version: 66.12
glider: 197
mission: 6
dive: 28
start: 7 29 114 21 6 33
data:
$ID,197
$MISSION,6
$DIVE,28
$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,-6972.0386
$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,16
$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
$GPS1,290714,205556,7059.872,-14441.201,45,0.8,65,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.3
$GPS2,290714,210615,7059.862,-14441.231,14,0.8,34,28.3
$SPEED_LIMITS,0.206,0.244
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,296.8,78073,-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,-145.9,159,2551,474,620,0.0,0.0,0,83,0.00,0.00,-63.50,0.000,16386,0.000,0.000,157,2551,2145,2153,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.80,-145.9,158,2552,2154,2140,3.4,-3.0,6,134,11.12,2.15,-32.08,0.000,19204,0.468,0.145,2218,3714,3889,3865,3914,0,0,0,0,0,0,14.23,14.42,14.65
$GC,148,-0.52,-145.9,2218,3714,3866,3916,23.2,-29.3,16,157,0.43,1.95,0.00,0.000,3078,0.322,0.068,2314,2537,3890,3865,3916,0,0,0,0,0,0,14.31,14.48,28.83
$GC,453,-0.56,-145.9,2314,2538,3864,3922,73.5,-14.6,47,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2537,3893,3865,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,753,-0.64,-145.9,2315,2537,3865,3923,114.7,-12.8,77,763,0.00,2.38,0.00,0.000,516,0.000,0.087,2314,1143,3893,3865,3922,0,0,0,0,0,0,28.83,14.60,28.83
$GC,877,-0.75,-145.9,2314,1144,3866,3919,129.1,-10.9,101,887,0.20,2.53,0.00,0.000,5126,0.112,0.116,2233,2554,3893,3865,3922,0,0,0,0,0,0,14.64,14.59,28.83
$GC,1191,-0.75,-145.9,2233,2554,3864,3922,178.3,-14.4,133,1200,0.00,2.42,0.00,0.000,516,0.000,0.087,2233,1141,3893,3864,3922,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1209,-0.75,-145.9,2234,1141,3864,3922,180.9,-14.1,136,1218,0.00,2.53,0.00,0.000,1030,0.000,0.114,2223,2556,3893,3865,3922,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1514,-0.75,-145.9,2223,2557,3863,3923,224.4,-13.7,167,1522,0.00,2.42,0.00,0.000,516,0.000,0.089,2223,1144,3892,3862,3922,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1616,-0.77,-145.9,2223,1143,3858,3923,237.6,-12.4,187,1624,0.00,2.50,0.00,0.000,1030,0.000,0.115,2214,2546,3892,3862,3922,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1928,-0.77,-145.9,2214,2547,3860,3922,279.7,-13.5,205,1938,0.00,2.40,0.00,0.000,516,0.000,0.090,2214,1145,3890,3859,3921,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1997,-0.77,-145.9,2215,1145,3860,3922,288.8,-13.0,218,2005,0.15,2.50,0.00,0.000,3078,0.320,0.114,2237,2553,3891,3860,3922,0,0,0,0,0,0,14.55,14.66,28.83
$GC,2324,-0.82,-145.9,2237,2553,3860,3922,327.0,-11.6,233,2334,0.00,2.38,0.00,0.000,516,0.000,0.086,2237,1151,3886,3852,3921,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2414,-0.88,-145.9,2237,1152,3859,3922,337.3,-11.3,250,2423,0.00,2.47,0.00,0.000,1030,0.000,0.113,2229,2548,3889,3858,3920,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2719,-0.92,-145.9,2230,2550,3859,3922,373.7,-11.8,261,2729,0.12,2.40,0.00,0.000,4612,0.158,0.085,2173,1145,3889,3858,3921,0,0,0,0,0,0,14.73,14.71,28.83
$GC,2783,-0.89,-145.9,2174,1145,3858,3922,382.6,-14.1,273,2793,0.17,2.50,0.00,0.000,3078,0.320,0.115,2199,2552,3889,3858,3921,0,0,0,0,0,0,14.58,14.70,28.83
$GC,3116,-0.89,-145.9,2200,2553,3858,3921,426.7,-13.1,289,3126,0.00,2.38,0.00,0.000,516,0.000,0.086,2199,1150,3889,3857,3921,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3230,-0.89,-145.9,2199,1150,3858,3921,441.3,-12.7,311,3238,0.00,2.47,0.00,0.000,1030,0.000,0.113,2191,2552,3889,3857,3921,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3542,-0.89,-145.9,2191,2553,3859,3921,483.7,-13.5,323,3550,0.00,2.38,0.00,0.000,516,0.000,0.086,2191,1147,3892,3858,3926,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3634,-0.89,-145.9,2192,1149,3858,3921,495.7,-13.0,341,3644,0.00,2.50,0.00,0.000,1030,0.000,0.113,2180,2558,3889,3858,3920,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,3667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3667,begin apogee
$GC,3670,-0.16,0.0,2180,2403,3858,3921,500.4,-14.3,347,3822,0.98,0.00,138.38,2.260,10246,0.283,0.000,2432,2403,3294,3246,3343,0,0,0,0,1,0,14.59,28.83,12.87
$STATE,3825,end apogee,CONTROL_FINISHED_OK
$STATE,3825,begin climb
$GC,3826,0.80,145.9,2432,2403,3249,3347,505.6,0.0,352,3968,1.02,2.60,127.05,1.510,10756,0.151,0.086,2749,992,2686,2615,2758,0,0,0,0,0,0,13.87,13.78,13.24
$GC,4047,0.75,145.9,2749,992,2611,2755,489.6,12.6,389,4057,0.00,2.60,0.00,0.000,1030,0.000,0.100,2749,2407,2682,2610,2754,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4376,0.66,145.9,2749,2408,2608,2755,445.5,13.4,404,4379,0.20,0.00,0.00,0.000,4102,0.301,0.000,2707,2408,2680,2607,2754,0,0,0,0,0,0,14.25,28.83,28.83
$GC,4676,0.67,159.4,2707,2408,2608,2755,411.5,11.2,414,4695,0.00,2.35,10.98,1.403,8452,0.000,0.111,2706,3718,2635,2556,2714,0,0,0,0,0,0,28.83,14.40,13.85
$GC,4744,0.59,159.4,2707,3718,2553,2712,402.7,13.9,427,4752,0.00,2.22,0.00,0.000,1030,0.000,0.068,2714,2397,2632,2552,2712,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5072,0.57,160.1,2714,2397,2552,2712,363.5,11.9,442,5075,0.15,0.00,0.00,0.000,4102,0.298,0.000,2683,2395,2631,2551,2712,0,0,0,0,0,0,14.45,28.83,28.83
$GC,5372,0.63,192.6,2683,2395,2551,2712,332.8,10.1,452,5413,0.00,2.38,29.42,1.307,8452,0.000,0.113,2683,3717,2494,2411,2578,0,0,0,0,0,0,28.83,14.38,13.92
$GC,5461,0.63,192.6,2683,3717,2409,2574,322.0,12.8,468,5470,0.00,2.22,0.00,0.000,1030,0.000,0.069,2690,2396,2490,2408,2573,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5774,0.67,204.4,2690,2396,2405,2573,286.8,11.3,480,5781,0.00,0.00,3.85,1.034,8198,0.000,0.000,2690,2395,2457,2375,2540,0,0,0,0,0,0,28.83,28.83,13.69
$GC,6074,0.72,217.3,2690,2396,2401,2555,253.0,11.2,490,6096,0.00,0.00,18.73,1.218,8198,0.000,0.000,2690,2394,2405,2325,2486,0,0,0,0,0,0,28.83,28.83,14.03
$GC,6374,0.78,235.5,2694,2395,2310,2470,219.0,10.9,518,6403,0.15,2.40,15.73,1.173,10500,0.130,0.117,2759,3705,2318,2237,2400,0,0,0,0,0,0,14.57,14.45,14.01
$GC,6433,0.68,235.5,2759,3706,2235,2401,210.0,17.6,528,6440,0.25,2.20,0.00,0.000,5126,0.286,0.069,2713,2395,2316,2234,2398,0,0,0,0,0,0,14.34,14.47,28.83
$GC,6745,0.74,261.7,2713,2394,2233,2398,174.2,10.5,560,6775,0.00,2.45,22.25,1.098,8452,0.000,0.116,2712,3718,2216,2130,2303,0,0,0,0,0,0,28.83,14.40,14.00
$GC,6825,0.74,261.7,2713,3718,2124,2298,164.6,12.1,574,6832,0.00,2.22,0.00,0.000,1030,0.000,0.071,2717,2401,2209,2122,2296,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7137,0.84,314.2,2717,2400,2121,2296,133.4,9.0,606,7191,0.15,0.00,45.65,1.034,10246,0.130,0.000,2779,2399,1999,1904,2095,0,0,0,0,0,0,14.60,28.83,13.91
$GC,7486,0.84,314.2,2780,2399,1889,2088,88.6,12.0,641,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2399,1988,1889,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7787,0.88,331.8,2780,2399,1889,2083,54.5,10.9,671,7801,0.00,2.35,6.85,0.295,8452,0.000,0.117,2780,3715,1937,1836,2039,0,0,0,0,0,0,28.83,14.52,14.40
$GC,7856,0.86,343.7,2780,3715,1856,2041,46.7,11.3,684,7873,0.00,2.20,7.12,0.304,9222,0.000,0.073,2789,2398,1890,1790,1990,0,0,0,0,0,0,28.83,14.58,14.40
$GC,8178,0.99,428.1,2789,2399,1810,2003,18.9,7.3,717,8227,0.00,2.45,40.17,0.232,8708,0.000,0.097,2796,995,1543,1435,1651,0,0,0,0,0,0,28.83,14.52,14.46
$GC,8451,1.35,629.6,2800,996,1445,1652,11.8,0.9,769,8554,0.38,2.50,92.05,0.212,11270,0.083,0.108,2942,2401,720,609,832,0,0,0,0,0,0,14.62,14.57,14.40
$STATE,8628,end climb,SURFACE_DEPTH_REACHED
$STATE,8628,begin surface coast
$FINISH,1.0,1.011630
$STATE,8637,end surface coast,CONTROL_FINISHED_OK
$STATE,8637,begin surface
$SM_CCo,8658,21.35,0.187,0,0,537,675.07
$SM_GC,1.74,8.30,0.28,21.35,0.092,0.133,0.187,179,2556,537,-7.19,-0.62,675.07,0,0,0,0,0,0,14.52,14.52,14.45
$RAFOS_CLK,832780
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14445.36,290714,184127
$TT8_MAMPS,0.041944,0.041944
$HUMID,46.49
$INTERNAL_PRESSURE,8.63976
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3925632
$TM_FREEKB,7636948
$24V_AH,12.87,17.615
$10V_AH,12.71,0.000
$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,23.775,76.925,558.225,21.350,0.000,0.000,0.000,393.475,0.000,0.000,36.285,0.000,6201.050,750.765,2265.917,81.893,0.000,1866.660,0.000,1173.759,0.000,0.532,0.000
$DEVICE_MAMPS,468.180,145.350,2259.810,186.660,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8657.000,8705.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.709,13.413,0.000,0.000
$MEM,302688
$DATA_FILE_SIZE,26685,793
$CAP_FILE_SIZE,132070,0
$CFSIZE,1047117824,1037991936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,8280.26,0x2378b6,7,5
$INTR,1,8524.78,0x234484,1,24
$SOUNDSPEED,1450.3
$EKF,8745,4260.766602,-8683.463867,0.980387,0.180864,-0.154314,-0.048355,0.000132,0.001250,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.008,204.75,1
$GPS,290714,233215,7100.742,-14443.542,9,3.2,29,28.3