version: 66.12
glider: 197
mission: 6
dive: 56
start: 8 3 114 3 59 51
data:
$ID,197
$MISSION,6
$DIVE,56
$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,-7164.8774
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,030814,034625,7135.286,-14549.571,58,0.8,78,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.6
$GPS2,030814,035933,7135.366,-14549.512,12,0.9,32,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,336.9,1208,-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,18,-0.93,-101.4,174,2480,408,602,0.0,0.0,0,79,0.00,0.00,-54.40,0.000,16386,0.000,0.000,173,2480,1835,1849,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.96,-145.9,173,2480,1849,1824,3.1,-2.4,6,145,10.85,2.47,-43.17,0.000,18948,0.467,0.105,2175,1065,3777,3756,3798,0,0,0,0,0,0,14.17,14.38,14.59
$GC,369,-0.92,-145.9,2175,1064,3757,3808,71.5,-22.2,60,378,0.00,2.50,0.00,0.000,1030,0.000,0.103,2168,2464,3780,3758,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,683,-0.89,-145.9,2168,2466,3757,3804,140.8,-21.2,92,687,0.17,0.00,0.00,0.000,2054,0.334,0.000,2201,2465,3781,3758,3804,0,0,0,0,0,0,14.35,28.83,28.83
$GC,982,-0.91,-145.9,2201,2466,3758,3805,192.8,-15.7,122,990,0.00,2.42,0.00,0.000,516,0.000,0.082,2201,1058,3780,3757,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1049,-0.94,-145.9,2202,1057,3757,3804,202.7,-14.4,135,1058,0.00,2.53,0.00,0.000,1030,0.000,0.103,2192,2473,3780,3756,3804,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1354,-0.96,-145.9,2188,2471,3757,3805,247.5,-13.8,166,1361,0.00,2.20,0.00,0.000,260,0.000,0.116,2183,3717,3779,3755,3804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1430,-0.96,-145.9,2184,3717,3756,3804,259.6,-15.4,181,1438,0.00,2.08,0.00,0.000,1030,0.000,0.060,2183,2454,3781,3759,3804,0,0,0,0,0,0,28.83,14.56,28.83
$MODEM_MSG,CACST,6,1,20140803040441.513284,3,892,00,0213,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,17.5,2.3,-100,0.7,-01,0.1,20,900,0025*26
$GC,1747,-0.98,-145.9,2182,2454,3755,3805,304.3,-14.0,194,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2453,3779,3754,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2048,-1.01,-145.9,2183,2454,3753,3805,345.9,-13.7,204,2057,0.00,2.35,0.00,0.000,516,0.000,0.085,2183,1066,3778,3753,3804,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2157,-1.04,-145.9,2184,1067,3753,3804,360.2,-12.5,225,2165,0.00,2.50,0.00,0.000,1030,0.000,0.107,2176,2478,3778,3753,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2475,-1.06,-145.9,2176,2478,3752,3804,403.6,-13.6,238,2482,0.00,2.38,0.00,0.000,516,0.000,0.083,2176,1073,3778,3752,3804,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2516,-1.09,-145.9,2176,1074,3752,3804,409.3,-13.1,246,2524,0.00,2.47,0.00,0.000,1030,0.000,0.107,2171,2472,3778,3752,3804,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2839,-1.11,-145.9,2172,2473,3752,3805,453.9,-14.0,260,2843,0.12,0.00,0.00,0.000,4102,0.167,0.000,2129,2472,3780,3757,3804,0,0,0,0,0,0,14.70,28.83,28.83
$GC,3139,-1.10,-145.9,2129,2473,3752,3804,501.6,-15.9,270,3147,0.00,2.38,0.00,0.000,516,0.000,0.083,2129,1069,3777,3751,3804,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3271,-1.10,-145.9,2130,1072,3752,3804,522.0,-15.2,296,3280,0.00,2.47,0.00,0.000,1030,0.000,0.107,2120,2472,3778,3752,3804,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3595,-1.08,-145.9,2120,2473,3752,3804,574.5,-16.1,310,3603,0.00,2.38,0.00,0.000,516,0.000,0.083,2119,1066,3777,3751,3804,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3686,-1.08,-145.9,2116,1067,3751,3804,589.2,-15.8,328,3697,0.15,2.47,0.00,0.000,3078,0.344,0.107,2138,2469,3777,3751,3804,0,0,0,0,0,0,14.57,14.70,28.83
$GC,4020,-1.08,-145.9,2139,2469,3748,3804,639.2,-14.9,344,4030,0.00,2.35,0.00,0.000,516,0.000,0.080,2141,1072,3777,3751,3803,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4129,-1.08,-145.9,2141,1073,3751,3804,654.8,-14.3,365,4138,0.00,2.45,0.00,0.000,1030,0.000,0.104,2133,2473,3776,3750,3803,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4448,-1.08,-145.9,2133,2474,3751,3804,702.9,-15.1,378,4455,0.00,2.35,0.00,0.000,516,0.000,0.080,2133,1073,3777,3751,3804,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4534,-1.08,-145.9,2133,1073,3751,3804,715.7,-14.3,395,4543,0.00,2.45,0.00,0.000,1030,0.000,0.103,2122,2471,3776,3750,3803,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,4778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4778,begin apogee
$GC,4782,-0.16,0.0,2123,2399,3751,3804,753.2,-15.2,404,4909,1.25,0.00,121.85,1.808,10246,0.306,0.000,2438,2398,3183,3138,3229,0,0,0,0,0,0,14.59,28.83,13.29
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4912,0.96,145.9,2439,2399,3126,3225,756.3,0.0,408,5044,1.20,0.00,121.93,1.791,10246,0.144,0.000,2796,2398,2586,2508,2665,0,0,0,0,0,0,14.00,28.83,13.09
$GC,5320,0.92,145.9,2797,2399,2490,2653,694.6,17.9,422,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2398,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5620,0.89,145.9,2797,2399,2490,2651,640.5,18.0,432,5629,0.00,2.33,0.00,0.000,260,0.000,0.107,2796,3709,2570,2490,2651,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5638,0.84,145.9,2797,3710,2490,2651,637.0,18.5,435,5646,0.20,2.17,0.00,0.000,5126,0.314,0.057,2765,2399,2567,2485,2650,0,0,0,0,0,0,14.33,14.47,28.83
$GC,5956,0.84,145.9,2765,2398,2490,2651,585.9,15.8,448,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2398,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6255,0.84,145.9,2766,2398,2489,2647,539.4,15.4,458,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2398,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,0.84,145.9,2766,2398,2489,2650,493.6,15.2,468,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2398,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,0.84,145.9,2765,2398,2486,2650,448.3,15.1,478,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2398,2569,2488,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7155,0.84,145.9,2766,2398,2489,2650,403.1,15.1,488,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2398,2569,2488,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7455,0.84,145.9,2765,2398,2490,2650,357.6,15.3,498,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2397,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7755,0.84,145.9,2765,2398,2490,2650,312.6,14.8,508,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2397,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8055,0.84,145.9,2765,2398,2490,2650,269.2,14.4,518,8064,0.00,2.30,0.00,0.000,260,0.000,0.109,2765,3711,2569,2489,2650,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8118,0.80,145.9,2766,3711,2489,2650,259.1,16.6,530,8126,0.00,2.15,0.00,0.000,1030,0.000,0.060,2771,2392,2569,2489,2650,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8430,0.80,145.9,2772,2391,2489,2650,215.0,12.3,562,8438,0.00,2.38,0.00,0.000,516,0.000,0.085,2782,993,2569,2489,2650,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8447,0.80,145.9,2782,993,2490,2651,213.0,11.7,565,8457,0.15,2.45,0.00,0.000,5126,0.306,0.096,2757,2402,2569,2489,2649,0,0,0,0,0,0,14.59,14.71,28.83
$GC,8753,0.85,175.2,2753,2402,2489,2650,181.2,9.4,596,8789,0.00,2.35,24.00,1.187,8452,0.000,0.109,2752,3701,2454,2376,2533,0,0,0,0,0,0,28.83,14.53,14.06
$GC,8943,0.85,176.7,2753,3701,2373,2531,159.5,11.5,632,8952,0.00,2.12,0.00,0.000,1030,0.000,0.060,2759,2400,2451,2372,2531,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9257,0.93,227.3,2760,2400,2373,2530,131.1,7.8,664,9306,0.00,2.42,42.92,1.092,8452,0.000,0.110,2759,3708,2247,2165,2329,0,0,0,0,0,0,28.83,14.35,13.90
$GC,9370,0.94,227.3,2760,3709,2157,2327,119.3,12.5,684,9380,0.00,2.17,0.00,0.000,1030,0.000,0.058,2769,2400,2237,2156,2319,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9684,1.00,249.6,2769,2400,2154,2323,85.7,9.9,716,9701,0.12,2.33,8.30,0.396,10500,0.142,0.108,2825,3712,2163,2078,2249,0,0,0,0,0,0,14.56,14.50,14.31
$GC,9730,0.97,249.6,2825,3713,2097,2251,79.6,14.7,724,9741,0.15,2.17,1.30,0.260,13318,0.311,0.060,2806,2397,2163,2081,2246,0,0,0,0,0,0,14.41,14.55,14.42
$GC,10046,1.02,274.6,2806,2398,2099,2260,45.5,9.7,756,10069,0.00,2.47,12.65,0.302,8708,0.000,0.086,2814,992,2062,1974,2151,0,0,0,0,0,0,28.83,14.53,14.42
$GC,10293,1.14,356.6,2815,996,1985,2160,29.3,5.4,804,10337,0.15,2.47,37.38,0.257,11270,0.135,0.096,2877,2407,1725,1629,1821,0,0,0,0,0,0,14.60,14.57,14.41
$GC,10631,1.30,512.3,2877,2407,1639,1822,12.4,-0.3,840,10707,0.10,2.53,68.70,0.210,10756,0.162,0.086,2930,992,1089,978,1200,0,0,0,0,0,0,14.59,14.47,14.40
$STATE,10880,end climb,SURFACE_DEPTH_REACHED
$STATE,10880,begin surface coast
$FINISH,1.3,1.019667
$STATE,10911,end surface coast,CONTROL_FINISHED_OK
$STATE,10911,begin surface
$SM_CCo,10934,63.28,0.187,0,0,497,657.89
$SM_CCo,10999,-0.20,0.000,0,0,501,657.89
$SM_CCo,11001,0.20,0.590,0,0,498,657.89
$SM_GC,2.19,8.40,2.67,0.20,0.109,0.105,0.590,182,2467,498,-7.18,-0.85,657.89,0,0,0,0,0,0,14.54,14.54,14.44
$RAFOS_CLK,1050000
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14548.41,030814,000158
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.43
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3913088
$TM_FREEKB,7108168
$24V_AH,13.09,28.012
$10V_AH,13.22,0.000
$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,23.025,80.800,439.025,63.475,0.000,0.000,0.000,492.400,0.000,0.000,35.165,0.000,8335.729,663.247,2665.259,116.191,0.000,1969.605,0.000,1321.108,1418.000,0.531,0.000
$DEVICE_MAMPS,467.415,153.765,1808.460,589.815,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10929.000,11014.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.357,13.434,0.000,0.000
$MEM,289984
$DATA_FILE_SIZE,30061,892
$CAP_FILE_SIZE,149630,0
$CFSIZE,1047117824,1032601600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13751.87,0x2378b6,7,5
$SOUNDSPEED,1449.9
$EKF,11078,4296.761719,-8749.505859,1.286126,0.013655,0.018480,-0.000539,0.000219,0.002202,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.095,302.07,1
$GPS,030814,070426,7137.067,-14551.036,25,0.9,45,28.1