version: 66.12
glider: 197
mission: 6
dive: 37
start: 7 31 114 4 15 3
data:
$ID,197
$MISSION,6
$DIVE,37
$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,-7140.8945
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,310714,040119,7111.497,-14504.138,72,0.9,92,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.6
$GPS2,310714,041445,7111.459,-14504.098,14,0.9,34,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,307.1,52779,-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,-145.9,185,2458,387,611,0.0,0.0,0,68,0.00,0.00,-43.72,0.000,16386,0.000,0.000,184,2457,1624,1632,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.78,-145.9,185,2459,1632,1616,3.4,-2.7,5,140,11.10,2.22,-47.45,0.000,18692,0.471,0.135,2222,3703,3888,3865,3911,0,0,0,0,0,0,14.19,14.38,14.60
$GC,364,-0.61,-145.9,2222,3704,3867,3916,75.2,-23.2,60,373,0.30,2.10,0.00,0.000,3078,0.308,0.063,2289,2438,3891,3865,3917,0,0,0,0,0,0,14.30,14.45,28.83
$GC,670,-0.65,-145.9,2290,2438,3865,3919,121.1,-13.7,91,677,0.00,2.25,0.00,0.000,260,0.000,0.119,2283,3705,3895,3872,3918,0,0,0,0,0,0,28.83,14.51,28.83
$GC,902,-0.69,-145.9,2283,3706,3866,3919,153.7,-13.2,137,910,0.00,2.08,0.00,0.000,1030,0.000,0.065,2283,2446,3891,3865,3918,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1215,-0.77,-145.9,2284,2445,3864,3918,190.7,-11.1,169,1223,0.12,2.22,0.00,0.000,4356,0.150,0.116,2222,3701,3890,3863,3918,0,0,0,0,0,0,14.59,14.59,28.83
$GC,1252,-0.72,-145.9,2222,3701,3864,3918,195.9,-14.8,176,1262,0.15,2.05,0.00,0.000,3078,0.299,0.067,2252,2447,3890,3863,3918,0,0,0,0,0,0,14.50,14.64,28.83
$GC,1558,-0.77,-145.9,2253,2447,3862,3918,232.4,-11.6,207,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2446,3889,3861,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-0.83,-145.9,2253,2447,3860,3918,267.1,-10.9,228,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2452,3888,3859,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-0.89,-145.9,2252,2447,3860,3918,299.7,-10.9,238,2171,0.17,0.00,0.00,0.000,4102,0.130,0.000,2187,2447,3888,3859,3918,0,0,0,0,0,0,14.71,28.83,28.83
$GC,2468,-0.86,-145.9,2188,2447,3859,3918,341.9,-14.2,248,2476,0.00,2.38,0.00,0.000,516,0.000,0.093,2192,1052,3887,3858,3917,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2519,-0.83,-145.9,2187,1052,3859,3919,349.3,-13.9,258,2529,0.20,2.47,0.00,0.000,3078,0.316,0.112,2220,2449,3888,3859,3917,0,0,0,0,0,0,14.57,14.69,28.83
$GC,2834,-0.86,-145.9,2220,2450,3859,3918,387.5,-12.0,270,2843,0.00,2.38,0.00,0.000,516,0.000,0.087,2220,1050,3887,3858,3917,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2867,-0.89,-145.9,2220,1051,3858,3918,391.4,-12.0,276,2875,0.00,2.47,0.00,0.000,1030,0.000,0.109,2215,2455,3887,3857,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3199,-0.89,-145.9,2215,2456,3858,3918,431.5,-12.1,292,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2455,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3499,-0.89,-145.9,2216,2455,3858,3918,467.5,-12.0,302,3509,0.00,2.40,0.00,0.000,516,0.000,0.087,2215,1045,3886,3856,3917,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3548,-0.92,-145.9,2215,1046,3857,3918,473.3,-11.8,311,3555,0.00,2.47,0.00,0.000,1030,0.000,0.109,2211,2451,3887,3856,3918,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3865,-0.92,-145.9,2211,2450,3857,3918,512.0,-12.2,324,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2448,3887,3857,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4164,-0.92,-145.9,2212,2451,3857,3918,548.3,-12.2,334,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2450,3889,3856,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,-0.92,-145.9,2211,2451,3857,3918,584.6,-12.0,344,4472,0.00,2.38,0.00,0.000,516,0.000,0.086,2210,1049,3887,3856,3918,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4541,-0.95,-145.9,2211,1049,3856,3918,593.8,-11.8,359,4550,0.00,2.47,0.00,0.000,1030,0.000,0.110,2211,2459,3885,3853,3918,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4859,-0.95,-145.9,2211,2459,3856,3918,632.1,-12.0,372,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2465,3887,3856,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5159,-0.98,-145.9,2211,2460,3856,3919,668.0,-12.0,382,5168,0.00,2.38,0.00,0.000,516,0.000,0.086,2210,1052,3886,3854,3918,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5217,-1.01,-145.9,2211,1052,3855,3918,675.1,-11.7,393,5227,0.15,2.45,0.00,0.000,5126,0.138,0.110,2154,2450,3886,3854,3918,0,0,0,0,0,0,14.79,14.75,28.83
$GC,5523,-0.94,-145.9,2155,2451,3855,3918,720.1,-15.0,404,5526,0.15,0.00,0.00,0.000,2054,0.325,0.000,2184,2452,3887,3857,3918,0,0,0,0,0,0,14.64,28.83,28.83
$STATE,5761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5761,begin apogee
$GC,5764,-0.16,0.0,2184,2406,3855,3918,752.3,-13.2,412,5895,0.95,0.00,125.50,1.784,10246,0.277,0.000,2431,2405,3291,3241,3342,0,0,0,0,0,0,14.64,28.83,13.30
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5899,0.78,145.9,2436,2405,3230,3333,755.9,0.0,416,6037,1.02,0.00,124.47,1.774,10246,0.141,0.000,2745,2405,2686,2607,2765,0,0,0,0,0,0,14.00,28.83,13.12
$GC,6333,0.68,145.9,2745,2405,2598,2758,707.6,13.8,431,6335,0.15,0.00,0.00,0.000,4102,0.311,0.000,2716,2404,2677,2597,2757,0,0,0,0,0,0,14.22,28.83,28.83
$GC,6633,0.62,145.9,2716,2405,2600,2758,670.4,12.4,441,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2404,2676,2596,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6933,0.57,145.9,2716,2405,2598,2758,633.8,12.2,451,6935,0.17,0.00,0.00,0.000,4102,0.297,0.000,2676,2404,2676,2596,2757,0,0,0,0,0,0,14.47,28.83,28.83
$GC,7232,0.59,176.4,2677,2405,2596,2757,603.0,10.0,461,7266,0.00,0.00,26.05,1.565,8198,0.000,0.000,2676,2404,2558,2470,2647,0,0,0,0,0,0,28.83,28.83,13.80
$GC,7563,0.62,189.8,2677,2404,2468,2643,567.4,10.9,472,7577,0.00,2.38,4.05,1.134,8452,0.000,0.113,2672,3708,2522,2436,2608,0,0,0,0,0,0,28.83,14.52,13.85
$GC,7591,0.62,191.7,2677,3708,2446,2610,564.1,11.5,477,7601,0.00,2.17,2.85,1.017,9222,0.000,0.062,2681,2393,2510,2424,2596,0,0,0,0,0,0,28.83,14.53,13.56
$GC,7897,0.63,206.1,2682,2398,2450,2621,530.3,10.9,488,7922,0.00,0.00,21.83,1.490,8198,0.000,0.000,2680,2392,2451,2366,2536,0,0,0,0,0,0,28.83,28.83,13.85
$GC,8197,0.67,209.0,2681,2393,2350,2520,495.8,11.5,498,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2392,2434,2349,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8496,0.69,209.2,2681,2393,2349,2520,461.3,11.6,508,8499,0.12,0.00,0.00,0.000,2054,0.145,0.000,2734,2392,2434,2349,2519,0,0,0,0,0,0,14.66,28.83,28.83
$GC,8797,0.64,209.2,2734,2393,2350,2520,417.8,14.7,518,8800,0.15,0.00,0.00,0.000,4102,0.285,0.000,2702,2392,2434,2349,2519,0,0,0,0,0,0,14.57,28.83,28.83
$GC,9096,0.64,209.2,2703,2393,2349,2519,379.1,12.9,528,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2392,2434,2349,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9396,0.64,209.2,2703,2393,2349,2519,340.8,12.7,538,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2392,2433,2347,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9696,0.64,209.2,2702,2393,2349,2519,303.3,12.4,548,9704,0.00,2.38,0.00,0.000,516,0.000,0.093,2704,1000,2434,2349,2519,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9733,0.68,209.6,2704,1000,2350,2519,299.1,11.6,555,9741,0.00,2.45,0.00,0.000,1030,0.000,0.102,2704,2405,2434,2349,2519,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10060,0.68,209.6,2704,2406,2350,2519,259.8,12.0,570,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2406,2434,2349,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10360,0.68,213.3,2705,2406,2348,2519,224.4,11.4,594,10370,0.00,2.28,1.40,0.242,8452,0.000,0.111,2700,3709,2419,2335,2503,0,0,0,0,0,0,28.83,14.66,14.68
$GC,10404,0.63,213.3,2710,3710,2347,2505,218.6,13.5,602,10413,0.00,2.15,0.00,0.000,1030,0.000,0.063,2713,2392,2426,2347,2505,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10718,0.64,223.0,2714,2392,2354,2511,182.1,11.1,634,10740,0.00,0.00,14.02,1.128,8198,0.000,0.000,2713,2392,2372,2290,2455,0,0,0,0,0,0,28.83,28.83,14.13
$GC,11038,0.70,270.1,2713,2393,2283,2451,149.6,9.1,666,11083,0.00,0.00,41.17,1.068,8198,0.000,0.000,2713,2392,2190,2099,2281,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11377,0.81,319.6,2713,2392,2072,2264,118.3,9.0,700,11424,0.12,0.00,42.62,1.021,10502,0.144,0.000,2772,2391,1988,1887,2089,0,0,0,0,0,0,14.58,28.83,13.93
$GC,11717,0.81,319.6,2769,2391,1861,2069,76.2,12.6,736,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2391,1964,1860,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12018,0.93,412.4,2770,2391,1860,2068,45.9,6.7,766,12067,0.00,2.40,39.55,0.311,8452,0.000,0.115,2769,3704,1607,1497,1718,0,0,0,0,0,0,28.83,14.47,14.37
$GC,12146,1.00,436.0,2770,3705,1513,1719,34.2,10.4,789,12169,0.15,2.17,12.32,0.272,11270,0.125,0.065,2830,2396,1513,1402,1624,0,0,0,0,0,0,14.54,14.54,14.42
$GC,12463,1.28,671.4,2830,2399,1421,1623,10.1,-0.9,822,12584,0.22,2.42,106.65,0.206,10500,0.103,0.113,2920,3710,552,423,682,0,0,0,0,0,0,14.57,14.42,14.40
$GC,12643,1.46,828.3,2921,3711,435,683,4.7,3.3,851,12659,0.00,2.20,6.93,0.203,9222,0.000,0.065,2929,2396,497,371,623,0,0,0,0,0,0,28.83,14.51,14.38
$STATE,12722,end climb,SURFACE_DEPTH_REACHED
$STATE,12722,begin surface coast
$FINISH,1.4,1.017948
$STATE,12762,end surface coast,CONTROL_FINISHED_OK
$STATE,12762,begin surface
$SM_CCo,12843,0.00,0.000,0,0,504,683.90
$SM_GC,2.86,8.32,0.10,0.00,0.102,0.194,0.000,186,2459,504,-7.17,-0.71,683.90,0,0,0,0,0,0,14.52,14.52,28.83
$RAFOS_CLK,1226065
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14504.84,310714,001936
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.06
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3921600
$TM_FREEKB,7479516
$24V_AH,13.12,21.087
$10V_AH,13.21,0.000
$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,23.750,60.325,569.425,0.000,0.000,0.000,0.000,515.350,1.500,0.000,37.184,0.000,10155.020,710.749,2660.990,111.458,0.000,2028.691,0.000,1286.696,507.000,11.784,0.000
$DEVICE_MAMPS,471.240,250.920,1783.980,0.000,0.000,0.000,0.000,188.190,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12782.000,12869.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.396,13.428,0.000,0.000
$MEM,298428
$DATA_FILE_SIZE,30092,864
$CAP_FILE_SIZE,158832,0
$CFSIZE,1047117824,1036337152
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13679.74,0x2378b6,7,5
$INTR,1,12554.88,0x234484,1,24
$SOUNDSPEED,1449.8
$EKF,12956,4272.956543,-8706.127930,1.357208,0.002577,-0.003181,0.002307,0.000294,0.002832,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.051,201.13,1
$GPS,310714,075056,7112.625,-14506.527,63,1.1,83,28.3