version: 66.12
glider: 197
mission: 6
dive: 18
start: 7 28 114 21 18 32
data:
$ID,197
$MISSION,6
$DIVE,18
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,480
$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,115
$T_MISSION,145
$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,-6959.4429
$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,26
$R_STBD_OVSHOOT,13
$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
$GPS1,280714,210914,7055.485,-14429.144,7,1.8,28,28.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.6
$GPS2,280714,211815,7055.444,-14429.014,14,1.4,34,28.4
$SPEED_LIMITS,0.211,0.245
$TGT_NAME,3
$TGT_LATLONG,7053.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,164.8,4566,-22.7,-12.174,-26.38,1847
$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,17,-0.81,-145.9,164,2552,475,626,0.0,0.0,0,83,0.00,0.00,-63.22,0.000,16386,0.000,0.000,162,2552,2155,2159,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.81,-145.9,163,2552,2160,2152,3.6,-3.5,6,140,11.15,2.15,-31.52,0.000,19204,0.470,0.149,2215,3718,3889,3867,3911,0,0,0,0,0,0,14.21,14.39,14.64
$GC,364,-0.67,-145.9,2219,3719,3866,3915,77.1,-22.8,59,374,0.17,2.00,0.00,0.000,3078,0.295,0.078,2270,2554,3890,3865,3915,0,0,0,0,0,0,14.36,14.52,28.83
$GC,670,-0.69,-145.9,2271,2554,3866,3917,127.6,-15.7,90,678,0.00,2.08,0.00,0.000,260,0.000,0.129,2264,3728,3890,3865,3916,0,0,0,0,0,0,28.83,14.50,28.83
$GC,902,-0.71,-145.9,2265,3729,3866,3917,164.7,-15.5,136,910,0.00,1.98,0.00,0.000,1030,0.000,0.079,2264,2547,3890,3865,3916,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1214,-0.78,-145.9,2265,2546,3866,3916,205.5,-12.0,168,1221,0.00,2.08,0.00,0.000,260,0.000,0.131,2258,3715,3890,3865,3916,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1390,-0.84,-145.9,2258,3716,3864,3912,227.7,-12.4,203,1400,0.12,2.00,0.00,0.000,5126,0.152,0.080,2210,2549,3890,3864,3916,0,0,0,0,0,0,14.60,14.60,28.83
$GC,1705,-0.84,-145.9,2211,2550,3863,3916,271.0,-13.7,225,1715,0.00,2.42,0.00,0.000,516,0.000,0.096,2210,1144,3889,3862,3916,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1789,-0.86,-145.9,2210,1145,3862,3916,282.0,-12.9,241,1799,0.00,2.55,0.00,0.000,1030,0.000,0.124,2203,2557,3889,3862,3916,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2103,-0.86,-145.9,2203,2557,3861,3916,325.3,-13.6,253,2113,0.00,2.45,0.00,0.000,516,0.000,0.093,2203,1134,3888,3860,3916,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2157,-0.88,-145.9,2203,1134,3860,3916,332.8,-13.0,263,2165,0.00,2.55,0.00,0.000,1030,0.000,0.122,2197,2548,3888,3860,3916,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2469,-0.88,-145.9,2201,2551,3860,3917,375.7,-13.8,275,2477,0.00,2.40,0.00,0.000,516,0.000,0.092,2197,1144,3887,3859,3916,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2501,-0.88,-145.9,2198,1143,3860,3916,380.1,-13.6,281,2511,0.00,2.53,0.00,0.000,1030,0.000,0.122,2190,2553,3888,3860,3916,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,2804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2804,begin apogee
$GC,2807,-0.16,0.0,2191,2401,3860,3916,423.1,-14.1,296,2945,0.95,0.00,128.65,2.258,10246,0.282,0.000,2438,2400,3291,3245,3338,0,0,0,0,1,0,14.58,28.83,12.92
$STATE,2948,end apogee,CONTROL_FINISHED_OK
$STATE,2948,begin climb
$GC,2949,0.81,145.9,2439,2400,3246,3347,427.6,0.0,300,3094,1.00,2.60,128.27,1.364,10756,0.148,0.091,2747,990,2685,2614,2757,0,0,0,0,0,0,13.88,13.81,13.30
$GC,3108,0.79,191.7,2745,991,2611,2755,421.8,9.6,323,3155,0.00,2.65,39.67,1.313,9222,0.000,0.105,2747,2404,2506,2424,2589,0,0,0,0,0,0,28.83,13.90,13.31
$GC,3464,0.74,191.7,2748,2405,2411,2574,372.3,14.3,342,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2404,2491,2410,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3764,0.69,191.7,2748,2405,2410,2573,329.9,14.2,352,3772,0.15,2.47,0.00,0.000,4612,0.306,0.096,2717,996,2491,2410,2573,0,0,0,0,0,0,14.35,14.45,28.83
$GC,3801,0.73,191.7,2718,996,2410,2573,325.1,12.2,359,3810,0.00,2.53,0.00,0.000,1030,0.000,0.107,2717,2403,2491,2410,2573,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4129,0.73,191.7,2718,2405,2411,2573,284.6,12.3,374,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2404,2491,2410,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,0.73,191.8,2717,2404,2410,2573,247.8,12.2,384,4437,0.00,2.45,0.00,0.000,516,0.000,0.095,2717,996,2491,2410,2573,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4456,0.77,213.8,2718,996,2410,2573,244.7,10.9,389,4481,0.00,2.50,18.55,1.145,9222,0.000,0.107,2717,2405,2419,2339,2499,0,0,0,0,0,0,28.83,14.56,14.01
$GC,4775,0.80,217.8,2718,2406,2324,2482,206.2,12.0,422,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2405,2402,2323,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,0.87,264.3,2718,2406,2324,2482,174.5,9.6,452,5129,0.17,0.00,44.25,1.065,10246,0.121,0.000,2786,2406,2201,2116,2286,0,0,0,0,0,0,14.63,28.83,13.90
$GC,5425,0.84,267.9,2787,2406,2106,2281,129.4,12.0,487,5433,0.00,2.33,0.00,0.000,260,0.000,0.119,2786,3716,2193,2106,2281,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5442,0.78,267.9,2787,3717,2106,2281,127.2,13.3,490,5451,0.22,2.22,0.00,0.000,5126,0.290,0.070,2747,2393,2192,2105,2280,0,0,0,0,0,0,14.40,14.54,28.83
$GC,5747,0.88,326.6,2747,2391,2106,2281,97.8,8.9,521,5781,0.00,0.00,27.65,0.474,8198,0.000,0.000,2747,2390,1960,1863,2057,0,0,0,0,0,0,28.83,28.83,14.27
$GC,6077,1.00,375.7,2747,2391,1879,2075,64.6,9.4,554,6107,0.17,0.00,24.90,0.363,10502,0.118,0.000,2819,2389,1760,1662,1858,0,0,0,0,0,0,14.60,28.83,14.35
$GC,6401,1.04,403.2,2820,2389,1683,1862,26.5,10.6,588,6423,0.00,2.42,14.60,0.250,8708,0.000,0.096,2826,1000,1645,1544,1747,0,0,0,0,0,0,28.83,14.55,14.45
$GC,6488,1.15,461.0,2826,1000,1559,1747,18.3,9.0,604,6523,0.10,2.50,27.90,0.226,11270,0.168,0.110,2872,2400,1410,1298,1523,0,0,0,0,0,0,14.55,14.52,14.45
$FREEZE,10.14,4.806,-1.378,0,1,0
$STATE,6816,end climb,NO_VERTICAL_VELOCITY
$STATE,6816,begin surface
$SM_CCo,6821,104.70,0.202,0,0,497,684.88
$SM_GC,2.08,8.35,0.28,0.00,0.121,0.135,0.000,182,2556,502,-7.19,-0.65,684.63,0,0,0,0,0,0,14.53,14.55,28.83
$RAFOS_CLK,678335
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,280714,190908
$TT8_MAMPS,0.043442,0.043442
$HUMID,46.85
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3930112
$TM_FREEKB,7761872
$24V_AH,12.92,14.457
$10V_AH,13.16,0.000
$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,22.575,52.375,454.450,104.700,0.000,0.000,0.000,329.150,0.000,0.000,36.825,0.000,4979.499,696.065,1870.292,61.566,0.000,1604.686,0.000,951.727,0.000,0.531,0.000
$DEVICE_MAMPS,469.710,149.175,2257.515,201.960,0.000,0.000,0.000,188.190,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6832.000,6870.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.693,13.392,0.000,0.000
$MEM,306972
$DATA_FILE_SIZE,20087,639
$CAP_FILE_SIZE,108138,0
$CFSIZE,1047117824,1039695872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7381.27,0x2378b6,7,5
$SOUNDSPEED,1447.4
$EKF,7160,4254.713867,-8670.000000,10.139345,-0.017504,0.034799,-0.007513,0.000095,0.000888,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.082,160.08,1
$GPS,280714,231749,7054.413,-14429.650,38,1.2,59,28.3