version: 66.12
glider: 197
mission: 6
dive: 29
start: 7 29 114 23 43 13
data:
$ID,197
$MISSION,6
$DIVE,29
$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,-6973.6602
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,290714,233215,7100.742,-14443.542,9,3.2,29,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-73.2
$GPS2,290714,234255,7100.755,-14443.445,25,1.1,45,28.3
$SPEED_LIMITS,0.206,0.244
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.5,75989,-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,17,-0.80,-145.9,167,2559,466,621,0.0,0.0,0,83,0.00,0.00,-62.88,0.000,16386,0.000,0.000,165,2558,2105,2105,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.80,-145.9,165,2559,2106,2106,3.0,-2.8,6,140,11.12,2.47,-34.17,0.000,18948,0.469,0.111,2227,1144,3886,3862,3911,0,0,0,0,0,0,14.23,14.42,14.65
$GC,330,-0.70,-145.9,2228,1142,3862,3917,60.8,-19.3,52,338,0.20,2.53,0.00,0.000,3078,0.326,0.110,2260,2554,3889,3862,3916,0,0,0,0,0,0,14.35,14.46,28.83
$GC,642,-0.70,-145.9,2260,2556,3863,3915,113.9,-15.7,84,650,0.00,2.05,0.00,0.000,260,0.000,0.122,2259,3712,3889,3862,3917,0,0,0,0,0,0,28.83,14.56,28.83
$GC,665,-0.68,-145.9,2254,3713,3866,3918,117.7,-16.5,88,672,0.00,1.92,0.00,0.000,1030,0.000,0.069,2253,2544,3890,3863,3918,0,0,0,0,0,0,28.83,14.59,28.83
$GC,976,-0.68,-145.9,2254,2546,3862,3918,165.1,-13.6,120,984,0.00,2.38,0.00,0.000,516,0.000,0.088,2254,1148,3889,3861,3917,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1121,-0.71,-145.9,2254,1147,3861,3917,171.2,-2.5,127,1132,0.00,2.50,0.00,0.000,1030,0.000,0.114,2244,2549,3889,3862,3917,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1426,-0.75,-145.9,2245,2550,3861,3924,211.1,-12.3,158,1434,0.00,2.05,0.00,0.000,260,0.000,0.122,2235,3711,3888,3860,3917,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1492,-0.75,-145.9,2236,3711,3860,3917,220.1,-13.9,171,1504,0.00,1.92,0.00,0.000,1030,0.000,0.070,2235,2553,3888,3860,3917,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1798,-0.78,-145.9,2236,2554,3860,3918,257.6,-12.1,198,1806,0.00,2.42,0.00,0.000,516,0.000,0.091,2236,1147,3888,3859,3917,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1855,-0.83,-145.9,2236,1146,3859,3917,264.6,-12.7,209,1864,0.00,2.53,0.00,0.000,1030,0.000,0.116,2229,2552,3888,3859,3917,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2161,-0.86,-145.9,2229,2556,3859,3918,301.9,-12.1,220,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2555,3887,3858,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2460,-0.89,-145.9,2229,2556,3858,3918,338.0,-12.0,230,2468,0.00,2.42,0.00,0.000,516,0.000,0.090,2229,1147,3887,3857,3917,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2507,-0.94,-145.9,2230,1146,3858,3918,343.6,-11.4,239,2517,0.00,2.53,0.00,0.000,1030,0.000,0.114,2222,2556,3887,3857,3917,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2827,-0.97,-145.9,2222,2557,3857,3918,382.7,-12.3,252,2830,0.15,0.00,0.00,0.000,4102,0.145,0.000,2165,2557,3885,3857,3913,0,0,0,0,0,0,14.68,28.83,28.83
$GC,3127,-0.91,-145.9,2166,2557,3856,3918,428.2,-15.3,262,3135,0.12,2.42,0.00,0.000,2564,0.324,0.087,2188,1147,3886,3856,3917,0,0,0,0,0,0,14.59,14.68,28.83
$GC,3183,-0.91,-145.9,2192,1146,3857,3917,436.2,-13.5,273,3193,0.00,2.50,0.00,0.000,1030,0.000,0.115,2190,2552,3888,3856,3921,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3489,-0.88,-145.9,2185,2553,3856,3917,478.7,-13.8,284,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2552,3886,3856,3916,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3668,begin apogee
$GC,3671,-0.16,0.0,2186,2399,3855,3917,503.7,-13.8,290,3798,0.95,0.00,122.32,1.483,10246,0.280,0.000,2433,2398,3291,3246,3337,0,0,0,0,0,0,14.59,28.83,13.45
$STATE,3800,end apogee,CONTROL_FINISHED_OK
$STATE,3801,begin climb
$GC,3802,0.80,145.9,2433,2399,3237,3330,507.4,0.0,294,3933,1.02,0.00,121.70,1.463,10758,0.154,0.000,2745,2398,2695,2624,2767,0,0,0,0,0,0,14.04,28.83,13.31
$GC,4209,0.72,145.9,2745,2399,2604,2754,464.4,13.2,313,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2398,2678,2603,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4509,0.64,145.9,2746,2402,2604,2753,425.4,12.9,323,4519,0.20,2.45,0.00,0.000,4612,0.302,0.094,2704,996,2678,2605,2752,0,0,0,0,0,0,14.40,14.47,28.83
$GC,4553,0.68,163.1,2705,995,2603,2753,420.6,11.0,331,4574,0.00,2.50,13.90,1.330,9222,0.000,0.103,2704,2402,2623,2545,2701,0,0,0,0,0,0,28.83,14.50,13.84
$GC,4878,0.68,175.0,2704,2402,2533,2695,383.7,11.3,345,4892,0.00,0.00,10.60,1.255,8198,0.000,0.000,2708,2402,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,13.92
$GC,5179,0.69,180.0,2705,2402,2484,2649,349.0,11.6,355,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2402,2566,2483,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5478,0.69,185.6,2705,2407,2484,2650,314.2,11.6,365,5485,0.00,0.00,4.00,0.988,8198,0.000,0.000,2708,2401,2534,2452,2616,0,0,0,0,0,0,28.83,28.83,13.93
$GC,5779,0.70,196.4,2704,2402,2470,2636,279.5,11.3,375,5799,0.00,0.00,16.45,1.229,8198,0.000,0.000,2704,2402,2491,2410,2573,0,0,0,0,0,0,28.83,28.83,14.04
$GC,6079,0.70,204.4,2704,2402,2398,2558,244.8,11.5,387,6089,0.00,2.53,2.12,0.368,8708,0.000,0.094,2704,992,2459,2380,2539,0,0,0,0,0,0,28.83,14.61,13.81
$GC,6133,0.76,210.8,2704,992,2392,2549,238.6,11.6,397,6155,0.00,2.47,11.98,1.250,9222,0.000,0.103,2704,2401,2423,2343,2503,0,0,0,0,0,0,28.83,14.61,14.03
$GC,6460,0.82,237.4,2704,2401,2339,2500,201.3,10.5,431,6487,0.15,0.00,23.08,1.151,10246,0.134,0.000,2767,2401,2323,2243,2403,0,0,0,0,0,0,14.63,28.83,13.98
$GC,6781,0.78,237.4,2767,2401,2224,2389,157.4,13.1,463,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2400,2305,2223,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7081,0.78,265.5,2767,2401,2223,2388,122.3,10.4,493,7114,0.00,0.00,24.12,1.058,8710,0.000,0.000,2767,2400,2197,2110,2284,0,0,0,0,0,0,28.83,28.83,14.03
$GC,7411,0.81,301.9,2766,2401,2102,2279,87.9,9.9,527,7435,0.00,0.00,14.85,0.432,8198,0.000,0.000,2767,2401,2058,1967,2150,0,0,0,0,0,0,28.83,28.83,14.31
$GC,7731,0.87,340.9,2768,2401,1988,2163,55.5,9.8,559,7756,0.00,0.00,19.62,0.335,8198,0.000,0.000,2767,2400,1900,1802,1998,0,0,0,0,0,0,28.83,28.83,14.37
$GC,8051,1.01,420.8,2767,2401,1817,2008,29.0,7.6,591,8095,0.15,0.00,37.38,0.259,10246,0.126,0.000,2827,2400,1574,1469,1680,0,0,0,0,0,0,14.59,28.83,14.44
$GC,8391,1.27,636.0,2827,2401,1479,1678,13.9,0.2,625,8502,0.20,2.47,97.85,0.218,11012,0.109,0.093,2921,997,696,580,812,0,0,0,0,0,0,14.58,14.46,14.40
$STATE,8595,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$FINISH,1.2,1.019062
$STATE,8615,end surface coast,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$SM_CCo,8638,18.27,0.188,0,0,538,675.07
$SM_GC,1.83,8.18,2.85,18.27,0.088,0.109,0.188,180,2553,538,-7.18,-0.54,675.07,0,0,0,0,0,0,14.52,14.50,14.45
$RAFOS_CLK,723411
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14436.17,290714,205933
$TT8_MAMPS,0.041944,0.041944
$HUMID,46.37
$INTERNAL_PRESSURE,8.64952
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3925184
$TM_FREEKB,7623544
$24V_AH,13.31,17.907
$10V_AH,12.84,0.000
$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,22.450,48.175,519.975,18.275,0.000,0.000,0.000,385.300,0.000,0.000,47.605,0.000,6382.362,679.216,2054.918,80.014,0.000,1670.884,0.000,991.729,1440.000,0.531,0.000
$DEVICE_MAMPS,468.945,122.400,1482.570,188.190,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8638.000,8690.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.661,13.392,0.000,0.000
$MEM,302272
$DATA_FILE_SIZE,23390,664
$CAP_FILE_SIZE,119781,0
$CFSIZE,1047117824,1037828096
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9399.91,0x2378b6,7,5
$INTR,1,3724.97,0x234484,2,24
$SOUNDSPEED,1449.0
$EKF,8680,4261.745117,-8685.165039,1.182690,0.025865,0.023842,0.011653,0.000156,0.001472,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.017,264.98,1
$GPS,300714,020750,7101.739,-14445.401,66,1.2,86,28.3