version: 66.12
glider: 197
mission: 6
dive: 185
start: 8 23 114 1 31 27
data:
$ID,197
$MISSION,6
$DIVE,185
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,657.89459
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$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,-7663.0317
$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,1800
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,220814,220145,7325.983,-14633.746,11,1.1,31,28.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,34.00
$_SM_ANGLEo,-11.9
$GPS2,220814,220145,7325.983,-14633.746,11,1.1,31,28.9
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7330.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,282.1,11332,-22.6,-11.628,-25.63,1932
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.81,-145.9,2482,1806,3090,3278,0.0,0.0,0,35,0.00,0.00,-6.68,0.000,16390,0.000,0.000,2482,1805,3780,3742,3819,0,0,0,0,0,0,28.83,28.83,14.67
$GC,37,-0.81,-145.9,2482,1805,3743,3820,37.8,0.0,1,44,0.73,2.50,0.00,0.000,4612,0.070,0.090,2214,383,3781,3743,3819,0,0,0,0,0,0,14.45,14.42,28.83
$GC,269,-0.77,-145.9,2214,383,3746,3820,91.0,-20.2,47,276,0.17,2.50,0.00,0.000,3078,0.298,0.086,2238,1798,3782,3746,3819,0,0,0,0,0,0,14.26,14.37,28.83
$GC,582,-0.77,-145.9,2239,1799,3744,3820,144.1,-16.1,79,589,0.00,2.47,0.00,0.000,516,0.000,0.088,2239,383,3783,3746,3820,0,0,0,0,0,0,28.83,14.47,28.83
$GC,768,-0.77,-145.9,2239,385,3747,3820,173.4,-15.4,116,777,0.00,2.50,0.00,0.000,1030,0.000,0.086,2230,1808,3782,3746,3819,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1073,-0.77,-145.9,2231,1808,3747,3820,218.9,-14.3,147,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1808,3782,3746,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1373,-0.78,-145.9,2230,1809,3747,3820,258.3,-12.4,173,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1808,3782,3746,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1673,-0.80,-145.9,2231,1809,3747,3820,293.5,-11.5,183,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1808,3782,3746,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.82,-145.9,2231,1808,3746,3820,327.9,-11.3,193,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1808,3782,3746,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.85,-145.9,2231,1810,3746,3820,360.2,-10.6,203,2280,0.00,2.50,0.00,0.000,260,0.000,0.107,2219,3220,3782,3746,3819,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2324,-0.86,-145.9,2220,3221,3746,3819,366.0,-11.9,213,2331,0.00,2.42,0.00,0.000,1030,0.000,0.067,2219,1796,3783,3746,3820,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2637,-0.88,-145.9,2220,1795,3748,3819,400.2,-11.0,225,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1795,3782,3745,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-0.90,-145.9,2219,1795,3746,3820,432.5,-10.7,235,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1794,3781,3744,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3236,-0.92,-145.9,2220,1795,3746,3819,463.9,-10.4,245,3242,0.00,2.53,0.00,0.000,260,0.000,0.106,2211,3213,3782,3745,3819,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3287,-0.92,-145.9,2210,3214,3742,3819,469.6,-11.7,255,3293,0.00,2.40,0.00,0.000,1030,0.000,0.067,2210,1799,3782,3745,3819,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3599,-0.94,-145.9,2211,1799,3746,3820,503.1,-10.6,267,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1799,3782,3745,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.96,-145.9,2210,1799,3746,3820,535.0,-10.7,277,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1798,3782,3745,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.98,-145.9,2211,1799,3746,3820,567.3,-10.9,287,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1798,3782,3745,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4499,-1.00,-145.9,2210,1798,3746,3820,599.9,-10.8,297,4505,0.12,2.53,0.00,0.000,4356,0.144,0.103,2144,3219,3782,3746,3819,0,0,0,0,0,0,14.66,14.59,28.83
$GC,4550,-0.95,-145.9,2144,3219,3746,3819,607.0,-14.3,307,4556,0.17,2.40,0.00,0.000,3078,0.294,0.067,2180,1799,3782,3746,3818,0,0,0,0,0,0,14.45,14.62,28.83
$GC,4862,-0.95,-145.9,2180,1799,3746,3820,645.1,-12.1,319,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1798,3782,3746,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,-0.95,-145.9,2180,1799,3746,3819,681.1,-11.9,329,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1799,3782,3746,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5461,-0.95,-145.9,2180,1799,3746,3820,716.4,-11.8,339,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1799,3782,3746,3819,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5759,begin apogee
$GC,5765,-0.16,0.0,2179,2306,3746,3820,751.0,-11.4,349,5893,0.98,0.00,123.75,1.837,10246,0.260,0.000,2435,2305,3181,3134,3229,0,0,0,0,0,0,14.47,28.83,13.27
$STATE,5895,end apogee,CONTROL_FINISHED_OK
$STATE,5895,begin climb
$GC,5897,0.81,145.9,2435,2306,3125,3225,753.8,0.0,353,6033,1.00,0.00,123.62,1.815,11014,0.135,0.000,2744,2305,2580,2500,2660,0,0,0,0,0,0,13.97,28.83,12.81
$GC,6331,0.78,145.9,2745,2306,2494,2656,698.6,14.7,373,6338,0.00,2.55,0.00,0.000,516,0.000,0.083,2754,887,2574,2493,2655,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6357,0.75,145.9,2755,887,2494,2655,694.9,14.0,378,6365,0.00,2.55,0.00,0.000,1030,0.000,0.086,2754,2300,2574,2494,2654,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6663,0.71,145.9,2755,2301,2494,2655,648.7,15.1,389,6670,0.12,2.50,0.00,0.000,4612,0.314,0.081,2736,881,2573,2493,2654,0,0,0,0,0,0,14.23,14.37,28.83
$GC,6730,0.70,145.9,2736,880,2494,2654,639.2,14.0,402,6736,0.00,2.50,0.00,0.000,1030,0.000,0.086,2735,2305,2574,2494,2654,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7057,0.68,145.9,2736,2301,2500,2655,594.3,13.7,417,7063,0.00,2.47,0.00,0.000,516,0.000,0.084,2746,879,2573,2493,2654,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7123,0.66,145.9,2747,880,2494,2653,584.9,13.5,430,7130,0.17,2.47,0.00,0.000,5126,0.268,0.086,2708,2295,2573,2493,2654,0,0,0,0,0,0,14.36,14.50,28.83
$GC,7449,0.66,145.9,2708,2299,2494,2654,544.5,12.4,445,7456,0.00,2.45,0.00,0.000,516,0.000,0.084,2716,881,2573,2494,2653,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7495,0.66,145.9,2717,881,2494,2654,538.5,13.5,454,7502,0.00,2.47,0.00,0.000,1030,0.000,0.087,2716,2300,2573,2493,2654,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7813,0.66,145.9,2716,2301,2494,2654,497.6,12.7,467,7819,0.00,2.42,0.00,0.000,516,0.000,0.086,2721,888,2573,2493,2653,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7864,0.66,145.9,2722,887,2494,2655,491.1,12.3,477,7870,0.00,2.45,0.00,0.000,1030,0.000,0.086,2723,2302,2573,2493,2653,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8176,0.66,145.9,2721,2303,2494,2653,452.1,12.5,489,8182,0.00,2.45,0.00,0.000,516,0.000,0.083,2732,882,2571,2488,2654,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8242,0.66,145.9,2732,883,2494,2654,443.6,12.8,502,8248,0.00,2.47,0.00,0.000,1030,0.000,0.087,2732,2307,2573,2493,2653,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8569,0.65,145.9,2732,2308,2494,2655,400.2,13.4,517,8576,0.12,2.45,0.00,0.000,4612,0.305,0.081,2711,885,2573,2494,2653,0,0,0,0,0,0,14.47,14.61,28.83
$GC,8620,0.66,145.9,2712,886,2493,2654,394.0,11.9,527,8627,0.00,2.47,0.00,0.000,1030,0.000,0.086,2712,2310,2573,2493,2653,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9787,0.80,349.5,2711,2311,2494,2654,358.4,0.8,539,9960,0.12,2.55,163.70,1.312,10756,0.145,0.084,2780,888,1752,1662,1842,0,0,0,0,0,0,14.60,13.91,13.43
$GC,10024,0.80,349.5,2780,888,1660,1830,315.9,20.2,586,10033,0.00,2.58,0.00,0.000,1030,0.000,0.087,2780,2303,1744,1659,1830,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10330,0.80,349.5,2780,2305,1653,1830,256.1,19.0,597,10337,0.00,2.50,0.00,0.000,516,0.000,0.086,2789,887,1738,1652,1825,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10388,0.80,349.5,2791,887,1653,1830,245.4,18.7,608,10396,0.17,2.50,0.00,0.000,5126,0.269,0.087,2753,2301,1741,1652,1830,0,0,0,0,0,0,14.26,14.38,28.83
$GC,10693,0.84,349.5,2754,2302,1650,1830,199.3,13.5,639,10699,0.00,2.47,0.00,0.000,516,0.000,0.085,2761,886,1739,1650,1829,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10738,0.88,349.5,2762,887,1651,1830,192.5,14.3,648,10746,0.00,2.50,0.00,0.000,1030,0.000,0.087,2761,2308,1739,1650,1829,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11045,0.91,349.5,2761,2309,1648,1829,151.1,13.3,679,11051,0.00,2.50,0.00,0.000,516,0.000,0.085,2769,878,1739,1649,1829,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11096,0.95,349.5,2771,879,1649,1825,144.2,13.2,689,11102,0.00,2.50,0.00,0.000,1030,0.000,0.087,2769,2303,1738,1648,1828,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11408,0.99,349.5,2770,2304,1648,1830,104.7,12.4,721,11415,0.12,2.47,0.00,0.000,2564,0.136,0.083,2837,887,1738,1648,1829,0,0,0,0,0,0,14.53,14.48,28.83
$GC,11490,0.99,349.5,2837,887,1648,1829,92.3,15.2,737,11496,0.00,2.47,0.00,0.000,1030,0.000,0.087,2837,2296,1738,1648,1829,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11802,1.03,379.1,2837,2297,1647,1829,51.3,10.1,769,11823,0.00,2.55,11.25,0.327,8708,0.000,0.085,2846,880,1638,1546,1730,0,0,0,0,0,0,28.83,14.35,14.23
$GC,11859,1.09,429.2,2847,881,1557,1733,46.1,9.0,779,11890,0.00,2.53,24.10,0.313,9222,0.000,0.086,2846,2311,1432,1336,1528,0,0,0,0,0,0,28.83,14.41,14.17
$GC,12195,1.26,586.8,2847,2312,1338,1528,16.1,3.2,816,12269,0.12,0.00,70.12,0.223,10758,0.135,0.000,2906,2311,790,694,887,0,0,0,0,0,0,14.41,28.83,14.17
$FREEZE,7.94,-0.888,-1.410,2,2,0
$FREEZE,6.94,-0.881,-1.408,2,2,0
$FREEZE,5.95,-0.872,-1.406,2,2,0
$FREEZE,4.91,-0.865,-1.405,2,2,0
$FREEZE,3.85,-0.716,-1.398,2,2,0
$FREEZE,2.97,-0.665,-1.397,2,2,0
$FREEZE,1.82,-0.692,-1.395,2,2,0
$STATE,12373,end climb,SURFACE_DEPTH_REACHED
$STATE,12373,begin surface coast
$FREEZE,1.70,-0.742,-0.654,2,2,0
$FINISH,1.7,1.009585
$STATE,12385,end surface coast,FINISH_DEPTH_REACHED
$STATE,12385,begin surface
$SM_CCo,12407,31.02,0.191,0,0,498,657.89
$SM_GC,2.95,8.35,0.90,31.02,0.097,0.080,0.191,175,1795,498,-7.19,0.82,657.89,0,0,0,0,0,0,14.42,14.42,14.32
$RAFOS_CLK,259499
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7250.09,-14620.68,220814,181759
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.13
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3855296
$TM_FREEKB,4631564
$24V_AH,12.81,77.533
$10V_AH,12.76,0.000
$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,12.500,94.675,516.550,31.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9132.470,580.772,1918.709,157.997,0.000,1353.206,0.000,1249.346,1483.000,0.530,0.000
$DEVICE_MAMPS,313.650,107.100,1836.765,191.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12429.000,12467.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.781,33.043,0.000,0.000
$MEM,217040
$DATA_FILE_SIZE,29998,840
$CAP_FILE_SIZE,142027,0
$CFSIZE,1047117824,1007550464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.3
$GPS,230814,042749,7328.188,-14643.842,36,0.9,56,28.8