version: 66.12
glider: 197
mission: 6
dive: 20
start: 7 29 114 1 41 49
data:
$ID,197
$MISSION,6
$DIVE,20
$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,-6961.9639
$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,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
$GPS1,290714,013233,7054.705,-14431.088,11,1.3,31,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.5
$GPS2,290714,014132,7054.638,-14431.150,9,0.9,29,28.3
$SPEED_LIMITS,0.211,0.245
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,315.4,89401,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.81,-145.9,182,2553,475,631,0.0,0.0,0,83,0.00,0.00,-62.67,0.000,16386,0.000,0.000,181,2552,2117,2122,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.81,-145.9,182,2552,2124,2114,3.1,-2.7,6,140,11.12,2.50,-33.53,0.000,18948,0.474,0.109,2225,1145,3889,3865,3913,0,0,0,0,0,0,14.22,14.39,14.65
$GC,144,-0.58,-145.9,2220,1145,3866,3913,19.3,-20.9,15,154,0.38,2.55,0.00,0.000,3078,0.334,0.117,2295,2551,3889,3865,3913,0,0,0,0,0,0,14.27,14.41,28.83
$GC,449,-0.58,-145.9,2295,2552,3866,3918,75.3,-15.7,46,457,0.00,2.42,0.00,0.000,516,0.000,0.088,2295,1144,3891,3865,3917,0,0,0,0,0,0,28.83,14.50,28.83
$GC,566,-0.64,-145.9,2296,1144,3866,3917,92.2,-14.2,69,575,0.00,2.53,0.00,0.000,1030,0.000,0.116,2287,2552,3891,3865,3917,0,0,0,0,0,0,28.83,14.54,28.83
$GC,871,-0.70,-145.9,2288,2552,3865,3918,136.5,-13.3,100,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2552,3891,3865,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1171,-0.77,-145.9,2287,2553,3865,3918,175.5,-12.1,130,1179,0.15,2.42,0.00,0.000,4612,0.140,0.089,2231,1138,3890,3864,3917,0,0,0,0,0,0,14.66,14.63,28.83
$GC,1223,-0.77,-145.9,2231,1138,3864,3918,182.5,-13.9,140,1234,0.00,2.53,0.00,0.000,1030,0.000,0.117,2220,2551,3890,3864,3917,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1538,-0.77,-145.9,2221,2551,3862,3918,227.3,-13.8,172,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2551,3889,3862,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.77,-145.9,2220,2552,3860,3918,270.7,-13.5,194,1866,0.00,2.42,0.00,0.000,516,0.000,0.091,2218,1141,3888,3860,3917,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1935,-0.81,-145.9,2221,1140,3860,3918,280.6,-12.4,209,1942,0.00,2.53,0.00,0.000,1030,0.000,0.119,2212,2553,3888,3859,3917,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2251,-0.81,-145.9,2211,2554,3860,3918,323.5,-13.5,222,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2554,3888,3859,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2551,-0.81,-145.9,2212,2554,3859,3918,364.3,-13.4,232,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2554,3887,3858,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2851,-0.81,-145.9,2212,2554,3859,3917,403.8,-13.1,242,2859,0.00,2.42,0.00,0.000,516,0.000,0.091,2212,1139,3887,3858,3917,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2898,-0.84,-145.9,2212,1139,3859,3917,409.8,-12.7,251,2906,0.00,2.53,0.00,0.000,1030,0.000,0.117,2204,2558,3887,3858,3917,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,3004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3004,begin apogee
$GC,3007,-0.16,0.0,2207,2395,3858,3917,424.1,-13.3,257,3146,0.88,0.00,129.02,2.321,10246,0.277,0.000,2433,2393,3292,3246,3339,0,0,0,0,1,0,14.59,28.83,12.88
$STATE,3148,end apogee,CONTROL_FINISHED_OK
$STATE,3148,begin climb
$GC,3149,0.81,145.9,2433,2394,3247,3345,428.4,0.0,261,3289,1.05,0.00,127.03,1.385,10758,0.153,0.000,2748,2393,2692,2620,2765,0,0,0,0,0,0,13.87,28.83,13.29
$GC,3575,0.74,145.9,2746,2394,2608,2758,387.4,12.7,291,3584,0.00,2.47,0.00,0.000,516,0.000,0.093,2758,994,2683,2608,2758,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3623,0.69,145.9,2759,993,2608,2758,381.5,12.7,300,3633,0.20,2.55,0.00,0.000,5126,0.282,0.106,2714,2406,2682,2607,2757,0,0,0,0,0,0,14.24,14.33,28.83
$GC,3942,0.70,166.7,2715,2407,2607,2757,346.0,11.0,313,3963,0.00,0.00,18.05,1.275,8198,0.000,0.000,2715,2406,2613,2532,2695,0,0,0,0,0,0,28.83,28.83,13.86
$GC,4242,0.71,177.3,2715,2407,2516,2680,311.4,11.6,323,4249,0.00,0.00,3.58,0.903,8198,0.000,0.000,2714,2406,2568,2486,2651,0,0,0,0,0,0,28.83,28.83,13.76
$GC,4542,0.71,183.5,2715,2407,2502,2671,276.4,11.8,333,4557,0.00,0.00,12.27,1.222,8198,0.000,0.000,2715,2403,2544,2461,2628,0,0,0,0,0,0,28.83,28.83,14.00
$GC,4842,0.72,191.4,2715,2407,2451,2615,241.1,11.7,347,4847,0.00,0.00,2.25,0.448,8198,0.000,0.000,2715,2406,2511,2430,2593,0,0,0,0,0,0,28.83,28.83,13.89
$GC,5142,0.73,214.3,2715,2407,2446,2612,207.4,10.9,377,5176,0.00,2.50,26.85,1.147,8708,0.000,0.093,2717,990,2409,2330,2489,0,0,0,0,0,0,28.83,14.42,13.99
$GC,5211,0.81,232.2,2717,990,2327,2481,200.0,11.2,389,5240,0.12,2.53,16.17,1.073,11270,0.145,0.106,2769,2400,2333,2252,2415,0,0,0,0,0,0,14.49,14.45,13.90
$GC,5534,0.80,251.5,2770,2401,2244,2411,158.4,11.1,423,5560,0.00,0.00,16.75,1.038,8198,0.000,0.000,2769,2400,2255,2170,2341,0,0,0,0,0,0,28.83,28.83,13.99
$GC,5855,0.82,282.0,2769,2401,2161,2335,122.2,10.5,455,5890,0.00,2.42,27.33,0.998,8708,0.000,0.093,2772,993,2131,2043,2220,0,0,0,0,0,0,28.83,14.39,13.98
$GC,5954,0.88,305.2,2773,993,2036,2210,111.6,10.9,473,5984,0.00,2.55,21.10,0.968,9222,0.000,0.106,2773,2404,2040,1945,2135,0,0,0,0,0,0,28.83,14.43,13.93
$GC,6278,0.93,323.2,2773,2405,1925,2124,74.8,11.2,507,6292,0.00,0.00,6.43,0.326,8198,0.000,0.000,2773,2404,1971,1871,2072,0,0,0,0,0,0,28.83,28.83,14.29
$GC,6588,1.04,400.0,2773,2404,1898,2089,43.7,7.9,538,6633,0.17,2.55,38.17,0.303,10756,0.122,0.096,2851,994,1659,1556,1763,0,0,0,0,0,0,14.59,14.45,14.37
$GC,6652,1.07,433.0,2851,994,1561,1764,37.4,10.3,546,6675,0.00,2.53,16.33,0.291,9222,0.000,0.107,2851,2404,1523,1416,1631,0,0,0,0,0,0,28.83,14.48,14.35
$GC,6979,1.31,638.2,2850,2405,1435,1632,14.0,0.7,580,7082,0.17,2.40,95.53,0.219,10500,0.118,0.119,2926,3715,686,568,805,0,0,0,0,0,0,14.55,14.42,14.38
$STATE,7165,end climb,SURFACE_DEPTH_REACHED
$STATE,7166,begin surface coast
$FINISH,1.1,1.019357
$STATE,7176,end surface coast,CONTROL_FINISHED_OK
$STATE,7176,begin surface
$SM_CCo,7198,17.55,0.190,0,0,539,675.07
$SM_GC,2.77,8.35,2.00,17.55,0.103,0.074,0.190,181,2549,539,-7.18,1.10,675.07,0,0,0,0,0,0,14.48,14.52,14.43
$RAFOS_CLK,692667
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14425.45,280714,232537
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.06
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3929216
$TM_FREEKB,7739284
$24V_AH,12.88,15.041
$10V_AH,13.07,0.000
$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,22.600,49.625,556.850,17.550,0.000,0.000,0.000,323.550,0.000,0.000,31.753,0.000,5178.966,686.499,1827.096,63.079,0.000,1582.683,0.000,916.747,0.000,0.532,0.000
$DEVICE_MAMPS,473.535,118.575,2321.010,189.720,0.000,0.000,0.000,194.310,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7195.000,7239.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.338,13.392,0.000,0.000
$MEM,306164
$DATA_FILE_SIZE,20074,614
$CAP_FILE_SIZE,107966,0
$CFSIZE,1047117824,1039384576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7844.69,0x2378b6,7,5
$SOUNDSPEED,1447.7
$EKF,7299,4255.510742,-8672.032227,1.038746,0.037707,-0.263339,-0.058753,0.000114,0.001069,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.087,178.24,1
$GPS,290714,034325,7055.170,-14432.055,27,0.9,48,28.3