,1.0,1.019380
$STATE,9340,end surface coast,CONTROL_FINISHED_OK
$STATE,9340,begin surface
$SM_CCo,9421,0.00,0.000,0,0,505,683.65
$SM_GC,2.19,8.60,0.28,0.00,0.111,0.119,0.000,185,2564,505,-7.17,-0.48,683.65,0,0,0,0,0,0,14.42,14.45,28.83
$RAFOS_CLK,43209
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,290714,110043
$TT8_MAMPS,0.080892,0.080892
$HUMID,45.47
$INTERNAL_PRESSURE,8.64952
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3926976
$TM_FREEKB,7675280
$24V_AH,13.25,16.637
$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,23.300,72.900,627.575,0.000,0.000,0.000,0.000,390.850,0.000,0.000,33.505,0.000,6199.431,790.421,2193.624,75.170,0.000,1874.446,0.000,1105.482,1499.000,0.531,0.000
$DEVICE_MAMPS,465.885,120.105,1459.620,0.000,0.000,0.000,0.000,187.425,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9361.000,9415.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.141,13.419,0.000,0.000
$MEM,303984
$DATA_FILE_SIZE,26704,745
$CAP_FILE_SIZE,127225,0
$CFSIZE,1047117824,1038516224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9267.23,0x2378b6,7,5
$SOUNDSPEED,1449.5
$EKF,8727,4258.234375,-8678.489258,1.004648,-1.589301,0.936043,-0.033440,0.001519,0.014284,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.051,140.62,1
$GPS,290714,160750,7058.036,-14437.990,37,1.1,58,28.3