version: 66.12
glider: 197
mission: 6
dive: 39
start: 7 31 114 11 51 35
data:
$ID,197
$MISSION,6
$DIVE,39
$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,-7143.4224
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,310714,113826,7113.854,-14508.444,99,0.9,119,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-74.6
$GPS2,310714,115121,7113.969,-14508.367,10,0.9,30,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,305.1,47508,-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,-145.9,174,2458,394,605,0.0,0.0,0,63,0.00,0.00,-43.28,0.000,16386,0.000,0.000,173,2457,1634,1643,1625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.78,-145.9,173,2458,1645,1626,3.5,-4.0,4,133,11.27,2.53,-50.67,0.000,19204,0.474,0.111,2231,1050,3888,3865,3912,0,0,0,0,0,0,14.19,14.42,14.63
$GC,357,-0.68,-145.9,2231,1050,3866,3919,63.8,-20.5,59,367,0.20,2.50,0.00,0.000,3078,0.327,0.108,2264,2448,3893,3869,3918,0,0,0,0,0,0,14.38,14.50,28.83
$GC,709,-0.68,-145.9,2264,2449,3866,3919,116.2,-16.1,90,719,0.00,2.42,0.00,0.000,516,0.000,0.085,2264,1042,3891,3865,3918,0,0,0,0,0,0,28.83,14.52,28.83
$GC,943,-0.72,-145.9,2265,1043,3865,3919,149.5,-13.3,136,951,0.00,2.53,0.00,0.000,1030,0.000,0.108,2257,2456,3891,3865,3918,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1255,-0.76,-145.9,2257,2458,3865,3919,191.5,-13.3,168,1263,0.00,2.42,0.00,0.000,516,0.000,0.086,2257,1049,3891,3864,3918,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1328,-0.81,-145.9,2257,1049,3864,3919,200.5,-11.9,182,1338,0.00,2.50,0.00,0.000,1030,0.000,0.109,2248,2452,3890,3863,3918,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1643,-0.85,-145.9,2247,2452,3862,3919,239.0,-12.0,214,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2451,3889,3861,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-0.91,-145.9,2248,2452,3859,3919,274.8,-11.3,231,1960,0.15,2.42,0.00,0.000,4612,0.139,0.086,2182,1049,3888,3859,3918,0,0,0,0,0,0,14.57,14.52,28.83
$MODEM_MSG,CACST,6,1,20140731120510.794578,3,259,00,0138,0150,255,02,02,04,04,-1,-01,-01,1,3,0,0,150,19.1,1.4,-100,1.7,-01,0.3,32,900,0025*23
$MODEM_MSG,CACST,6,1,20140731121713.201488,3,105,02,0111,0150,179,01,01,03,04,-1,-01,-01,1,3,0,0,150,22.7,3.2,-100,-0.2,-01,0.5,13,900,0025*0F
$GC,2031,-0.88,-145.9,2183,1049,3860,3919,285.8,-14.1,246,2041,0.15,2.50,0.00,0.000,3078,0.323,0.111,2202,2449,3888,3859,3918,0,0,0,0,0,0,14.45,14.56,28.83
$GC,2351,-0.88,-145.9,2203,2450,3860,3923,328.8,-13.5,259,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2449,3888,3859,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.88,-145.9,2203,2450,3859,3919,368.5,-13.1,269,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2449,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-0.88,-145.9,2203,2450,3859,3919,406.9,-12.8,279,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2449,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,-0.88,-145.9,2203,2449,3865,3919,445.1,-12.7,289,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2449,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3550,-0.88,-145.9,2203,2450,3859,3919,482.8,-12.5,299,3558,0.00,2.40,0.00,0.000,516,0.000,0.087,2203,1041,3888,3858,3918,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3632,-0.88,-145.9,2203,1042,3858,3919,492.9,-12.3,315,3640,0.00,2.47,0.00,0.000,1030,0.000,0.107,2194,2449,3887,3857,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3944,-0.88,-145.9,2195,2451,3859,3919,533.7,-13.2,327,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2450,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4244,-0.88,-145.9,2195,2450,3858,3919,572.9,-13.1,337,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2450,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4544,-0.88,-145.9,2194,2451,3858,3919,611.7,-12.8,347,4551,0.00,2.38,0.00,0.000,516,0.000,0.086,2194,1049,3887,3857,3918,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4610,-0.88,-145.9,2195,1049,3856,3919,620.2,-12.7,360,4618,0.00,2.47,0.00,0.000,1030,0.000,0.109,2186,2457,3888,3858,3918,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4939,-0.85,-145.9,2187,2458,3857,3919,663.7,-13.4,375,4942,0.12,0.00,0.00,0.000,2054,0.343,0.000,2209,2458,3887,3857,3918,0,0,0,0,0,0,14.63,28.83,28.83
$GC,5238,-0.85,-145.9,2210,2458,3857,3919,699.9,-12.0,385,5246,0.00,2.38,0.00,0.000,516,0.000,0.086,2209,1048,3887,3856,3918,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5305,-0.89,-145.9,2210,1048,3858,3919,707.8,-11.8,398,5315,0.00,2.45,0.00,0.000,1030,0.000,0.108,2205,2451,3887,3857,3918,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5634,-0.89,-145.9,2205,2450,3857,3919,747.1,-11.9,413,5643,0.00,2.38,0.00,0.000,516,0.000,0.086,2205,1049,3887,3856,3918,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,5660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5660,begin apogee
$GC,5665,-0.16,0.0,2196,2403,3857,3919,750.3,-12.1,418,5796,0.90,0.00,125.72,1.786,10246,0.280,0.000,2432,2400,3290,3241,3340,0,0,0,0,0,0,14.62,28.83,13.29
$STATE,5798,end apogee,CONTROL_FINISHED_OK
$STATE,5798,begin climb
$GC,5799,0.78,145.9,2433,2400,3231,3330,753.8,0.0,422,5934,1.00,0.00,123.43,1.774,10758,0.148,0.000,2735,2400,2695,2618,2773,0,0,0,0,0,0,13.99,28.83,13.10
$GC,6208,0.69,145.9,2736,2400,2600,2757,709.2,13.5,451,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2400,2678,2599,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6508,0.60,145.9,2736,2400,2600,2756,669.4,13.1,461,6512,0.20,0.00,0.00,0.000,4102,0.291,0.000,2692,2400,2677,2599,2756,0,0,0,0,0,0,14.36,28.83,28.83
$GC,6809,0.61,160.9,2691,2400,2594,2757,636.9,10.8,471,6823,0.00,0.00,11.93,1.545,8198,0.000,0.000,2692,2400,2636,2555,2717,0,0,0,0,0,0,28.83,28.83,13.80
$GC,7108,0.62,170.2,2692,2401,2542,2707,603.5,11.1,481,7114,0.00,0.00,2.88,0.815,8198,0.000,0.000,2692,2400,2597,2513,2681,0,0,0,0,0,0,28.83,28.83,13.76
$GC,7408,0.63,183.5,2692,2401,2533,2702,570.6,10.9,491,7432,0.00,0.00,20.02,1.530,8198,0.000,0.000,2692,2399,2542,2457,2628,0,0,0,0,0,0,28.83,28.83,13.86
$GC,7708,0.63,189.0,2692,2401,2441,2611,536.7,11.3,501,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2400,2525,2440,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8008,0.64,193.1,2693,2400,2440,2611,502.6,11.4,511,8014,0.00,0.00,2.45,0.589,8198,0.000,0.000,2692,2400,2501,2417,2585,0,0,0,0,0,0,28.83,28.83,13.84
$GC,8308,0.64,197.7,2692,2401,2435,2606,468.1,11.4,521,8324,0.00,2.35,3.95,1.099,8452,0.000,0.113,2691,3706,2491,2411,2572,0,0,0,0,0,0,28.83,14.62,13.82
$GC,8343,0.60,197.7,2692,3707,2421,2577,463.6,13.8,527,8352,0.00,2.15,1.62,0.283,9222,0.000,0.063,2699,2400,2485,2403,2567,0,0,0,0,0,0,28.83,14.66,14.47
$GC,8676,0.60,197.7,2699,2398,2427,2591,424.0,11.9,543,8682,0.00,0.00,2.50,0.609,8198,0.000,0.000,2699,2398,2485,2403,2568,0,0,0,0,0,0,28.83,28.83,13.88
$GC,8976,0.60,197.7,2699,2398,2424,2587,388.3,11.9,553,8981,0.00,0.00,2.35,0.524,8198,0.000,0.000,2697,2398,2483,2401,2566,0,0,0,0,0,0,28.83,28.83,13.92
$GC,9277,0.60,197.7,2700,2398,2423,2586,352.6,12.0,563,9282,0.00,0.00,2.08,0.330,8198,0.000,0.000,2699,2398,2484,2402,2566,0,0,0,0,0,0,28.83,28.83,13.54
$GC,9576,0.60,197.7,2699,2399,2423,2584,317.0,11.9,573,9582,0.00,0.00,1.98,0.231,8198,0.000,0.000,2700,2230,2484,2402,2566,0,0,0,0,0,0,28.83,28.83,14.64
$GC,9877,0.60,197.7,2701,2197,2422,2584,281.8,11.7,583,9886,0.00,2.72,1.85,0.233,8452,0.000,0.112,2700,3711,2485,2404,2567,0,0,0,0,0,0,28.83,14.71,14.65
$GC,9995,0.54,197.7,2701,3711,2423,2577,265.8,14.2,606,10006,0.17,2.15,1.73,0.234,13318,0.282,0.063,2671,2397,2485,2406,2565,0,0,0,0,0,0,14.63,14.74,14.64
$GC,10300,0.64,245.5,2672,2397,2423,2582,236.2,9.1,625,10356,0.00,2.45,47.80,1.173,8708,0.000,0.090,2679,997,2278,2193,2363,0,0,0,0,0,0,28.83,14.40,13.95
$GC,10376,0.76,266.1,2679,997,2191,2357,229.0,10.5,637,10405,0.17,2.50,16.88,1.128,11270,0.115,0.099,2752,2405,2196,2106,2287,0,0,0,0,0,0,14.48,14.44,13.88
$GC,10699,0.76,266.1,2753,2411,2097,2282,181.2,14.0,671,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2405,2189,2097,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10999,0.76,266.1,2753,2406,2096,2281,143.0,12.5,701,11006,0.00,2.33,0.00,0.000,260,0.000,0.114,2752,3719,2187,2094,2281,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11031,0.70,266.1,2752,3720,2096,2281,138.8,13.6,707,11039,0.17,2.20,0.00,0.000,5126,0.281,0.064,2723,2393,2187,2095,2280,0,0,0,0,0,0,14.50,14.61,28.83
$GC,11343,0.80,318.1,2723,2393,2096,2282,109.3,8.9,739,11399,0.00,2.38,45.60,1.019,8452,0.000,0.112,2723,3712,1980,1878,2083,0,0,0,0,0,0,28.83,14.35,13.93
$GC,11438,0.84,318.1,2727,3713,1875,2078,99.6,11.7,755,11446,0.00,2.20,0.00,0.000,1030,0.000,0.064,2730,2402,1976,1875,2077,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11751,0.96,368.8,2730,2402,1871,2076,69.6,8.9,787,11776,0.22,0.00,21.00,0.376,10246,0.100,0.000,2820,2401,1786,1685,1887,0,0,0,0,0,0,14.58,28.83,14.33
$GC,12070,0.99,410.6,2821,2402,1709,1893,31.8,9.4,819,12100,0.00,2.40,20.52,0.265,8452,0.000,0.115,2820,3710,1615,1509,1722,0,0,0,0,0,0,28.83,14.51,14.42
$GC,12159,0.96,410.6,2820,3711,1523,1723,21.6,12.3,835,12167,0.00,2.20,0.00,0.000,1030,0.000,0.064,2830,2400,1625,1528,1722,0,0,0,0,0,0,28.83,14.57,28.83
$FREEZE,9.90,-0.589,-1.476,0,1,0
$STATE,12450,end climb,NO_VERTICAL_VELOCITY
$STATE,12450,begin surface
$SM_CCo,12454,124.53,0.205,0,0,498,684.88
$SM_GC,2.73,7.90,0.10,0.00,0.087,0.200,0.000,177,2459,502,-7.19,-0.62,684.39,0,0,0,0,0,0,14.58,14.57,28.83
$RAFOS_CLK,1178452
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7039.27,-14508.15,310714,080224
$TT8_MAMPS,0.041944,0.041944
$HUMID,45.31
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3920704
$TM_FREEKB,7440824
$24V_AH,13.10,21.821
$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,22.650,67.300,456.275,124.525,0.000,0.000,0.000,489.200,1.500,0.000,32.531,0.000,10069.792,735.712,2612.106,107.255,0.000,2006.111,0.000,1285.423,1494.000,12.207,0.000
$DEVICE_MAMPS,474.300,199.665,1785.510,205.020,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12477.000,12556.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.093,13.421,0.000,0.000
$MEM,297536
$DATA_FILE_SIZE,30033,865
$CAP_FILE_SIZE,156326,0
$CFSIZE,1047117824,1035943936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13403.03,0x2378b6,7,5
$SOUNDSPEED,1450.2
$EKF,12858,4275.227539,-8711.021484,9.897743,-0.009526,0.038840,-0.019803,0.000284,0.002742,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.061,163.69,1
$GPS,310714,152550,7114.817,-14510.623,42,2.3,63,28.2