version: 66.12
glider: 197
mission: 6
dive: 32
start: 7 30 114 9 54 15
data:
$ID,197
$MISSION,6
$DIVE,32
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$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,215
$T_MISSION,250
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6977.4409
$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,35
$R_STBD_OVSHOOT,25
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,640
$ALTIM_PING_DELTA,20
$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
$GPS1,300714,094044,7104.651,-14451.679,41,0.9,62,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-73.2
$GPS2,300714,095357,7104.622,-14452.038,13,1.0,33,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,306.6,67269,-21.8,-11.628,-25.61,1935
$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,-0.78,-145.9,177,2561,400,610,0.0,0.0,0,73,0.00,0.00,-53.12,0.000,16386,0.000,0.000,176,2561,1845,1856,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.78,-145.9,177,2561,1857,1836,3.1,-2.6,5,134,11.00,2.10,-42.38,0.000,18692,0.464,0.140,2225,3704,3889,3866,3912,0,0,0,0,0,0,14.21,14.41,14.64
$GC,358,-0.63,-145.9,2225,3705,3868,3919,73.2,-22.6,58,367,0.20,1.95,0.00,0.000,3078,0.293,0.068,2287,2554,3892,3866,3918,0,0,0,0,0,0,14.39,14.54,28.83
$GC,664,-0.66,-145.9,2287,2554,3867,3921,120.2,-14.3,89,671,0.00,2.03,0.00,0.000,260,0.000,0.121,2281,3703,3893,3866,3921,0,0,0,0,0,0,28.83,14.55,28.83
$GC,725,-0.66,-145.9,2282,3704,3866,3920,129.4,-14.4,101,733,0.00,1.90,0.00,0.000,1030,0.000,0.070,2281,2551,3893,3866,3920,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1038,-0.73,-145.9,2282,2553,3867,3921,170.8,-12.0,133,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2551,3893,3866,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1337,-0.81,-145.9,2282,2551,3867,3921,204.2,-10.3,163,1340,0.15,0.00,0.00,0.000,4102,0.136,0.000,2226,2550,3892,3865,3920,0,0,0,0,0,0,14.66,28.83,28.83
$GC,1637,-0.81,-145.9,2228,2551,3864,3920,243.5,-13.0,193,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2550,3892,3864,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1937,-0.81,-145.9,2226,2551,3864,3921,281.5,-12.5,207,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2550,3891,3863,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-0.81,-145.9,2226,2551,3862,3920,320.0,-12.7,217,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2550,3890,3861,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2537,-0.81,-145.9,2226,2551,3861,3920,356.6,-12.1,227,2545,0.00,2.40,0.00,0.000,516,0.000,0.091,2226,1138,3890,3860,3920,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2599,-0.84,-145.9,2222,1138,3860,3920,364.1,-12.1,239,2607,0.00,2.50,0.00,0.000,1030,0.000,0.114,2217,2549,3890,3860,3920,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2931,-0.84,-145.9,2218,2550,3859,3920,405.7,-12.6,255,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2549,3890,3860,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3231,-0.84,-145.9,2218,2549,3860,3920,442.5,-12.2,265,3239,0.00,2.40,0.00,0.000,516,0.000,0.090,2217,1140,3889,3858,3920,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3283,-0.88,-145.9,2218,1139,3860,3920,448.8,-11.7,275,3291,0.00,2.50,0.00,0.000,1030,0.000,0.114,2212,2551,3889,3859,3919,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3595,-0.88,-145.9,2213,2552,3860,3920,487.3,-12.3,287,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2551,3889,3859,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3895,-0.88,-145.9,2213,2551,3861,3920,524.4,-12.3,297,3902,0.00,2.40,0.00,0.000,516,0.000,0.090,2212,1138,3889,3859,3919,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3957,-0.90,-145.9,2213,1139,3860,3919,531.8,-11.8,309,3964,0.00,2.50,0.00,0.000,1030,0.000,0.115,2208,2553,3889,3859,3920,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4289,-0.90,-145.9,2208,2554,3860,3920,572.6,-12.3,325,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2553,3889,3859,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.90,-145.9,2208,2554,3859,3920,609.7,-12.5,335,4597,0.00,2.38,0.00,0.000,516,0.000,0.087,2208,1147,3889,3859,3920,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4666,-0.93,-145.9,2208,1147,3860,3920,619.0,-11.7,350,4674,0.00,2.47,0.00,0.000,1030,0.000,0.116,2204,2550,3889,3859,3919,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4983,-0.93,-145.9,2204,2551,3859,3920,658.3,-12.4,363,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2550,3889,3859,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5283,-0.93,-145.9,2205,2551,3859,3920,694.8,-12.0,373,5291,0.00,2.38,0.00,0.000,516,0.000,0.088,2203,1147,3889,3859,3919,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5356,-0.95,-145.9,2204,1147,3859,3920,703.4,-11.4,387,5364,0.00,2.47,0.00,0.000,1030,0.000,0.116,2204,2550,3887,3859,3916,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5679,-0.95,-145.9,2203,2551,3859,3920,742.8,-12.4,401,5687,0.00,2.38,0.00,0.000,516,0.000,0.086,2203,1145,3889,3859,3919,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5726,-0.97,-145.9,2204,1145,3859,3920,748.8,-11.6,410,5734,0.00,2.50,0.00,0.000,1030,0.000,0.115,2200,2557,3888,3858,3918,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5739,-0.16,0.0,2204,2403,3860,3920,750.1,-12.2,412,5871,0.88,0.00,126.43,1.782,10246,0.275,0.000,2433,2402,3290,3246,3335,0,0,0,0,0,0,14.64,28.83,13.28
$STATE,5874,end apogee,CONTROL_FINISHED_OK
$STATE,5874,begin climb
$GC,5875,0.78,145.9,2434,2402,3235,3328,753.9,0.0,416,6018,1.00,2.65,124.00,1.775,10756,0.147,0.088,2746,993,2684,2614,2755,0,0,0,0,0,0,13.98,13.78,13.12
$GC,6022,0.67,146.7,2746,993,2611,2754,744.8,11.6,438,6030,0.17,2.62,0.00,0.000,5126,0.276,0.099,2710,2401,2681,2609,2753,0,0,0,0,0,0,13.78,13.87,28.83
$GC,6335,0.62,146.7,2710,2402,2603,2754,708.0,11.7,450,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2401,2678,2603,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,0.58,150.8,2710,2402,2602,2753,673.6,11.4,460,6645,0.12,2.45,0.00,0.000,4612,0.311,0.088,2688,994,2677,2602,2753,0,0,0,0,0,0,14.40,14.50,28.83
$GC,6669,0.62,174.2,2689,995,2606,2753,669.8,10.4,466,6701,0.00,2.50,24.45,1.631,9222,0.000,0.103,2690,2401,2574,2492,2656,0,0,0,0,0,0,28.83,14.49,13.66
$GC,7005,0.62,178.4,2688,2402,2480,2644,632.0,11.4,482,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2401,2562,2479,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,0.62,178.4,2689,2402,2479,2646,597.3,11.7,492,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2401,2561,2478,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,0.76,380.1,2689,2401,2478,2645,564.3,0.9,502,8502,0.12,2.58,179.45,1.499,10756,0.148,0.090,2754,1000,1726,1627,1825,0,0,0,0,0,0,14.63,13.86,13.30
$GC,8531,0.76,380.1,2755,999,1622,1813,526.0,19.7,539,8539,0.00,2.60,0.00,0.000,1030,0.000,0.102,2754,2402,1716,1620,1812,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8858,0.72,380.1,2755,2403,1609,1813,459.0,20.5,554,8866,0.00,2.47,0.00,0.000,516,0.000,0.092,2753,999,1710,1609,1812,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8880,0.70,380.1,2754,998,1610,1813,454.6,20.1,558,8888,0.15,2.53,0.00,0.000,5126,0.284,0.102,2723,2403,1710,1608,1812,0,0,0,0,0,0,14.26,14.34,28.83
$GC,9192,0.70,380.1,2724,2405,1608,1808,399.9,17.4,570,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2403,1709,1606,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9492,0.72,380.1,2724,2404,1602,1813,348.0,17.2,580,9501,0.00,2.45,0.00,0.000,516,0.000,0.092,2732,991,1708,1605,1812,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9520,0.76,380.1,2732,992,1606,1812,343.1,17.2,585,9529,0.00,2.50,0.00,0.000,1030,0.000,0.103,2732,2404,1708,1605,1812,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9826,0.76,380.1,2733,2404,1606,1812,288.7,17.8,596,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2404,1708,1605,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10126,0.76,380.1,2732,2405,1606,1812,236.6,17.0,610,10133,0.00,2.42,0.00,0.000,516,0.000,0.092,2741,997,1708,1605,1811,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10152,0.79,380.1,2741,997,1606,1813,231.9,17.2,615,10161,0.00,2.47,0.00,0.000,1030,0.000,0.103,2741,2406,1706,1602,1811,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10458,0.82,380.1,2742,2406,1606,1812,180.9,15.7,646,10466,0.00,2.42,0.00,0.000,516,0.000,0.091,2749,997,1708,1605,1812,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10475,0.85,380.1,2749,998,1606,1812,178.4,14.5,649,10485,0.00,2.47,0.00,0.000,1030,0.000,0.102,2748,2407,1709,1607,1811,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10780,0.90,380.1,2749,2408,1606,1812,133.7,13.0,680,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2408,1708,1605,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11080,0.97,385.6,2749,2408,1606,1812,95.7,11.3,710,11083,0.17,0.00,0.00,0.000,2054,0.119,0.000,2818,2408,1708,1605,1811,0,0,0,0,0,0,14.69,28.83,28.83
$GC,11380,0.97,385.6,2819,2408,1605,1812,49.1,14.3,740,11389,0.00,2.45,0.00,0.000,516,0.000,0.094,2823,995,1707,1600,1814,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11438,1.00,385.6,2829,996,1606,1812,41.7,12.1,751,11447,0.00,2.47,0.00,0.000,1030,0.000,0.102,2823,2403,1708,1605,1811,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11744,1.28,623.0,2824,2404,1605,1811,14.1,-1.0,782,11862,0.25,2.33,106.88,0.219,10500,0.102,0.116,2920,3709,749,644,854,0,0,0,0,0,0,14.66,14.47,14.45
$GC,11901,1.34,707.2,2920,3709,648,853,6.1,7.2,806,11937,0.00,2.17,28.40,0.197,9222,0.000,0.067,2929,2397,498,390,606,0,0,0,0,0,0,28.83,14.57,14.45
$STATE,11969,end climb,SURFACE_DEPTH_REACHED
$STATE,11969,begin surface coast
$FINISH,1.3,1.014044
$STATE,12000,end surface coast,CONTROL_FINISHED_OK
$STATE,12000,begin surface
$SM_CCo,12081,0.00,0.000,0,0,503,684.14
$SM_GC,2.46,8.25,0.28,0.00,0.095,0.125,0.000,183,2556,503,-7.17,-0.71,684.14,0,0,0,0,0,0,14.54,14.55,28.83
$RAFOS_CLK,369172
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14443.13,300714,060054
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.73
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3923840
$TM_FREEKB,7566456
$24V_AH,13.12,19.045
$10V_AH,12.81,0.000
$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,22.475,82.350,589.600,0.000,0.000,0.000,0.000,504.850,1.500,0.000,35.913,0.000,8792.885,725.205,2527.547,101.293,0.000,2007.096,0.000,1213.576,1472.000,11.785,0.000
$DEVICE_MAMPS,464.355,139.995,1781.685,0.000,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12025.000,12112.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.067,13.422,0.000,0.000
$MEM,300964
$DATA_FILE_SIZE,26766,818
$CAP_FILE_SIZE,147885,0
$CFSIZE,1047117824,1037238272
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13481.50,0x2378b6,7,5
$INTR,1,34.65,0x234482,0,24
$SOUNDSPEED,1452.3
$EKF,11444,4266.297852,-8694.180664,1.316612,0.276534,-0.456813,0.009618,0.001596,0.015202,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.032,240.62,1
$GPS,300714,130456,7106.197,-14454.732,29,1.0,49,28.3