version: 66.12
glider: 197
mission: 6
dive: 36
start: 7 31 114 0 27 3
data:
$ID,197
$MISSION,6
$DIVE,36
$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,-7139.6309
$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,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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
$GPS1,310714,001900,7110.268,-14502.333,8,1.1,8,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.9
$GPS2,310714,002645,7110.290,-14502.337,12,1.0,32,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.6,55168,-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,-145.9,183,2468,389,614,0.0,0.0,0,63,0.00,0.00,-43.38,0.000,16386,0.000,0.000,182,2468,1638,1655,1621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.78,-145.9,183,2468,1656,1623,3.2,-3.4,4,134,10.65,2.15,-48.65,0.000,18692,0.464,0.136,2222,3692,3889,3868,3910,0,0,0,0,0,0,14.43,14.59,14.82
$GC,358,-0.63,-145.9,2222,3693,3870,3914,73.8,-21.5,59,368,0.28,2.05,0.00,0.000,3078,0.306,0.063,2283,2436,3891,3869,3914,0,0,0,0,0,0,14.52,14.66,28.83
$GC,664,-0.66,-145.9,2284,2436,3867,3919,120.7,-14.0,90,672,0.00,2.17,0.00,0.000,260,0.000,0.118,2278,3687,3892,3866,3918,0,0,0,0,0,0,28.83,14.62,28.83
$GC,896,-0.70,-145.9,2278,3687,3866,3920,153.8,-13.7,136,904,0.00,2.03,0.00,0.000,1030,0.000,0.066,2277,2450,3891,3865,3918,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1208,-0.77,-145.9,2278,2449,3865,3919,191.2,-11.4,168,1212,0.10,0.00,0.00,0.000,4102,0.167,0.000,2239,2448,3891,3864,3918,0,0,0,0,0,0,14.69,28.83,28.83
$GC,1508,-0.80,-145.9,2239,2449,3861,3919,229.0,-12.5,198,1515,0.00,2.17,0.00,0.000,260,0.000,0.119,2229,3689,3889,3860,3918,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1559,-0.80,-145.9,2230,3690,3860,3919,235.8,-13.7,208,1567,0.00,2.03,0.00,0.000,1030,0.000,0.067,2229,2451,3888,3859,3918,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1881,-0.82,-145.9,2230,2451,3860,3919,276.1,-12.3,227,1889,0.00,2.40,0.00,0.000,516,0.000,0.093,2229,1050,3888,3859,3918,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1933,-0.86,-145.9,2229,1050,3859,3920,282.4,-12.1,237,1943,0.00,2.42,0.00,0.000,1030,0.000,0.112,2220,2432,3888,3859,3918,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2247,-0.86,-145.9,2220,2434,3859,3919,321.3,-12.4,249,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2433,3887,3857,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2547,-0.86,-145.9,2221,2433,3857,3918,358.7,-12.4,259,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2433,3887,3857,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-0.88,-145.9,2221,2434,3856,3919,395.7,-12.3,269,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2429,3886,3855,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3147,-0.91,-145.9,2221,2434,3854,3919,431.7,-11.9,279,3155,0.00,2.38,0.00,0.000,516,0.000,0.092,2220,1042,3885,3853,3918,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3199,-0.94,-145.9,2221,1039,3854,3919,437.8,-11.8,289,3209,0.00,2.47,0.00,0.000,1030,0.000,0.111,2214,2449,3885,3853,3918,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3513,-0.94,-145.9,2216,2450,3853,3920,475.1,-11.9,301,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2450,3885,3853,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-0.94,-145.9,2215,2450,3853,3918,510.8,-11.8,311,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2450,3890,3862,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4113,-0.97,-145.9,2215,2450,3853,3918,546.9,-12.0,321,4123,0.12,2.40,0.00,0.000,4612,0.153,0.088,2162,1043,3884,3852,3917,0,0,0,0,0,0,14.78,14.77,28.83
$GC,4162,-0.92,-145.9,2163,1043,3852,3919,553.7,-14.2,330,4170,0.17,2.47,0.00,0.000,3078,0.324,0.112,2187,2451,3885,3852,3918,0,0,0,0,0,0,14.63,14.75,28.83
$GC,4479,-0.92,-145.9,2188,2451,3852,3918,595.5,-13.0,343,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2450,3885,3853,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-0.92,-145.9,2187,2451,3852,3919,635.0,-13.1,353,4788,0.00,2.38,0.00,0.000,516,0.000,0.088,2187,1047,3884,3851,3917,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4848,-0.92,-145.9,2188,1048,3852,3923,643.8,-12.6,366,4855,0.00,2.47,0.00,0.000,1030,0.000,0.109,2179,2458,3883,3850,3917,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5174,-0.89,-145.9,2179,2458,3852,3918,687.5,-13.5,381,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2458,3884,3851,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5475,-0.86,-145.9,2179,2458,3851,3918,727.6,-13.4,391,5483,0.12,2.40,0.00,0.000,2564,0.339,0.085,2206,1046,3884,3851,3918,0,0,0,0,0,0,14.66,14.78,28.83
$GC,5547,-0.90,-145.9,2206,1047,3851,3919,736.3,-11.3,405,5557,0.00,2.47,0.00,0.000,1030,0.000,0.110,2200,2458,3884,3851,3918,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,5660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5660,begin apogee
$GC,5663,-0.16,0.0,2201,2401,3850,3913,750.3,-12.3,412,5793,0.90,0.00,125.35,1.786,10246,0.275,0.000,2437,2400,3291,3229,3353,0,0,0,0,0,0,14.66,28.83,13.32
$STATE,5795,end apogee,CONTROL_FINISHED_OK
$STATE,5795,begin climb
$GC,5796,0.78,145.9,2438,2401,3220,3344,753.4,0.0,416,5935,0.98,2.62,123.97,1.766,10756,0.144,0.089,2746,1007,2689,2601,2777,0,0,0,0,0,0,14.01,13.79,13.13
$GC,5964,0.71,145.9,2747,1006,2596,2770,742.0,13.0,442,5972,0.00,2.58,0.00,0.000,1030,0.000,0.097,2746,2403,2681,2594,2769,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6287,0.61,145.9,2746,2404,2591,2769,697.6,13.9,456,6290,0.25,0.00,0.00,0.000,4102,0.291,0.000,2690,2403,2679,2591,2768,0,0,0,0,0,0,14.25,28.83,28.83
$GC,6586,0.62,159.6,2690,2404,2590,2769,664.7,10.9,466,6601,0.00,0.00,11.45,1.535,8198,0.000,0.000,2689,2403,2642,2549,2735,0,0,0,0,0,0,28.83,28.83,13.76
$GC,6886,0.62,170.8,2690,2404,2535,2725,631.4,11.0,476,6900,0.00,0.00,10.27,1.495,8198,0.000,0.000,2689,2403,2596,2501,2691,0,0,0,0,0,0,28.83,28.83,13.81
$GC,7187,0.63,178.9,2690,2404,2491,2682,597.5,11.2,486,7192,0.00,0.00,2.85,0.796,8198,0.000,0.000,2690,2403,2560,2466,2655,0,0,0,0,0,0,28.83,28.83,13.78
$GC,7486,0.63,186.2,2690,2404,2489,2668,564.0,11.2,496,7504,0.00,0.00,13.40,1.512,8198,0.000,0.000,2689,2402,2534,2440,2628,0,0,0,0,0,0,28.83,28.83,13.93
$GC,7787,0.64,191.6,2690,2404,2425,2616,529.8,11.3,506,7796,0.00,2.30,1.12,0.251,8452,0.000,0.110,2690,3712,2508,2414,2602,0,0,0,0,0,0,28.83,14.59,14.53
$GC,7820,0.58,191.6,2690,3712,2424,2599,525.5,13.7,512,7827,0.00,2.17,0.00,0.000,1030,0.000,0.064,2696,2398,2517,2431,2603,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8152,0.58,191.6,2694,2397,2431,2607,485.7,12.0,528,8156,0.00,0.00,1.12,0.252,8198,0.000,0.000,2696,2396,2505,2411,2600,0,0,0,0,0,0,28.83,28.83,14.60
$GC,8451,0.58,191.6,2696,2397,2432,2601,449.6,12.0,538,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2396,2518,2431,2605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8751,0.58,191.6,2697,2397,2431,2605,413.7,11.9,548,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2396,2518,2431,2605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,0.58,191.6,2696,2397,2432,2605,378.2,11.9,558,9060,0.00,2.30,0.00,0.000,260,0.000,0.114,2696,3711,2518,2432,2604,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9078,0.53,191.6,2697,3711,2431,2605,374.5,13.6,563,9088,0.17,2.15,0.00,0.000,5126,0.289,0.065,2665,2400,2517,2431,2604,0,0,0,0,0,0,14.63,14.74,28.83
$GC,9384,0.62,225.8,2667,2400,2432,2604,343.7,9.8,574,9422,0.00,0.00,34.55,1.299,8198,0.000,0.000,2666,2399,2370,2278,2463,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9714,0.70,246.3,2666,2400,2259,2447,308.9,10.5,585,9735,0.17,0.00,17.33,1.246,10246,0.112,0.000,2735,2398,2286,2191,2381,0,0,0,0,0,0,14.65,28.83,13.99
$GC,10014,0.67,246.3,2736,2399,2174,2366,264.1,15.2,595,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2398,2268,2172,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10313,0.67,246.3,2736,2399,2173,2366,219.6,14.5,617,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2398,2268,2172,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10614,0.67,246.3,2735,2404,2172,2366,179.0,12.6,647,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2398,2268,2171,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10914,0.68,260.8,2736,2398,2172,2366,144.2,10.9,677,10930,0.00,0.00,11.48,1.076,8198,0.000,0.000,2735,2398,2223,2124,2322,0,0,0,0,0,0,28.83,28.83,14.11
$GC,11224,0.74,300.2,2736,2398,2115,2315,112.3,9.5,708,11268,0.00,0.00,35.95,1.028,8198,0.000,0.000,2735,2398,2056,1948,2165,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11565,0.83,342.1,2736,2398,1943,2155,78.4,9.4,742,11594,0.00,2.40,17.05,0.406,8452,0.000,0.117,2735,3734,1898,1787,2009,0,0,0,0,0,0,28.83,14.45,14.33
$GC,11618,0.87,358.3,2735,3734,1802,2010,72.8,10.8,751,11634,0.00,2.22,9.05,0.383,9222,0.000,0.067,2745,2400,1829,1717,1941,0,0,0,0,0,0,28.83,14.52,14.32
$GC,11938,1.05,453.4,2745,2400,1746,1945,44.8,6.6,784,11994,0.22,2.35,45.30,0.308,10500,0.100,0.116,2839,3709,1441,1321,1561,0,0,0,0,0,0,14.61,14.47,14.38
$GC,12154,1.01,453.4,2840,3710,1336,1562,14.6,15.2,824,12162,0.15,2.20,0.00,0.000,5126,0.278,0.068,2817,2397,1448,1336,1561,0,0,0,0,0,0,14.43,14.53,28.83
$FREEZE,9.18,0.675,-1.377,0,1,0
$STATE,12424,end climb,NO_VERTICAL_VELOCITY
$STATE,12425,begin surface
$SM_CCo,12428,106.05,0.205,0,0,498,684.88
$SM_GC,3.20,7.75,0.10,0.00,0.080,0.194,0.000,185,2459,501,-7.17,-0.74,684.39,0,0,0,0,0,0,14.58,14.58,28.83
$RAFOS_CLK,1220140
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7039.27,-14510.29,310714,001248
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.64
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3922048
$TM_FREEKB,7499588
$24V_AH,13.13,20.729
$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,22.050,60.350,460.250,106.050,0.000,0.000,0.000,0.000,1.500,0.000,35.231,0.000,10090.099,728.719,1932.946,67.987,0.000,1485.642,0.000,1267.254,0.000,11.784,0.000
$DEVICE_MAMPS,463.590,193.545,1786.275,205.020,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12405.000,12412.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.209,13.532,0.000,0.000
$MEM,299252
$DATA_FILE_SIZE,30075,852
$CAP_FILE_SIZE,161511,0
$CFSIZE,1047117824,1036533760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13948.55,0x2378b6,7,5
$SOUNDSPEED,1450.3
$EKF,12859,4271.735352,-8703.944336,9.183726,-0.006106,0.000428,-0.008470,0.000285,0.002737,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.035,194.72,1
$GPS,310714,040119,7111.497,-14504.138,72,0.9,92,28.3