version: 66.12
glider: 197
mission: 6
dive: 35
start: 7 30 114 20 34 33
data:
$ID,197
$MISSION,6
$DIVE,35
$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,-6981.2197
$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,2450
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,20
$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
$GPS1,300714,201826,7109.000,-14500.557,54,1.0,74,28.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-75.4
$GPS2,300714,203415,7108.962,-14500.865,10,1.2,30,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.9,57727,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.78,-145.9,178,2448,404,602,0.0,0.0,0,64,0.00,0.00,-43.75,0.000,16386,0.000,0.000,178,2448,1629,1634,1624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.78,-145.9,183,2448,1636,1625,3.2,-3.1,4,135,11.10,2.28,-46.95,0.000,18692,0.470,0.138,2223,3718,3889,3866,3913,0,0,0,0,0,0,14.23,14.43,14.66
$GC,359,-0.62,-145.9,2224,3718,3866,3917,75.4,-21.9,59,370,0.28,2.12,0.00,0.000,3078,0.311,0.065,2283,2436,3892,3866,3918,0,0,0,0,0,0,14.39,14.54,28.83
$GC,664,-0.65,-145.9,2284,2436,3867,3921,122.2,-14.1,90,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2436,3893,3866,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,964,-0.71,-145.9,2284,2436,3867,3921,161.8,-12.5,120,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2436,3892,3865,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-0.80,-145.9,2283,2436,3866,3920,195.4,-10.2,150,1267,0.17,0.00,0.00,0.000,4102,0.129,0.000,2222,2435,3892,3865,3920,0,0,0,0,0,0,14.66,28.83,28.83
$GC,1564,-0.80,-145.9,2222,2436,3864,3920,235.5,-13.1,180,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2435,3891,3863,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-0.80,-145.9,2222,2436,3862,3920,277.1,-12.9,198,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2435,3891,3862,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.80,-145.9,2222,2436,3855,3920,315.8,-12.7,208,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2433,3890,3860,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.80,-145.9,2222,2440,3860,3919,353.6,-12.5,218,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2435,3889,3860,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2784,-0.82,-145.9,2222,2436,3860,3920,391.0,-12.3,228,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2435,3892,3859,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,-0.84,-145.9,2222,2436,3860,3920,427.5,-12.1,238,3092,0.00,2.35,0.00,0.000,516,0.000,0.090,2221,1051,3889,3859,3919,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3121,-0.88,-145.9,2221,1051,3859,3920,431.9,-11.8,245,3129,0.00,2.45,0.00,0.000,1030,0.000,0.109,2214,2446,3889,3859,3919,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3448,-0.88,-145.9,2215,2447,3859,3920,472.2,-12.2,260,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2446,3889,3859,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-0.88,-145.9,2214,2447,3858,3920,508.9,-12.3,270,3755,0.00,2.38,0.00,0.000,516,0.000,0.088,2215,1052,3888,3859,3918,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3794,-0.92,-145.9,2215,1052,3859,3919,514.6,-11.7,279,3805,0.00,2.47,0.00,0.000,1030,0.000,0.106,2213,2463,3887,3855,3919,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4114,-0.92,-145.9,2207,2465,3859,3920,553.6,-12.2,292,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2465,3889,3859,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4414,-0.92,-145.9,2207,2465,3866,3919,590.5,-12.2,302,4422,0.00,2.40,0.00,0.000,516,0.000,0.088,2207,1049,3889,3859,3919,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4466,-0.94,-145.9,2208,1049,3859,3919,596.7,-12.1,312,4474,0.00,2.45,0.00,0.000,1030,0.000,0.107,2204,2449,3891,3858,3925,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4778,-0.94,-145.9,2203,2449,3859,3921,635.0,-12.4,324,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2449,3888,3858,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.94,-145.9,2203,2450,3859,3918,671.8,-12.1,334,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2448,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5378,-0.94,-145.9,2203,2454,3858,3919,709.0,-12.3,344,5386,0.00,2.38,0.00,0.000,516,0.000,0.088,2203,1044,3888,3858,3918,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5440,-0.96,-145.9,2203,1044,3859,3920,716.6,-12.5,356,5448,0.00,2.47,0.00,0.000,1030,0.000,0.108,2203,2458,3888,3858,3919,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,5741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5741,begin apogee
$GC,5744,-0.16,0.0,2203,2403,3858,3919,753.1,-12.0,371,5875,0.88,0.00,126.18,1.792,10246,0.273,0.000,2434,2401,3291,3245,3337,0,0,0,0,0,0,14.64,28.83,13.28
$STATE,5877,end apogee,CONTROL_FINISHED_OK
$STATE,5877,begin climb
$GC,5878,0.78,145.9,2434,2402,3234,3329,756.3,0.0,375,6017,1.00,0.00,125.00,1.787,10758,0.148,0.000,2738,2401,2687,2615,2760,0,0,0,0,0,0,13.99,28.83,13.12
$GC,6312,0.69,145.9,2738,2402,2603,2752,708.2,13.7,395,6321,0.00,2.47,0.00,0.000,516,0.000,0.088,2747,997,2676,2602,2751,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6350,0.62,145.9,2747,997,2603,2752,703.1,13.3,402,6358,0.22,2.50,0.00,0.000,5126,0.275,0.096,2696,2401,2677,2603,2751,0,0,0,0,0,0,14.24,14.35,28.83
$GC,6678,0.60,155.5,2696,2402,2599,2752,666.0,11.1,417,6683,0.00,0.00,2.33,0.529,8198,0.000,0.000,2697,2401,2655,2580,2731,0,0,0,0,0,0,28.83,28.83,13.66
$GC,6978,0.59,166.0,2697,2402,2599,2748,632.5,11.1,427,6998,0.00,0.00,16.55,1.578,8198,0.000,0.000,2696,2401,2615,2537,2693,0,0,0,0,0,0,28.83,28.83,13.80
$GC,7278,0.59,167.7,2696,2402,2518,2681,597.7,11.5,437,7285,0.00,2.42,0.00,0.000,516,0.000,0.090,2704,998,2599,2518,2680,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7304,0.59,172.6,2705,998,2517,2681,594.6,11.4,442,7315,0.00,2.47,1.33,0.240,9222,0.000,0.099,2704,2402,2585,2504,2666,0,0,0,0,0,0,28.83,14.55,14.50
$GC,7610,0.56,172.6,2705,2404,2516,2679,558.2,12.0,453,7614,0.00,0.00,1.23,0.248,8198,0.000,0.000,2704,2401,2585,2504,2667,0,0,0,0,0,0,28.83,28.83,14.57
$GC,7910,0.54,172.6,2704,2403,2516,2679,522.3,11.9,463,7920,0.15,2.38,1.17,0.225,12804,0.294,0.087,2674,989,2586,2504,2669,0,0,0,0,0,0,14.57,14.66,14.60
$GC,7945,0.62,205.8,2674,989,2509,2676,518.7,9.9,469,7990,0.00,2.47,34.30,1.522,9222,0.000,0.099,2674,2413,2440,2360,2521,0,0,0,0,0,0,28.83,14.64,13.79
$GC,8314,0.67,216.8,2675,2408,2353,2515,477.7,11.0,491,8321,0.12,0.00,2.88,0.767,10246,0.138,0.000,2727,2408,2405,2325,2486,0,0,0,0,0,0,14.60,28.83,13.79
$GC,8615,0.63,216.8,2727,2408,2352,2501,435.9,14.0,501,8624,0.12,2.53,2.00,0.210,12804,0.299,0.090,2704,991,2407,2330,2484,0,0,0,0,0,0,14.52,14.62,12.76
$GC,8643,0.63,216.8,2704,992,2340,2489,432.1,12.9,506,8652,0.00,2.47,0.00,0.000,1030,0.000,0.099,2704,2400,2415,2340,2490,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8949,0.63,216.8,2704,2401,2361,2497,393.5,12.7,517,8954,0.00,0.00,2.00,0.226,8198,0.000,0.000,2704,2401,2405,2328,2482,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9248,0.63,216.8,2705,2401,2353,2496,355.1,12.8,527,9253,0.00,0.00,1.95,0.226,8198,0.000,0.000,2704,2401,2405,2329,2481,0,0,0,0,0,0,28.83,28.83,14.62
$GC,9548,0.63,216.8,2704,2401,2353,2496,317.4,12.6,537,9553,0.00,0.00,1.92,0.228,8198,0.000,0.000,2704,2401,2403,2325,2482,0,0,0,0,0,0,28.83,28.83,14.63
$GC,9848,0.63,216.8,2705,2401,2353,2496,280.5,12.2,547,9854,0.00,0.00,1.90,0.227,8198,0.000,0.000,2704,2400,2405,2329,2481,0,0,0,0,0,0,28.83,28.83,14.64
$GC,10149,0.63,217.2,2705,2401,2354,2496,244.7,11.6,559,10172,0.00,12.88,1.98,0.228,8708,0.000,0.002,2704,3978,2410,2340,2481,0,0,85,1,0,0,28.83,14.79,14.65
$STATE,10174,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10184,407.20,2.131,3,0,499,684.88
$SM_GC,2.35,7.55,2.75,0.00,0.091,0.073,0.000,183,2400,500,-7.17,1.02,684.88,0,0,0,0,0,0,14.56,14.60,28.83
$RAFOS_CLK,1181503
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7039.27,-14521.24,300714,202311
$TT8_MAMPS,0.059171,0.059171
$HUMID,44.95
$INTERNAL_PRESSURE,8.58116
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3922496
$TM_FREEKB,7508980
$24V_AH,12.44,20.339
$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,21.600,59.350,322.700,407.200,0.000,0.000,0.000,600.750,1.500,0.000,32.567,0.000,10114.806,914.653,2147.460,89.530,0.000,2085.722,0.000,839.826,0.000,11.789,0.000
$DEVICE_MAMPS,469.710,195.075,1792.395,2131.290,0.000,0.000,0.000,185.130,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5913.000,5990.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.614,13.327,0.000,0.000
$MEM,299612
$DATA_FILE_SIZE,20087,563
$CAP_FILE_SIZE,128180,8
$CFSIZE,1047117824,1036713984
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,85,3,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,ROLL_DEAD
$EKF,12483,4270.321289,-8702.108398,241.060699,0.260274,-0.002251,-0.063330,0.000274,0.002632,0.000099,0.002325,0.002325,0.000061
$GPS,310714,000236,7110.218,-14502.326,127,1.1,127,28.3