version: 66.12
glider: 197
mission: 6
dive: 26
start: 7 29 114 16 18 45
data:
$ID,197
$MISSION,6
$DIVE,26
$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,-6969.5205
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,290714,160750,7058.036,-14437.990,37,1.1,58,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-71.5
$GPS2,290714,161827,7057.981,-14437.943,14,1.2,34,28.3
$SPEED_LIMITS,0.206,0.244
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,299.1,82049,-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,-145.9,149,2567,417,601,0.0,0.0,0,83,0.00,0.00,-63.22,0.000,16386,0.000,0.000,146,2567,2114,2118,2111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.80,-145.9,146,2566,2121,2112,3.4,-3.3,6,133,11.25,0.00,-33.17,0.000,18950,0.464,0.000,2228,2566,3888,3866,3911,0,0,0,0,0,0,14.15,28.83,14.57
$GC,437,-0.70,-145.9,2229,2567,3866,3919,85.5,-20.6,44,447,0.15,2.45,0.00,0.000,2564,0.327,0.087,2260,1137,3892,3866,3918,0,0,0,0,0,0,14.39,14.52,28.83
$GC,475,-0.70,-145.9,2260,1137,3867,3919,92.3,-16.4,51,485,0.00,2.53,0.00,0.000,1030,0.000,0.114,2253,2543,3892,3866,3918,0,0,0,0,0,0,28.83,14.53,28.83
$GC,781,-0.70,-145.9,2254,2543,3866,3915,144.6,-15.8,82,789,0.00,2.40,0.00,0.000,516,0.000,0.086,2253,1142,3892,3866,3918,0,0,0,0,0,0,28.83,14.58,28.83
$GC,878,-0.70,-145.9,2253,1142,3867,3918,159.2,-13.8,101,887,0.00,2.53,0.00,0.000,1030,0.000,0.116,2244,2553,3891,3865,3918,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1183,-0.70,-145.9,2246,2554,3865,3919,202.3,-13.0,132,1192,0.00,2.42,0.00,0.000,516,0.000,0.089,2244,1142,3891,3865,3918,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1272,-0.74,-145.9,2245,1142,3871,3919,213.9,-13.1,149,1281,0.00,2.53,0.00,0.000,1030,0.000,0.116,2235,2555,3891,3865,3918,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1586,-0.76,-145.9,2236,2555,3862,3919,254.8,-12.7,179,1594,0.00,2.42,0.00,0.000,516,0.000,0.090,2235,1145,3890,3862,3918,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1633,-0.80,-145.9,2235,1145,3863,3919,260.5,-12.1,188,1643,0.00,2.53,0.00,0.000,1030,0.000,0.117,2227,2556,3890,3862,3918,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1952,-0.80,-145.9,2227,2557,3860,3919,300.5,-12.7,201,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2556,3888,3859,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.82,-145.9,2227,2557,3859,3919,337.7,-12.2,211,2259,0.00,2.42,0.00,0.000,516,0.000,0.091,2227,1137,3888,3859,3918,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2329,-0.86,-145.9,2227,1138,3860,3919,346.5,-11.4,226,2337,0.00,2.53,0.00,0.000,1030,0.000,0.117,2218,2552,3888,3859,3918,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2646,-0.86,-145.9,2219,2553,3859,3918,385.5,-12.4,239,2654,0.00,2.42,0.00,0.000,516,0.000,0.090,2218,1139,3888,3858,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2713,-0.90,-145.9,2219,1138,3859,3919,393.7,-12.1,252,2724,0.00,2.53,0.00,0.000,1030,0.000,0.117,2211,2559,3888,3858,3918,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3043,-0.90,-145.9,2212,2559,3859,3919,434.9,-12.5,267,3050,0.00,2.42,0.00,0.000,516,0.000,0.090,2212,1140,3887,3855,3919,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3135,-0.92,-145.9,2212,1140,3858,3918,446.3,-12.2,285,3143,0.00,2.50,0.00,0.000,1030,0.000,0.117,2205,2549,3888,3858,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3467,-0.92,-145.9,2206,2550,3858,3918,489.3,-13.0,301,3474,0.00,2.40,0.00,0.000,516,0.000,0.090,2205,1137,3887,3857,3918,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3529,-0.92,-145.9,2205,1138,3858,3919,497.2,-12.8,313,3536,0.00,2.53,0.00,0.000,1030,0.000,0.117,2201,2557,3888,3858,3918,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,3549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3549,begin apogee
$GC,3552,-0.16,0.0,2202,2391,3858,3919,500.0,-12.9,317,3697,0.90,0.00,134.45,2.211,10246,0.277,0.000,2438,2390,3294,3246,3342,0,0,0,0,1,0,14.61,28.83,12.88
$STATE,3699,end apogee,CONTROL_FINISHED_OK
$STATE,3699,begin climb
$GC,3700,0.80,145.9,2439,2391,3248,3348,504.6,0.0,321,3843,1.00,2.58,126.97,1.510,10756,0.148,0.089,2749,993,2687,2614,2760,0,0,0,0,0,0,13.88,13.79,13.24
$GC,3977,0.75,145.9,2750,992,2609,2757,484.3,12.4,369,3985,0.00,2.58,0.00,0.000,1030,0.000,0.103,2749,2398,2682,2609,2756,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4310,0.66,145.9,2750,2398,2608,2756,440.7,13.3,385,4313,0.20,0.00,0.00,0.000,4102,0.306,0.000,2707,2398,2682,2608,2756,0,0,0,0,0,0,14.26,28.83,28.83
$GC,4609,0.67,161.6,2707,2399,2608,2757,407.1,11.1,395,4626,0.00,0.00,13.45,1.423,8198,0.000,0.000,2707,2398,2629,2548,2711,0,0,0,0,0,0,28.83,28.83,13.88
$GC,4909,0.68,170.2,2707,2399,2546,2702,372.9,11.4,405,4915,0.00,0.00,2.67,0.744,8198,0.000,0.000,2707,2397,2597,2514,2680,0,0,0,0,0,0,28.83,28.83,13.68
$GC,5209,0.68,178.0,2707,2398,2530,2697,338.6,11.5,415,5230,0.00,2.47,14.05,1.377,8708,0.000,0.090,2715,993,2558,2476,2641,0,0,0,0,0,0,28.83,14.49,13.97
$GC,5249,0.68,178.0,2715,992,2475,2635,333.9,12.1,422,5257,0.00,2.50,0.00,0.000,1030,0.000,0.104,2715,2400,2553,2472,2634,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5576,0.68,178.0,2716,2401,2469,2634,294.2,12.2,437,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2401,2552,2471,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5876,0.68,178.0,2716,2401,2471,2635,257.5,12.1,447,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2401,2552,2471,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6176,0.69,196.6,2715,2401,2467,2635,222.8,10.9,471,6201,0.00,0.00,16.23,1.237,8198,0.000,0.000,2715,2400,2479,2397,2562,0,0,0,0,0,0,28.83,28.83,14.07
$GC,6496,0.71,221.7,2715,2401,2396,2560,188.2,10.5,503,6522,0.00,0.00,21.48,1.152,8198,0.000,0.000,2715,2402,2382,2301,2463,0,0,0,0,0,0,28.83,28.83,14.02
$GC,6817,0.80,287.4,2715,2401,2293,2455,156.6,8.3,535,6886,0.10,2.40,57.38,1.070,10500,0.171,0.117,2760,3709,2104,2013,2195,0,0,0,0,0,0,14.59,14.26,13.84
$GC,6926,0.74,287.4,2760,3710,2009,2194,143.0,14.5,553,6934,0.17,2.22,0.00,0.000,5126,0.285,0.069,2733,2396,2099,2007,2192,0,0,0,0,0,0,14.26,14.37,28.83
$GC,7239,0.85,336.6,2733,2396,2003,2190,111.9,9.2,585,7294,0.00,2.50,43.75,0.995,8708,0.000,0.096,2741,996,1904,1806,2003,0,0,0,0,0,0,28.83,14.29,13.89
$GC,7333,1.00,375.1,2739,997,1801,1997,103.0,9.8,601,7376,0.22,2.55,34.83,0.972,11270,0.101,0.107,2827,2406,1760,1658,1862,0,0,0,0,0,0,14.40,14.33,13.81
$GC,7670,0.96,375.1,2827,2407,1635,1840,49.1,16.2,637,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2406,1737,1635,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,1.09,492.1,2827,2407,1631,1839,15.2,5.5,667,8034,0.00,2.40,52.47,0.220,8964,0.000,0.120,2827,3709,1282,1168,1397,0,0,0,0,0,0,28.83,14.44,14.40
$GC,8038,1.29,626.6,2827,3709,1170,1398,12.3,4.6,677,8107,0.22,2.20,61.88,0.211,11270,0.101,0.068,2923,2398,736,620,853,0,0,0,0,0,0,14.52,14.50,14.35
$STATE,8200,end climb,SURFACE_DEPTH_REACHED
$STATE,8200,begin surface coast
$FINISH,1.1,1.006149
$STATE,8220,end surface coast,CONTROL_FINISHED_OK
$STATE,8220,begin surface
$SM_CCo,8241,23.27,0.187,0,0,539,675.07
$SM_GC,2.03,8.48,0.30,23.27,0.116,0.145,0.187,179,2559,539,-7.19,-0.42,675.07,0,0,0,0,0,0,14.48,14.49,14.42
$RAFOS_CLK,793075
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14439.98,290714,133522
$TT8_MAMPS,0.041944,0.041944
$HUMID,46.77
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3926528
$TM_FREEKB,7662340
$24V_AH,12.88,16.967
$10V_AH,12.68,0.000
$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,22.700,64.525,579.600,23.275,0.000,0.000,0.000,395.175,0.000,0.000,36.555,0.000,5999.502,733.534,2092.214,76.316,0.000,1783.441,0.000,1038.395,0.000,0.532,0.000
$DEVICE_MAMPS,464.355,145.350,2210.850,187.425,0.000,0.000,0.000,188.190,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8244.000,8297.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.321,13.408,0.000,0.000
$MEM,303516
$DATA_FILE_SIZE,23419,699
$CAP_FILE_SIZE,119548,0
$CFSIZE,1047117824,1038336000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9377.38,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,8353,4258.898438,-8679.772461,1.057439,-0.037708,-0.196361,-0.006925,0.000137,0.001286,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.027,73.54,1
$GPS,290714,183755,7058.931,-14439.450,32,1.0,53,28.3