version: 66.12
glider: 197
mission: 6
dive: 58
start: 8 3 114 11 3 9
data:
$ID,197
$MISSION,6
$DIVE,58
$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,0.0037
$HD_B,0.013
$HD_C,3.1e-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,-7167.4019
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2470
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$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,0
$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
$GPS1,030814,104956,7136.210,-14549.505,30,0.9,50,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.0
$GPS2,030814,110251,7136.180,-14549.673,12,1.2,32,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,162.9,384,-27.3,-11.628,-30.00,1343
$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,-0.93,-101.4,174,2472,440,584,0.0,0.0,0,84,0.00,0.00,-63.47,0.000,16386,0.000,0.000,174,2471,2091,2096,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.96,-145.9,175,2472,2098,2088,3.5,-3.2,6,141,10.35,2.22,-33.67,0.000,18692,0.448,0.135,2168,3716,3780,3761,3800,0,0,0,0,0,0,14.21,14.37,14.63
$GC,365,-0.88,-145.9,2168,3716,3762,3806,81.0,-24.7,59,375,0.17,2.05,0.00,0.000,3078,0.338,0.059,2203,2464,3783,3762,3804,0,0,0,0,0,0,14.35,14.52,28.83
$GC,670,-0.88,-145.9,2204,2464,3762,3802,142.6,-19.0,90,679,0.00,2.20,0.00,0.000,260,0.000,0.112,2197,3714,3783,3761,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,883,-0.88,-145.9,2197,3714,3762,3805,183.8,-17.9,132,892,0.00,2.03,0.00,0.000,1030,0.000,0.060,2197,2474,3783,3761,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1197,-0.91,-145.9,2197,2473,3760,3806,231.1,-14.3,164,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2473,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1516,-0.94,-145.9,2196,2474,3759,3806,275.7,-13.6,184,1524,0.00,2.35,0.00,0.000,516,0.000,0.083,2197,1073,3781,3758,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1553,-0.98,-145.9,2197,1073,3759,3805,280.6,-12.6,191,1561,0.00,2.47,0.00,0.000,1030,0.000,0.106,2189,2476,3781,3758,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1881,-1.01,-145.9,2191,2477,3758,3805,324.1,-13.3,206,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2476,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2180,-1.04,-145.9,2191,2477,3757,3805,363.5,-13.1,216,2188,0.00,2.40,0.00,0.000,516,0.000,0.083,2190,1065,3781,3757,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2237,-1.08,-145.9,2190,1064,3757,3806,370.8,-12.8,227,2246,0.15,2.47,0.00,0.000,5126,0.142,0.106,2136,2471,3780,3756,3805,0,0,0,0,0,0,14.71,14.69,28.83
$GC,2542,-1.08,-145.9,2136,2472,3756,3805,418.6,-15.9,238,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2471,3780,3756,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,-1.08,-145.9,2136,2472,3756,3806,465.4,-15.5,248,2850,0.00,2.38,0.00,0.000,516,0.000,0.083,2136,1070,3780,3755,3805,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2909,-1.08,-145.9,2133,1069,3756,3805,475.7,-15.0,261,2917,0.00,2.45,0.00,0.000,1030,0.000,0.104,2126,2470,3780,3755,3805,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3236,-1.07,-145.9,2126,2471,3756,3806,526.9,-15.6,276,3244,0.00,2.38,0.00,0.000,516,0.000,0.082,2125,1063,3783,3755,3812,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3278,-1.07,-145.9,2126,1063,3756,3806,533.5,-15.8,284,3286,0.12,2.47,0.00,0.000,3078,0.339,0.105,2139,2476,3783,3755,3811,0,0,0,0,0,0,14.58,14.71,28.83
$GC,3907,-1.07,-145.9,2139,2477,3755,3805,579.0,-14.8,298,3917,0.00,2.38,0.00,0.000,516,0.000,0.079,2139,1072,3779,3754,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3986,-1.07,-145.9,2139,1073,3754,3805,590.5,-14.4,313,3994,0.00,2.45,0.00,0.000,1030,0.000,0.103,2131,2470,3779,3754,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4304,-1.07,-145.9,2132,2471,3754,3805,638.8,-15.2,326,4314,0.00,2.38,0.00,0.000,516,0.000,0.079,2131,1066,3779,3754,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4373,-1.07,-145.9,2137,1067,3755,3806,649.3,-15.1,339,4380,0.00,2.47,0.00,0.000,1030,0.000,0.102,2120,2472,3779,3754,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4700,-1.06,-145.9,2121,2472,3755,3809,700.1,-15.6,354,4710,0.12,2.40,0.00,0.000,2564,0.361,0.076,2145,1063,3779,3754,3805,0,0,0,0,0,0,14.47,14.62,28.83
$GC,4764,-1.07,-145.9,2146,1064,3754,3805,709.3,-13.9,366,4774,0.00,2.47,0.00,0.000,1030,0.000,0.101,2137,2472,3779,3753,3805,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,5067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5067,begin apogee
$GC,5070,-0.16,0.0,2137,2399,3754,3805,753.4,-14.5,381,5253,1.17,0.00,173.88,1.512,10246,0.298,0.000,2434,2398,3179,3129,3229,0,0,0,0,0,0,14.52,28.83,13.33
$STATE,5256,end apogee,CONTROL_FINISHED_OK
$STATE,5256,begin climb
$GC,5258,0.96,145.9,2435,2399,3126,3228,757.6,0.0,387,5390,1.20,0.00,122.88,1.791,10246,0.144,0.000,2789,2398,2585,2506,2665,0,0,0,0,0,0,13.96,28.83,12.99
$GC,5668,0.93,145.9,2793,2399,2485,2654,696.3,17.7,401,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2398,2571,2489,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5968,0.90,145.9,2798,2399,2489,2653,643.4,17.5,411,5976,0.00,2.45,0.00,0.000,516,0.000,0.084,2803,993,2571,2489,2653,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5995,0.88,145.9,2804,993,2490,2653,638.7,17.3,416,6004,0.00,2.50,0.00,0.000,1030,0.000,0.093,2803,2402,2571,2489,2653,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6301,0.84,145.9,2804,2403,2488,2653,583.8,18.1,427,6309,0.15,2.42,0.00,0.000,4612,0.320,0.080,2779,997,2571,2490,2652,0,0,0,0,0,0,14.39,14.52,28.83
$GC,6338,0.84,145.9,2779,997,2490,2653,577.6,15.7,434,6348,0.00,2.47,0.00,0.000,1030,0.000,0.094,2779,2406,2568,2489,2647,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6668,0.83,145.9,2780,2406,2489,2652,523.6,16.4,449,6675,0.00,2.40,0.00,0.000,516,0.000,0.083,2789,1002,2570,2489,2652,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6704,0.83,145.9,2790,1002,2490,2651,517.5,16.5,456,6712,0.15,2.45,0.00,0.000,5126,0.314,0.095,2760,2405,2570,2489,2651,0,0,0,0,0,0,14.47,14.58,28.83
$GC,7031,0.83,145.9,2761,2406,2490,2652,467.5,15.2,471,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2405,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7331,0.83,145.9,2761,2406,2490,2653,421.5,15.4,481,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2406,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,0.83,145.9,2762,2405,2490,2652,376.5,14.8,491,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2406,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,0.83,145.9,2761,2406,2489,2651,332.5,14.7,501,7939,0.00,2.40,0.00,0.000,516,0.000,0.083,2769,997,2570,2489,2651,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7958,0.84,145.9,2770,997,2490,2652,328.9,13.4,506,7969,0.00,2.42,0.00,0.000,1030,0.000,0.094,2769,2401,2570,2489,2651,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8263,0.84,145.9,2770,2402,2490,2652,283.2,14.9,517,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2401,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8563,0.84,145.9,2769,2402,2490,2652,239.1,13.8,531,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2401,2567,2489,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8863,0.84,147.6,2769,2402,2490,2652,200.0,11.5,561,8871,0.00,2.40,0.00,0.000,516,0.000,0.086,2770,996,2569,2489,2650,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8885,0.85,147.8,2770,996,2492,2652,197.4,11.6,565,8893,0.00,2.45,0.00,0.000,1030,0.000,0.094,2770,2406,2570,2489,2651,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9198,0.89,174.5,2770,2407,2489,2652,164.2,9.6,597,9227,0.00,2.38,23.23,1.180,8452,0.000,0.110,2770,3709,2462,2384,2541,0,0,0,0,0,0,28.83,14.51,14.07
$GC,9262,0.87,174.5,2770,3710,2378,2538,157.2,12.1,608,9271,0.00,2.15,0.00,0.000,1030,0.000,0.059,2782,2398,2454,2377,2532,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9567,0.92,208.3,2778,2399,2377,2536,125.6,9.0,639,9601,0.00,0.00,27.10,1.111,8198,0.000,0.000,2778,2398,2327,2248,2407,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9897,0.97,234.0,2778,2398,2237,2400,92.6,9.7,672,9912,0.00,2.47,9.68,0.429,8708,0.000,0.083,2788,1002,2229,2147,2312,0,0,0,0,0,0,28.83,14.47,14.31
$GC,9972,1.03,256.5,2788,1001,2167,2323,85.5,9.9,686,9994,0.12,2.47,12.40,0.418,11270,0.145,0.096,2839,2408,2135,2049,2221,0,0,0,0,0,0,14.55,14.53,14.30
$GC,10299,1.06,272.3,2839,2409,2070,2227,46.8,10.4,720,10314,0.00,2.38,8.50,0.305,8452,0.000,0.110,2839,3712,2070,1982,2159,0,0,0,0,0,0,28.83,14.50,14.42
$GC,10504,1.06,297.7,2839,3713,2006,2161,27.4,9.7,760,10526,0.00,2.15,12.55,0.254,9222,0.000,0.060,2849,2398,1967,1874,2060,0,0,0,0,0,0,28.83,14.61,14.45
$GC,10830,1.22,449.1,2849,2399,1886,2068,14.7,0.0,794,10906,0.10,2.42,66.60,0.217,10756,0.163,0.085,2901,998,1348,1242,1455,0,0,0,0,0,0,14.58,14.47,14.44
$GC,11131,1.39,566.0,2901,999,1245,1455,9.4,2.7,850,11193,0.12,2.45,51.35,0.199,11270,0.143,0.095,2956,2401,870,763,978,0,0,0,0,0,0,14.59,14.56,14.43
$STATE,11256,end climb,SURFACE_DEPTH_REACHED
$STATE,11256,begin surface coast
$FINISH,1.3,1.019749
$STATE,11276,end surface coast,CONTROL_FINISHED_OK
$STATE,11276,begin surface
$SM_CCo,11297,40.05,0.183,0,0,497,657.89
$SM_CCo,11340,-0.20,0.000,0,0,501,657.89
$SM_CCo,11342,0.20,0.583,0,0,498,657.89
$SM_GC,2.12,8.52,0.12,0.20,0.112,0.182,0.583,181,2477,498,-7.18,-0.65,657.89,0,0,0,0,0,0,14.52,14.54,14.44
$RAFOS_CLK,733969
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7105.60,-14550.22,030814,071235
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.43
$INTERNAL_PRESSURE,8.64952
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3912192
$TM_FREEKB,7071408
$24V_AH,12.99,28.710
$10V_AH,13.15,0.000
$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,22.475,85.900,508.150,40.250,0.000,0.000,0.000,476.025,0.000,0.000,35.097,0.000,8321.255,753.598,2591.666,121.563,0.000,2005.475,0.000,1287.567,1493.000,0.531,0.000
$DEVICE_MAMPS,447.525,182.070,1790.865,582.930,0.000,0.000,0.000,193.545,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11292.000,11374.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.349,13.498,0.000,0.000
$MEM,289116
$DATA_FILE_SIZE,30045,868
$CAP_FILE_SIZE,150710,0
$CFSIZE,1047117824,1032224768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13330.60,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,11114,4294.813477,-8750.811523,1.296918,-0.276552,0.096232,-0.003588,0.000370,0.003712,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.064,343.48,1
$GPS,030814,140820,7135.188,-14551.162,38,1.1,58,28.1