version: 66.12
glider: 197
mission: 6
dive: 21
start: 7 29 114 3 53 14
data:
$ID,197
$MISSION,6
$DIVE,21
$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,-6963.2251
$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,31
$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
$GPS1,290714,034325,7055.170,-14432.055,27,0.9,48,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-73.8
$GPS2,290714,035257,7055.151,-14432.132,11,1.0,31,28.3
$SPEED_LIMITS,0.211,0.245
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,310.6,88291,-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,-145.9,181,2546,468,630,0.0,0.0,0,84,0.00,0.00,-63.53,0.000,16386,0.000,0.000,180,2546,2165,2173,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.81,-145.9,181,2547,2174,2159,3.7,-3.9,6,136,10.95,2.17,-31.52,0.000,19204,0.467,0.151,2212,3714,3889,3866,3912,0,0,0,0,0,0,14.21,14.41,14.64
$GC,225,-0.60,-145.9,2213,3714,3868,3916,44.3,-29.0,31,235,0.35,1.98,0.00,0.000,3078,0.318,0.072,2291,2531,3893,3867,3919,0,0,0,0,0,0,14.34,14.50,28.83
$GC,578,-0.63,-145.9,2291,2532,3868,3919,98.1,-15.8,63,587,0.00,2.40,0.00,0.000,516,0.000,0.090,2291,1141,3892,3866,3919,0,0,0,0,0,0,28.83,14.52,28.83
$GC,672,-0.70,-145.9,2297,1141,3867,3920,111.8,-14.3,81,679,0.00,2.55,0.00,0.000,1030,0.000,0.118,2288,2551,3893,3867,3919,0,0,0,0,0,0,28.83,14.50,28.83
$GC,983,-0.76,-145.9,2288,2551,3867,3919,156.4,-12.9,113,992,0.15,2.42,0.00,0.000,4612,0.138,0.088,2232,1144,3892,3866,3919,0,0,0,0,0,0,14.55,14.53,28.83
$GC,1016,-0.76,-145.9,2233,1143,3867,3920,161.4,-15.3,119,1026,0.00,2.55,0.00,0.000,1030,0.000,0.117,2222,2551,3892,3866,3919,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1329,-0.76,-145.9,2223,2555,3866,3918,209.7,-14.2,151,1339,0.00,2.45,0.00,0.000,516,0.000,0.090,2222,1141,3891,3865,3918,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1438,-0.76,-145.9,2225,1141,3866,3919,224.7,-13.3,172,1448,0.12,2.55,0.00,0.000,3078,0.333,0.117,2237,2554,3892,3865,3919,0,0,0,0,0,0,14.40,14.51,28.83
$GC,1764,-0.81,-145.9,2237,2554,3865,3920,265.0,-12.4,197,1771,0.00,2.42,0.00,0.000,516,0.000,0.087,2237,1145,3891,3864,3919,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1871,-0.88,-145.9,2238,1141,3864,3919,277.8,-11.3,218,1878,0.00,2.53,0.00,0.000,1030,0.000,0.116,2229,2549,3891,3863,3919,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2187,-0.92,-145.9,2230,2550,3863,3919,316.9,-12.2,231,2197,0.00,2.42,0.00,0.000,516,0.000,0.087,2230,1138,3890,3862,3918,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2271,-0.97,-145.9,2230,1137,3862,3919,326.9,-12.2,247,2281,0.12,2.53,0.00,0.000,5126,0.145,0.114,2171,2555,3890,3861,3919,0,0,0,0,0,0,14.66,14.62,28.83
$GC,2585,-0.93,-145.9,2171,2554,3861,3920,374.0,-15.2,259,2595,0.00,2.40,0.00,0.000,516,0.000,0.089,2169,1145,3889,3860,3919,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2714,-0.90,-145.9,2171,1145,3861,3919,393.3,-15.0,284,2722,0.17,2.50,0.00,0.000,3078,0.333,0.116,2198,2545,3889,3860,3918,0,0,0,0,0,0,14.54,14.65,28.83
$STATE,2920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2921,begin apogee
$GC,2924,-0.16,0.0,2198,2404,3860,3919,421.6,-13.5,295,3078,0.90,0.00,138.77,2.202,10246,0.275,0.000,2434,2403,3296,3246,3346,0,0,0,0,1,0,14.57,28.83,12.88
$STATE,3081,end apogee,CONTROL_FINISHED_OK
$STATE,3081,begin climb
$GC,3082,0.81,145.9,2434,2404,3247,3349,427.0,0.0,300,3225,1.05,2.60,128.48,1.379,10756,0.151,0.087,2754,988,2685,2612,2759,0,0,0,0,0,0,13.89,13.80,13.28
$GC,3304,0.76,145.9,2759,988,2607,2754,412.3,12.5,337,3312,0.00,2.60,0.00,0.000,1030,0.000,0.103,2758,2400,2679,2605,2754,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3632,0.67,145.9,2759,2400,2604,2754,368.5,13.5,352,3635,0.22,0.00,0.00,0.000,4102,0.297,0.000,2705,2400,2676,2603,2750,0,0,0,0,0,0,14.24,28.83,28.83
$GC,3931,0.68,168.3,2709,2401,2603,2755,335.4,10.9,362,3953,0.00,0.00,18.75,1.245,8198,0.000,0.000,2709,2400,2608,2527,2689,0,0,0,0,0,0,28.83,28.83,13.87
$GC,4232,0.69,179.2,2710,2400,2506,2676,301.0,11.6,372,4238,0.00,0.00,3.15,0.792,8198,0.000,0.000,2709,2400,2561,2477,2646,0,0,0,0,0,0,28.83,28.83,13.81
$GC,4532,0.70,196.6,2709,2401,2494,2665,266.8,11.2,382,4558,0.00,0.00,22.88,1.187,8198,0.000,0.000,2709,2400,2488,2405,2572,0,0,0,0,0,0,28.83,28.83,13.96
$GC,4832,0.73,209.1,2709,2401,2392,2557,231.9,11.5,402,4846,0.00,0.00,4.22,0.974,8198,0.000,0.000,2709,2400,2442,2361,2523,0,0,0,0,0,0,28.83,28.83,13.97
$GC,5142,0.78,229.9,2709,2401,2383,2538,197.4,11.0,433,5178,0.12,0.00,25.98,1.109,10246,0.148,0.000,2759,2400,2342,2261,2423,0,0,0,0,0,0,14.57,28.83,13.97
$GC,5472,0.79,247.0,2759,2401,2254,2420,157.2,11.2,466,5495,0.00,2.47,14.30,1.037,8708,0.000,0.090,2769,995,2275,2193,2358,0,0,0,0,0,0,28.83,14.46,14.00
$GC,5529,0.83,271.3,2770,995,2186,2351,150.8,10.8,476,5559,0.00,2.53,22.67,1.027,9222,0.000,0.106,2769,2406,2181,2092,2270,0,0,0,0,0,0,28.83,14.42,13.90
$GC,5853,0.85,290.8,2770,2406,2065,2256,112.6,11.1,510,5879,0.00,0.00,16.42,0.984,8198,0.000,0.000,2769,2406,2092,1998,2187,0,0,0,0,0,0,28.83,28.83,14.00
$GC,6174,0.90,321.6,2770,2406,1990,2180,78.2,10.5,542,6191,0.00,2.40,11.82,0.394,8452,0.000,0.119,2769,3710,1982,1882,2082,0,0,0,0,0,0,28.83,14.52,14.32
$GC,6215,0.87,321.6,2770,3711,1896,2083,73.1,12.7,549,6224,0.00,2.20,0.00,0.000,1030,0.000,0.071,2769,2398,1990,1896,2084,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6521,1.00,402.0,2770,2398,1905,2094,42.9,7.7,580,6569,0.12,2.45,39.45,0.299,10756,0.144,0.093,2835,993,1650,1545,1755,0,0,0,0,0,0,14.56,14.50,14.33
$GC,6643,1.03,407.0,2836,993,1560,1756,30.1,11.9,602,6660,0.00,2.50,3.45,0.256,9222,0.000,0.107,2835,2401,1630,1527,1734,0,0,0,0,0,0,28.83,14.50,14.41
$GC,6954,1.30,618.7,2836,2401,1550,1736,13.7,0.4,634,6989,0.20,0.00,30.88,0.221,10498,0.111,0.000,2920,2401,1371,1261,1482,0,0,0,0,0,0,14.62,28.83,28.83
$FREEZE,13.39,2.547,-1.464,0,1,0
$STATE,6989,end climb,NO_VERTICAL_VELOCITY
$STATE,6989,begin surface
$SM_CCo,6993,98.45,0.216,0,0,497,684.88
$SM_GC,2.16,8.60,0.28,0.00,0.132,0.133,0.000,185,2555,498,-7.17,-0.62,685.37,0,0,0,0,0,0,14.50,14.53,28.83
$RAFOS_CLK,656796
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,290714,013551
$TT8_MAMPS,0.041944,0.041944
$HUMID,46.41
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3928768
$TM_FREEKB,7728344
$24V_AH,12.88,15.357
$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,23.100,54.125,481.225,98.450,0.000,0.000,0.000,355.575,0.000,0.000,34.086,0.000,5050.415,735.634,1922.633,66.418,0.000,1676.160,0.000,952.827,1498.000,0.532,0.000
$DEVICE_MAMPS,467.415,150.705,2201.670,216.495,0.000,0.000,0.000,182.835,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7009.000,7049.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.013,13.371,0.000,0.000
$MEM,305728
$DATA_FILE_SIZE,20082,639
$CAP_FILE_SIZE,112053,0
$CFSIZE,1047117824,1039220736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7884.25,0x2378b6,7,5
$SOUNDSPEED,1447.6
$EKF,7292,4255.947754,-8673.250977,13.405837,-0.000121,-0.000257,-0.045839,0.000101,0.000945,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.070,168.21,1
$GPS,290714,055443,7055.676,-14433.077,34,0.8,54,28.3