version: 66.12
glider: 197
mission: 6
dive: 59
start: 8 3 114 14 20 57
data:
$ID,197
$MISSION,6
$DIVE,59
$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,-7168.6646
$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,42
$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,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
$GPS1,030814,140820,7135.188,-14551.162,38,1.1,58,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.5
$GPS2,030814,142039,7135.217,-14551.317,12,1.1,32,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,12.7,1642,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.93,-101.4,164,2480,434,571,0.0,0.0,0,83,0.00,0.00,-63.12,0.000,16386,0.000,0.000,162,2480,2050,2050,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.96,-145.9,163,2477,2051,2051,3.1,-2.2,6,141,10.50,2.50,-36.50,0.000,18948,0.452,0.100,2181,1071,3782,3763,3801,0,0,0,0,0,0,14.22,14.43,14.62
$GC,365,-0.93,-145.9,2181,1071,3765,3807,73.5,-21.9,59,375,0.00,2.47,0.00,0.000,1030,0.000,0.102,2174,2466,3785,3764,3807,0,0,0,0,0,0,28.83,14.50,28.83
$GC,670,-0.91,-145.9,2175,2467,3765,3808,139.4,-20.7,90,673,0.12,0.00,0.00,0.000,2054,0.353,0.000,2195,2466,3785,3764,3807,0,0,0,0,0,0,14.42,28.83,28.83
$GC,970,-0.92,-145.9,2196,2467,3764,3807,192.0,-15.3,120,978,0.00,2.38,0.00,0.000,516,0.000,0.080,2195,1070,3785,3764,3807,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1072,-0.95,-145.9,2196,1070,3765,3808,207.0,-13.3,140,1080,0.00,2.47,0.00,0.000,1030,0.000,0.103,2188,2472,3785,3764,3807,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1394,-0.97,-145.9,2188,2472,3763,3807,254.3,-13.8,171,1403,0.00,2.17,0.00,0.000,260,0.000,0.115,2179,3714,3784,3762,3807,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1531,-0.97,-145.9,2180,3714,3762,3807,276.3,-16.2,198,1540,0.00,2.03,0.00,0.000,1030,0.000,0.060,2179,2467,3784,3761,3807,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1850,-0.99,-145.9,2180,2466,3760,3807,322.3,-14.1,211,1857,0.00,2.35,0.00,0.000,516,0.000,0.083,2179,1072,3783,3759,3807,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1906,-1.02,-145.9,2179,1068,3759,3808,330.3,-14.0,222,1915,0.00,2.47,0.00,0.000,1030,0.000,0.106,2174,2477,3783,3759,3807,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2212,-1.04,-145.9,2174,2478,3759,3807,373.5,-14.1,233,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2477,3780,3754,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-1.06,-145.9,2174,2478,3759,3807,415.6,-14.1,243,2519,0.00,2.38,0.00,0.000,516,0.000,0.082,2173,1073,3782,3758,3807,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2583,-1.09,-145.9,2174,1069,3759,3807,425.6,-13.7,257,2593,0.00,2.47,0.00,0.000,1030,0.000,0.105,2166,2478,3782,3758,3806,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2908,-1.11,-145.9,2167,2478,3758,3808,471.6,-14.2,271,2916,0.00,2.38,0.00,0.000,516,0.000,0.081,2167,1070,3781,3757,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2945,-1.13,-145.9,2167,1070,3758,3810,477.2,-14.4,278,2954,0.12,2.47,0.00,0.000,5126,0.162,0.106,2119,2478,3782,3757,3807,0,0,0,0,0,0,14.71,14.69,28.83
$GC,3273,-1.12,-145.9,2120,2478,3757,3807,530.9,-16.5,293,3282,0.00,2.38,0.00,0.000,516,0.000,0.081,2119,1069,3781,3757,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3331,-1.12,-145.9,2119,1068,3752,3807,540.5,-15.8,304,3340,0.00,2.45,0.00,0.000,1030,0.000,0.103,2108,2471,3782,3757,3807,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3638,-1.09,-145.9,2114,2473,3757,3807,592.2,-17.0,315,3646,0.12,2.38,0.00,0.000,2564,0.361,0.076,2133,1063,3781,3756,3807,0,0,0,0,0,0,14.59,14.73,28.83
$GC,3695,-1.09,-145.9,2133,1064,3757,3807,601.6,-15.3,326,3704,0.00,2.45,0.00,0.000,1030,0.000,0.099,2125,2472,3781,3756,3807,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4001,-1.08,-145.9,2126,2473,3757,3807,650.0,-15.9,337,4011,0.00,2.35,0.00,0.000,516,0.000,0.078,2125,1069,3781,3756,3806,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4075,-1.08,-145.9,2125,1069,3756,3807,661.5,-15.6,351,4083,0.12,2.45,0.00,0.000,3078,0.335,0.100,2136,2478,3781,3756,3806,0,0,0,0,0,0,14.59,14.73,28.83
$GC,4397,-1.08,-145.9,2136,2478,3757,3807,709.7,-14.8,365,4407,0.00,2.35,0.00,0.000,516,0.000,0.078,2136,1071,3781,3755,3807,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4461,-1.09,-145.9,2136,1071,3756,3803,719.2,-14.5,377,4470,0.00,2.45,0.00,0.000,1030,0.000,0.101,2128,2476,3781,3756,3806,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,4673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4673,begin apogee
$GC,4676,-0.16,0.0,2129,2403,3756,3808,751.5,-15.2,389,4859,1.20,0.00,175.20,1.509,10246,0.302,0.000,2431,2403,3179,3131,3228,0,0,0,0,0,0,14.59,28.83,13.38
$STATE,4862,end apogee,CONTROL_FINISHED_OK
$STATE,4862,begin climb
$GC,4863,0.96,145.9,2432,2403,3126,3227,755.9,0.0,395,4995,1.23,0.00,122.03,1.789,10246,0.146,0.000,2796,2403,2583,2505,2662,0,0,0,0,0,0,13.97,28.83,13.04
$GC,5274,0.93,145.9,2797,2403,2492,2653,693.9,18.1,409,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2402,2571,2491,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5574,0.90,145.9,2796,2402,2490,2652,640.8,17.6,419,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2402,2573,2496,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5874,0.87,145.9,2796,2403,2491,2651,588.5,17.3,429,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2403,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,0.84,145.9,2796,2403,2491,2651,539.2,17.2,439,6729,0.15,0.00,0.00,0.000,4102,0.324,0.000,2767,2403,2570,2490,2650,0,0,0,0,0,0,14.42,28.83,28.83
$GC,7025,0.84,145.9,2767,2403,2490,2650,492.6,15.4,449,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2403,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7325,0.84,145.9,2767,2404,2491,2651,446.7,15.3,459,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2399,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7625,0.84,145.9,2767,2408,2491,2651,400.3,15.5,469,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2402,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7925,0.84,145.9,2766,2403,2491,2651,354.4,15.3,479,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2403,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8225,0.84,145.9,2767,2403,2490,2650,309.2,15.1,489,8235,0.00,2.30,0.00,0.000,260,0.000,0.109,2767,3716,2570,2490,2650,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8269,0.80,145.9,2765,3717,2491,2651,301.6,17.4,497,8279,0.00,2.15,0.00,0.000,1030,0.000,0.058,2773,2395,2572,2494,2650,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8593,0.80,145.9,2774,2397,2490,2651,251.8,14.9,511,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2394,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,0.80,145.9,2774,2397,2491,2656,211.2,13.4,539,8900,0.00,2.30,0.00,0.000,260,0.000,0.109,2773,3715,2570,2490,2650,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9064,0.77,145.9,2774,3716,2491,2650,186.3,13.2,573,9074,0.17,2.12,0.00,0.000,5126,0.308,0.059,2747,2400,2570,2490,2650,0,0,0,0,0,0,14.57,14.71,28.83
$GC,9379,0.84,199.2,2744,2400,2490,2650,158.8,7.6,605,9428,0.00,2.42,43.08,1.130,8452,0.000,0.110,2746,3716,2363,2287,2439,0,0,0,0,0,0,28.83,14.40,13.95
$GC,9522,0.86,199.2,2747,3717,2277,2432,144.0,11.8,631,9530,0.00,2.17,0.00,0.000,1030,0.000,0.058,2754,2400,2350,2270,2431,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9835,0.93,226.1,2754,2400,2276,2431,113.4,9.6,663,9864,0.12,2.40,21.75,1.096,10500,0.140,0.109,2811,3707,2250,2170,2331,0,0,0,0,0,0,14.59,14.42,13.99
$GC,9978,0.90,226.1,2812,3708,2163,2326,93.7,14.7,690,9987,0.17,2.17,0.00,0.000,5126,0.300,0.059,2786,2393,2244,2163,2325,0,0,0,0,0,0,14.34,14.49,28.83
$GC,10284,0.97,267.3,2787,2394,2162,2326,63.3,8.5,721,10307,0.00,0.00,16.30,0.358,8198,0.000,0.000,2786,2394,2092,2005,2179,0,0,0,0,0,0,28.83,28.83,14.34
$GC,10604,1.08,342.8,2786,2394,2022,2189,38.5,5.9,753,10647,0.17,0.00,34.92,0.285,10246,0.118,0.000,2854,2393,1781,1686,1877,0,0,0,0,0,0,14.60,28.83,14.40
$GC,10943,1.25,491.4,2855,2394,1693,1878,14.0,0.3,787,11019,0.12,2.42,65.75,0.218,10756,0.138,0.082,2918,991,1174,1066,1282,0,0,0,0,0,0,14.62,14.50,14.42
$STATE,11232,end climb,SURFACE_DEPTH_REACHED
$STATE,11232,begin surface coast
$FINISH,1.4,1.020053
$STATE,11262,end surface coast,CONTROL_FINISHED_OK
$STATE,11262,begin surface
$SM_CCo,11286,72.12,0.184,0,0,496,657.89
$SM_CCo,11360,-0.22,0.000,0,0,501,657.89
$SM_CCo,11362,-0.03,0.000,0,0,501,657.89
$SM_GC,2.44,8.18,2.70,-0.03,0.089,0.106,0.000,185,2473,501,-7.17,-0.48,657.89,0,0,0,0,0,0,14.55,14.55,14.22
$RAFOS_CLK,469347
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7105.60,-14546.38,030814,105438
$TT8_MAMPS,0.041944,0.041944
$HUMID,45.11
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3911744
$TM_FREEKB,7054596
$24V_AH,13.04,29.047
$10V_AH,13.17,0.000
$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,22.525,71.075,479.025,72.125,0.000,0.000,0.000,457.700,0.000,0.000,34.938,0.000,8162.506,749.513,2502.959,116.228,0.000,1946.515,0.000,1256.753,1480.000,0.532,0.000
$DEVICE_MAMPS,452.115,152.235,1788.570,184.365,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11276.000,11350.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.466,13.523,0.000,0.000
$MEM,288764
$DATA_FILE_SIZE,30019,847
$CAP_FILE_SIZE,142969,0
$CFSIZE,1047117824,1032060928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11866.65,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,10892,4296.518555,-8748.323242,1.363573,0.305201,1.781445,-0.005871,0.000950,0.009531,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.102,284.48,1
$GPS,030814,172226,7136.674,-14550.229,39,1.0,59,28.1